Humanoid robot chassis

Abstract

The utility model is suitable for the technical field of robot chassis, and provides a humanoid robot chassis. A chassis body; the crawler belts are arranged on the side face of the chassis body in a bilateral symmetry mode; the first storage grooves are symmetrically formed in the front side and the rear side of the middle of the chassis body; the turnover plate is movably hinged to the interior of the first storage groove; the roller is movably hinged to the top of the turnover plate; and a traction structure. Compared with the prior art, the robot has the advantages that when the robot is used, the traction structure is arranged, so that the overturning plate on the front side or the rear side can be controlled to be opened and then make contact with the ground when the robot goes uphill or downhill, the supporting area is enlarged, and therefore the situation that the robot is unbalanced in gravity center, and consequently the robot is damaged is avoided. And forward or backward collapse is caused, so that the robot is damaged.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot chassis, and in particular relates to a humanoid robot chassis. Background Art

[0002] A robot is an automated machine that assists or even replaces humans in completing dangerous, heavy, and complex tasks, improves work efficiency and quality, serves human life, and expands the scope of human activities and capabilities.

[0003] When the robot moves, it moves through the chassis, and the robot chassis of different working environments will select the corresponding chassis according to the different working environments to facilitate movement. However, the stability performance of the existing robot chassis is average, and after the robot body is installed, the center of gravity is high, which causes the center of gravity to shift when going uphill or downhill, and then it is easy to tilt forward or backward, resulting in unnecessary losses and reducing the