Multifunctional service robot chassis

Abstract

The invention discloses a multifunctional service robot chassis, and relates to the technical field of robot chassis, the multifunctional service robot chassis comprises a base and four tires symmetrically arranged on the two sides of the base, the joint of each tire and the base is provided with a drive-by-wire chassis assembly, and each drive-by-wire chassis assembly comprises a connecting beam, a mounting seat, a steering speed reducing mechanism and a hub motor; the connecting beam is fixedly connected with the base, the mounting seat is fixedly mounted on the connecting beam, the steering speed reducing mechanism is arranged on the mounting seat in a penetrating manner, the input end of the hub motor is connected with the steering speed reducing mechanism, the output end of the hub motor is fixedly mounted on a hub of a tire, and the fixing boxes are arranged on the two sides of the base. The collecting rod and the impurity removing plate move at the same time, sticky impurities on the front wheel tires can be removed through the impurity removing plate, the sticky impurities falling off from the front wheel tires are collected through the collecting rod, the rear wheel tires are prevented from being stained with the sticky impurities continuously, and it is guaranteed that the robot can run stably.

Description

Technical Field

[0001] This invention relates to the field of robot chassis technology, and in particular to a multifunctional service robot chassis. Background Technology

[0002] With the rapid development and increasing maturity of autonomous driving technology, drive-by-wire chassis systems for autonomous vehicles are becoming increasingly common. Drive-by-wire chassis generally include functions such as drive, steering, braking, and vibration damping. Common drive-by-wire chassis structures often directly borrow from traditional automotive chassis structures or are modified from them. Therefore, they share the same limitations as traditional automotive chassis: complex structure, numerous parts, many connecting rods, occupying a significant amount of space, and restricting the wheel steering angle to a maximum of 360°, preventing smooth and continuous steering at any angle. This is of great significance for the small size and agile movement of autonomous service robots, which typically operate in relatively confined spaces such as indoors, parks, and sidewalks.

[0003] Chinese utility model patent CN213918314U discloses a multifunctional service robot chassis, including a chassis body. A first support plate is rotatably connected to the bottom of the chassis body. A second rotating shaft is rotatably connected inside the first support plate. Both ends of the second rotating shaft pass through the first support plate and extend to opposite sides of the first support plate. Two symmetrically arranged second support plates are fixedly connected to the bottom of the chassis body. The same first rotating shaft is rotatably connected inside the two second support plates. Wheels are fixedly connected to both ends of the first and second rotating shafts. A control component for controlling the rotation of the second rotating shaft is provided on one side of the second rotating shaft. In this utility model, the forward and backward functions of the chassis are realized through a drive component, and the steering function of the chassis is realized through a control component. This saves a significant amount of manufacturing costs, provides comprehensive functionality, a simple structure, and convenient operation.

[0004] However, the aforementioned patents still have the following shortcomings: (1) Since the service robot often travels in indoor spaces, parks, sidewalks and other spaces, the wheels of the service robot will get stuck with sticky soil, chewing gum and other impurities. Because the service robot is small in size, it will often bump when it travels after getting stuck with sticky impurities, which will affect the smooth travel of the robot and may even damage the internal parts of the robot in severe cases. (2) Due to the presence of the linkage structure, when the overall vehicle size needs to change, the entire chassis structure needs to be redesigned. Correspondingly, the frame and body structure used to support the chassis usually uses stamped parts, which also requires the development of new forming molds, resulting in high investment costs. For autonomous driving service robots that are currently mainly produced through customization, the variable size of the vehicle is one of the important characteristics. Using the traditional structure requires redesigning the chassis hard points and redeveloping and manufacturing related parts, resulting in long development and verification cycles and low parts standardization. Therefore, using a drive-by-wire chassis based on the traditional automotive structure for service robots has many disadvantages. Summary of the Invention

[0005] The purpose of this invention is to provide a multifunctional service robot chassis to solve the technical problems in the prior art.

[0006] This invention provides a multi-functional service robot chassis, including a base and four tires symmetrically arranged on both sides of the base. A wire-controlled chassis assembly is provided at the connection point between each tire and the base. The wire-controlled chassis assembly includes a connecting beam, a mounting base, a steering reduction mechanism, and a hub motor. The connecting beam is fixedly connected to the base, the mounting base is fixedly mounted on the connecting beam, the steering reduction mechanism is disposed through the mounting base, the input end of the hub motor is connected to the steering reduction mechanism, and the output end of the hub motor is fixedly mounted on the hub of the tire. Fixing boxes are provided on both sides of the base, and each fixing box has an outer... The wall is provided with a first sliding groove, a second sliding groove, and a third sliding groove. A first sliding rod is slidably connected in the first sliding groove, and a first rack and a second rack are fixedly installed at one end of the first sliding rod. A U-shaped rod is slidably connected in the second sliding groove, and a collecting rod is fixedly installed at one end of the U-shaped rod. An L-shaped rod is slidably connected in the third sliding groove, and a cleaning plate is fixedly installed at one end of the L-shaped rod. Fixing blocks are fixedly installed on both sides of the base. The two cleaning plates are slidably connected to the two fixing blocks respectively. A transmission assembly is provided in the fixed box. The U-shaped rod and the L-shaped rod are driven by the first sliding rod through the transmission assembly.

[0007] Furthermore, the steering reduction mechanism includes a steering motor and a coupling. The coupling is fixedly mounted on a mounting base. The steering motor is mounted on one side of the coupling, and the output end of the steering motor is connected to the input end of the coupling. An upper steering knuckle is fixedly connected to the output end of the coupling, and the upper steering knuckle is rotatably connected to the mounting base. Two shock absorbers are fixedly connected below the upper steering knuckle, and a lower steering knuckle is fixedly mounted on the two shock absorbers. One side of the lower steering knuckle is fixedly connected to the input end of the hub motor, and the other side of the lower steering knuckle is fixedly connected to the first slide rod.

[0008] Furthermore, the transmission assembly includes a first rotating shaft, a second rotating shaft, and a third rotating shaft rotatably connected to the inner wall of the fixed box. The first rotating shaft and the first sliding groove are located at the same end of the fixed box, and the second rotating shaft is located at the other end of the fixed box. A first gear and a first bevel gear are coaxially arranged on the first rotating shaft, a second gear is coaxially arranged on the second rotating shaft, and a third gear and a second bevel gear are coaxially arranged on the third rotating shaft. A third rack is slidably connected in the second sliding groove and is fixedly connected to a U-shaped rod. A fourth rack is slidably connected in the third sliding groove and is fixedly connected to an L-shaped rod. The first bevel gear meshes with the second bevel gear, the first gear meshes with the first rack, the second gear meshes with both the second and third racks, and the third gear meshes with the fourth rack.

[0009] Furthermore, the collecting rod includes a rod frame, a collecting shell, a toothed ring, a rotating shaft, and a ratchet mechanism. The upper end of the rod frame is slidably connected to a U-shaped rod, and a third spring is fixedly connected to one end of the rod frame. The collecting shell is slidably connected to one side of the rod frame. The toothed ring is rotatably connected to the inner wall of one side of the rod frame, and several ratchet teeth are provided on the inner wall of the toothed ring. The rotating shaft is rotatably connected to the rod frame, and torsion springs are provided at both ends of the rotating shaft. The ratchet mechanism is located at one end of the rotating shaft, and a roller is fixedly installed in the middle of the rotating shaft.

[0010] Furthermore, the ratchet mechanism includes a collar, and a plurality of limiting blocks are provided at one end of the collar relative to the ratchet tooth. Each limiting block has a fourth sliding groove, and a pawl is slidably connected in each fourth sliding groove. A first spring is provided at one end of each pawl near the corresponding collar.

[0011] Furthermore, a fifth rack is fixedly installed at one end of the collecting shell, the fifth rack is slidably connected to the inner wall of the rod frame, and a second spring is fixedly connected to one end of the fifth rack. The fifth rack meshes with a toothed ring. A receiving box is provided inside the collecting shell, one end of the receiving box penetrates through the collecting shell, and the receiving box and the collecting shell are detachably connected by bolts. A scraper is fixedly installed on the upper part of the collecting shell, and the bottom of the scraper is in contact with the outer surface of the roller.

[0012] Furthermore, a counterweight is fixedly installed at the end of the first slide bar away from the fixed box.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) When the robot encounters bumpy road sections or large sticky impurities on the tires during its operation, the tires will be damped by the shock absorber. During the damping process, the tires will drive the first sliding rod on the lower steering knuckle to move. Through the cooperation of the transmission components, the collecting rod and the impurity removal plate can move simultaneously. Not only can the impurity removal plate remove the sticky impurities on the front tires, but the collecting rod can also collect the sticky impurities that have fallen off the front tires, preventing the rear tires from continuing to be covered with sticky impurities. This ensures that the robot can drive smoothly and improves the overall practicality of the device.

[0014] (2) The torsion spring allows the rotating shaft to rotate in the opposite direction after the roller is no longer in contact with the ground. When the fifth rack is pulled back by the tension of the second spring, the collecting shell moves closer to the roller, so that the scraper on the upper part of the collecting shell contacts the surface of the roller and scrapes the sticky impurities on the surface of the roller into the receiving box. After the device has been used for a period of time, the receiving box can be disassembled and the impurities inside can be cleaned so that the device can continue to be used. This device uses the torsion spring to reset the rotating shaft, and no additional power source is required. After the roller has collected the sticky impurities, the roller can be cleaned and the impurities can be collected so that the roller can continue to be used. It also prevents the rear tires from continuing to sticky impurities.

[0015] (3) When the base of this device turns, the wire-controlled chassis component on the mounting seat is not directly connected to the robot's fixed body, and there are no other linkages occupying the rotation space. Therefore, the rotation angle of the coupling is not limited by the structure and can achieve a turning angle of ≥360°. Based on these functions, the vehicle model using this device can achieve four-wheel independent suspension, four-wheel independent drive, and four-wheel independent steering. It can ensure that the whole vehicle can turn at any angle and drive with zero turning radius. At the same time, it has strong versatility and simple mechanical connection structure between modules. The size of the whole vehicle can be changed by changing the length of the aluminum profile used to connect the modules while keeping the modules themselves unchanged. Since the core parts of the base remain unchanged, the workload of design, development, manufacturing and verification is reduced, thereby increasing the development speed of new models and reducing development costs. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a perspective view of the present invention; Figure 2 This is a front view of the drive-by-wire chassis assembly; Figure 3 This is a schematic diagram of the first partial structure of the present invention; Figure 4 This is a schematic diagram of the second partial structure of the present invention; Figure 5 This is the first sectional view of the fixed box; Figure 6 This is the second sectional view of the fixed box; Figure 7 This is a first sectional view of the collecting rod; Figure 8 This is a schematic diagram of a partial structure of the collecting shell; Figure 9 This is a second sectional view of the collecting rod.

[0018] Figure label: 1. Base; 2. Tire; 3. Drive-by-wire chassis assembly; 4. Connecting beam; 5. Mounting seat; 6. Steering reduction mechanism; 7. Hub motor; 8. Fixing box; 9. Fixing block; 10. Transmission assembly; 11. First slide rod; 12. First rack; 13. Second rack; 14. U-shaped rod; 15. Collecting rod; 16. L-shaped rod; 17. Impurity removal plate; 18. Ratchet mechanism; 19. Counterweight; 31. Steering motor; 32. Coupling; 33. Upper steering knuckle; 34. Shock absorber; 35. Lower steering knuckle; 81. First slide groove; 82. Second slide groove; 83. Third slide groove; 84. First rotating shaft; 85. Second rotating shaft; 86, Third rotating shaft; 87, First gear; 88, First bevel gear; 89, Second gear; 810, Third gear; 811, Second bevel gear; 812, Third rack; 813, Fourth rack; 151, Rod frame; 152, Collection shell; 153, Gear ring; 154, Rotating shaft; 155, Fifth rack; 156, Second spring; 157, Container box; 158, Scraper; 159, Third spring; 181, Racket; 182, Torsion spring; 183, Roller; 184, Collar; 185, Limiting block; 186, Fourth slide groove; 187, Pawl; 188, First spring. Detailed Implementation

[0019] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] The components of the embodiments of the invention described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0021] Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] The following is combined Figures 1 to 9 As shown, this embodiment of the invention provides a multi-functional service robot chassis, including a base 1 and four tires 2 symmetrically arranged on both sides of the base 1. A wire-controlled chassis assembly 3 is provided at the connection point between each tire 2 and the base 1. The wire-controlled chassis assembly 3 includes a connecting beam 4, a mounting base 5, a steering reduction mechanism 6, and a hub motor 7. The connecting beam 4 is fixedly connected to the base 1, the mounting base 5 is fixedly mounted on the connecting beam 4, the steering reduction mechanism 6 is disposed through the mounting base 5, the input end of the hub motor 7 is connected to the steering reduction mechanism 6, and the output end of the hub motor 7 is fixedly mounted on the hub of the tire 2. Fixed boxes 8 are provided on both sides of the base 1, and a first sliding groove is formed on the outer wall of each fixed box 8. The base 1 comprises a groove 81, a second groove 82, and a third groove 83. A first sliding rod 11 is slidably connected in the first groove 81, and a first rack 12 and a second rack 13 are fixedly installed at one end of the first sliding rod 11. A U-shaped rod 14 is slidably connected in the second groove 82, and a collecting rod 15 is fixedly installed at one end of the U-shaped rod 14. An L-shaped rod 16 is slidably connected in the third groove 83, and a cleaning plate 17 is fixedly installed at one end of the L-shaped rod 16. Fixing blocks 9 are fixedly installed on both sides of the base 1. The two cleaning plates 17 are slidably connected to the two fixing blocks 9 respectively. A transmission assembly 10 is provided in the fixing box 8. The U-shaped rod 14 and the L-shaped rod 16 are driven and cooperated with the first sliding rod 11 through the transmission assembly 10.

[0025] Working principle: When in use, the robot first keeps moving. During this process, when the robot's front tire 2 encounters bumpy roads or gets covered with large sticky impurities, the tire 2 will drive the lower steering knuckle 35 in the steering reduction mechanism 6 to move upward. This causes the first slide rod 11, which is fixedly connected to the lower steering knuckle 35, to move upward. Consequently, the first rack 12 and the second rack 13 on the first slide rod 11 move upward together. Through the meshing of the first bevel gear 88 and the second bevel gear 811, the first gear 87 and the first rack 13... The first gear 810 engages with the second rack 12, and the second gear 89 engages with the second rack 13 and the third rack 812 respectively. The third gear 810 engages with the fourth rack 813, causing the L-shaped rod 16 to slide on the fixed block 9 towards the front tire 2, and finally causing the impurity removal plate 17 to be tangent to the surface of the front tire 2, so that the sticky impurities on the front tire 2 are scraped off by the impurity removal plate 17 onto the ground. At the same time, the U-shaped rod 14 slides downward on the fixed box 8, driving the collecting rod 15 to move downward. After the roller 183 below the collecting rod 15 contacts the ground, the impurities are removed by the roller 183. The third spring 159 causes the collecting rod 15 to continue moving downwards, allowing the roller 183 to continue rolling on the ground. At this time, the rotating shaft 154 rotates, and through the ratchet mechanism 18 on the rotating shaft 154, the toothed ring 153 rotates. The fifth rack 155 meshes with the toothed ring 153, causing the fifth rack 155 to slide outwards from the roller 183. This ensures that when the roller 183 is in rolling contact with the ground, the collecting shell 152 remains away from the roller 183. Therefore, the roller 183 can be used to collect the debris scraped from the front tire 2. The sticky impurities removed from the roller 183 will not be blocked by the collection shell 152. After the robot resumes stable driving, the first slide bar 11 moves downward. Through the setting of the transmission component 10, the collection bar 15 and the impurity removal plate 17 can move simultaneously. Not only can the impurity removal plate 17 remove the sticky impurities on the front tire 2, but the collection bar 15 can also collect the sticky impurities that have fallen off the front tire 2, preventing the rear tire 2 from continuing to be covered with sticky impurities. This ensures that the robot can drive smoothly and improves the overall practicality of the device. Similarly, the entire device is reset via the transmission assembly 10. Once the roller 183 is no longer in contact with the ground, it no longer provides power to the rotating shaft 154. At this time, the torsion spring 182 causes the rotating shaft 154 to rotate in the opposite direction. Due to the ratchet mechanism 18, the gear ring 153 does not rotate temporarily when the rotating shaft 154 rotates, until the gear ring 153 re-engages with the fifth rack 155. When the fifth rack 155 is pulled back by the tension of the second spring 156, the collecting shell 152 moves closer to the roller 183, causing the scraper 158 on the upper part of the collecting shell 152 to contact the surface of the roller 183, scraping the sticky impurities on the surface of the roller 183 into the receiving box 157. After the device has been used for a period of time, the receiving box 157 can be disassembled and the impurities inside can be cleaned so that the device can continue to be used.

[0026] Specifically, the steering reduction mechanism 6 includes a steering motor 31 and a coupling 32. The coupling 32 is fixedly mounted on the mounting base 5. The steering motor 31 is mounted on one side of the coupling 32, and the output end of the steering motor 31 is connected to the input end of the coupling 32. An upper steering knuckle 33 is fixedly connected to the output end of the coupling 32, and the upper steering knuckle 33 is rotatably connected to the mounting base 5. Two shock absorbers 34 are fixedly connected below the upper steering knuckle 33. A lower steering knuckle 35 is fixedly mounted on the two shock absorbers 34. One side of the lower steering knuckle 35 is fixedly connected to the input end of the hub motor 7, and the other side of the lower steering knuckle 35 is fixedly connected to the first slide rod 11. The hub motor 7 also has a braking function, mainly using electromagnetic braking and energy recovery to improve the driving range. In emergency braking situations requiring short braking distances, the integrated mechanical braking structure performs mechanical braking under the control of the controller, thereby achieving short-distance braking. Furthermore, when the base 1 of this device turns, the wire-controlled chassis assembly 3 on the mounting seat 5 is not directly connected to the robot's fixed body, and there are no other linkages occupying the rotation space. Therefore, the rotation angle of the coupling 32 is not limited by the structure and can achieve a turning angle of ≥360°. Based on these functions, vehicles using this device can achieve four-wheel independent suspension, four-wheel independent drive, and four-wheel independent steering, ensuring that the vehicle can turn at any angle and drive with zero turning radius. It also has strong versatility and a simple mechanical connection structure between modules. The overall vehicle size can be changed by changing the length of the aluminum profiles used to connect the modules while keeping the modules themselves unchanged. Since the core components of the base 1 remain unchanged, the workload of design, development, manufacturing, and verification is reduced, thereby increasing the development speed of new models and reducing development costs.

[0027] Specifically, the transmission assembly 10 includes a first rotating shaft 84, a second rotating shaft 85, and a third rotating shaft 86 rotatably connected to the inner wall of the fixed housing 8. The first rotating shaft 84 and the first sliding groove 81 are located at the same end of the fixed housing 8, and the second rotating shaft 85 is located at the other end of the fixed housing 8. A first gear 87 and a first bevel gear 88 are coaxially arranged on the first rotating shaft 84, a second gear 89 is coaxially arranged on the second rotating shaft 85, and a third gear 810 and a second bevel gear 81 are coaxially arranged on the third rotating shaft 86. 1. A third rack 812 is slidably connected within the second slide groove 82, and the third rack 812 is fixedly connected to the U-shaped rod 14. A fourth rack 813 is slidably connected within the third slide groove 83, and the fourth rack 813 is fixedly connected to the L-shaped rod 16. The first bevel gear 88 meshes with the second bevel gear 811, the first gear 87 meshes with the first rack 12, the second gear 89 meshes with both the second rack 13 and the third rack 812, and the third gear 810 meshes with the fourth rack 813. Through the transmission assembly 10, the collecting rod 15 and the impurity removal plate 17 can move simultaneously. This not only removes sticky impurities from the front tire 2 through the impurity removal plate 17, but also collects the sticky impurities that have fallen off the front tire 2 through the collecting rod 15, preventing the rear tire 2 from continuing to be covered with sticky impurities. This ensures the robot can move smoothly and improves the overall practicality of the device.

[0028] Specifically, the collecting rod 15 includes a rod frame 151, a collecting shell 152, a toothed ring 153, a rotating shaft 154, and a ratchet mechanism 18. The upper end of the rod frame 151 is slidably connected to the U-shaped rod 14, and a third spring 159 is fixedly connected to one end of the rod frame 151. The collecting shell 152 is slidably connected to one side of the rod frame 151. The toothed ring 153 is rotatably connected to the inner wall of one side of the rod frame 151, and a plurality of ratchet teeth 181 are provided on the inner wall of the toothed ring 153. The rotating shaft 154 is rotatably connected to the rod frame 151, and torsion springs 182 are provided at both ends of the rotating shaft 154. The ratchet mechanism 18 is provided at one end of the rotating shaft 154, and a roller 183 is fixedly installed in the middle of the rotating shaft 154. The collecting rod 15 moves downward. After the roller 183 below the collecting rod 15 contacts the ground, the collecting rod 15 can continue to move downward due to the action of the third spring 159, so that the roller 183 can continue to roll on the ground and collect the sticky impurities scraped off the front tire 2.

[0029] Specifically, the ratchet mechanism 18 includes a collar 184. A plurality of limiting blocks 185 are provided at one end of the collar 184 relative to the ratchet teeth 181. Each limiting block 185 has a fourth sliding groove 186, and a pawl 187 is slidably connected in each fourth sliding groove 186. A first spring 188 is provided at one end of each pawl 187 near the corresponding collar 184. Through the ratchet mechanism 18 on the rotating shaft 154, when the rotating shaft 154 rotates, the pawl 187 opens outward due to centrifugal force, engaging with the ratchet teeth 181 on the inner wall of the toothed ring 153, driving the toothed ring 153 to rotate. The fifth rack 155 engages with the toothed ring 153, causing the fifth rack 155 to slide outward from the roller 183. This ensures that when the roller 183 rolls and contacts the ground, the collecting shell 152 remains away from the roller 183, guaranteeing stable operation of the device.

[0030] Specifically, a fifth rack 155 is fixedly installed at one end of the collection shell 152. The fifth rack 155 is slidably connected to the inner wall of the rod frame 151, and a second spring 156 is fixedly connected to one end of the fifth rack 155. The fifth rack 155 meshes with the toothed ring 153. A receiving box 157 is provided inside the collection shell 152. One end of the receiving box 157 passes through the collection shell 152, and the receiving box 157 and the collection shell 152 are detachably connected by bolts. A scraper 158 is fixedly installed on the upper part of the collection shell 152, and the bottom of the scraper 158 is in contact with the outer surface of the roller 183. Once the roller 183 is no longer in contact with the ground, it no longer provides power to the rotating shaft 154. At this time, the torsion spring 182 causes the rotating shaft 154 to rotate in the opposite direction. Due to the ratchet mechanism 18, the gear ring 153 does not rotate temporarily when the rotating shaft 154 rotates, until the gear ring 153 re-engages with the fifth rack 155. When the fifth rack 155 is pulled back by the pulling force of the second spring 156, the collecting shell 152 moves closer to the roller 183, so that the scraper 158 on the upper part of the collecting shell 152 contacts the surface of the roller 183, scraping the sticky impurities on the surface of the roller 183 into the receiving box 157. After the device has been used for a period of time, the receiving box 157 can be disassembled and the impurities inside can be cleaned so that the device can continue to be used.

[0031] Specifically, a counterweight 19 is fixedly installed at the end of the first slide rod 11 away from the fixed box 8. The counterweight 19 keeps the gravity at both ends of the first slide rod 11 balanced, preventing the first slide rod 11 from shifting during movement, ensuring stable use of the device and improving the overall practicality of the device. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-functional service robot chassis, comprising a base (1) and four tires (2) symmetrically arranged on both sides of the base (1), characterized in that, Each tire (2) is connected to the base (1) with a drive-by-wire chassis assembly (3). The drive-by-wire chassis assembly (3) includes a connecting beam (4), a mounting base (5), a steering reduction mechanism (6), and a hub motor (7). The connecting beam (4) is fixedly connected to the base (1). The mounting base (5) is fixedly mounted on the connecting beam (4). The steering reduction mechanism (6) is disposed through the mounting base (5). The input end of the hub motor (7) is connected to the steering reduction mechanism (6). The output end of the hub motor (7) is fixedly mounted on the hub of the tire (2). Fixing boxes (8) are provided on both sides of the base (1). Each fixing box (8) has a first sliding groove (81), a second sliding groove (82), and a third sliding groove (83) on its outer wall. A first slide rod (11) is slidably connected in the groove (81). A first rack (12) and a second rack (13) are fixedly installed at one end of the first slide rod (11). A U-shaped rod (14) is slidably connected in the second slide groove (82). A collecting rod (15) is fixedly installed at one end of the U-shaped rod (14). An L-shaped rod (16) is slidably connected in the third slide groove (83). A cleaning plate (17) is fixedly installed at one end of the L-shaped rod (16). Fixing blocks (9) are fixedly installed on both sides of the base (1). The two cleaning plates (17) are slidably connected to the two fixing blocks (9) respectively. A transmission assembly (10) is provided in the fixed box (8). The U-shaped rod (14) and the L-shaped rod (16) are driven and cooperated with the first slide rod (11) through the transmission assembly (10).

2. The multi-functional service robot chassis according to claim 1, characterized in that, The steering reduction mechanism (6) includes a steering motor (31) and a coupling (32). The coupling (32) is fixedly mounted on the mounting base (5). The steering motor (31) is mounted on one side of the coupling (32), and the output end of the steering motor (31) is connected to the input end of the coupling (32). The output end of the coupling (32) is fixedly connected to an upper steering knuckle (33), and the upper steering knuckle (33) is rotatably connected to the mounting base (5). Two shock absorbers (34) are fixedly connected below the upper steering knuckle (33). A lower steering knuckle (35) is fixedly mounted on the two shock absorbers (34). One side of the lower steering knuckle (35) is fixedly connected to the input end of the hub motor (7), and the other side of the lower steering knuckle (35) is fixedly connected to the first slide rod (11).

3. The multi-functional service robot chassis according to claim 1, characterized in that, The transmission assembly (10) includes a first rotating shaft (84), a second rotating shaft (85), and a third rotating shaft (86) rotatably connected to the inner wall of the fixed box (8). The first rotating shaft (84) and the first sliding groove (81) are located at the same end of the fixed box (8), and the second rotating shaft (85) is located at the other end of the fixed box (8). A first gear (87) and a first bevel gear (88) are coaxially arranged on the first rotating shaft (84), a second gear (89) is coaxially arranged on the second rotating shaft (85), and a third gear (810) and a second bevel gear (811) are coaxially arranged on the third rotating shaft (86). The third rack (812) is slidably connected in the second groove (82), and the third rack (812) is fixedly connected to the U-shaped rod (14). The fourth rack (813) is slidably connected in the third groove (83), and the fourth rack (813) is fixedly connected to the L-shaped rod (16). The first bevel gear (88) meshes with the second bevel gear (811), the first gear (87) meshes with the first rack (12), the second gear (89) meshes with the second rack (13) and the third rack (812) respectively, and the third gear (810) meshes with the fourth rack (813).

4. The multi-functional service robot chassis according to claim 1, characterized in that, The collecting rod (15) includes a rod frame (151), a collecting shell (152), a toothed ring (153), a rotating shaft (154), and a ratchet mechanism (18). The upper end of the rod frame (151) is slidably connected to a U-shaped rod (14), and a third spring (159) is fixedly connected to one end of the rod frame (151). The collecting shell (152) is slidably connected to one side of the rod frame (151). The toothed ring (153) is rotatably connected to the inner wall of one side of the rod frame (151), and several ratchet teeth (181) are provided on the inner wall of the toothed ring (153). The rotating shaft (154) is rotatably connected to the rod frame (151), and torsion springs (182) are provided at both ends of the rotating shaft (154). The ratchet mechanism (18) is provided at one end of the rotating shaft (154), and a roller (183) is fixedly installed in the middle of the rotating shaft (154).

5. A multi-functional service robot chassis according to claim 4, characterized in that, The ratchet mechanism (18) includes a collar (184), and a plurality of limiting blocks (185) are provided at one end of the collar (184) relative to the ratchet (181). Each limiting block (185) has a fourth sliding groove (186) in it, and a pawl (187) is slidably connected in each fourth sliding groove (186). Each pawl (187) has a first spring (188) at one end near the corresponding collar (184).

6. A multi-functional service robot chassis according to claim 4, characterized in that, A fifth rack (155) is fixedly installed at one end of the collection shell (152). The fifth rack (155) is slidably connected to the inner wall of the rod frame (151), and a second spring (156) is fixedly connected to one end of the fifth rack (155). The fifth rack (155) meshes with the toothed ring (153). A receiving box (157) is provided inside the collection shell (152). One end of the receiving box (157) penetrates the collection shell (152), and the receiving box (157) and the collection shell (152) are detachably connected by bolts. A scraper (158) is fixedly installed on the upper part of the collection shell (152). The bottom of the scraper (158) is in contact with the outer surface of the roller (183).

7. A multi-functional service robot chassis according to claim 1, characterized in that, A counterweight (19) is fixedly installed at the end of the first slide bar (11) away from the fixed box (8).

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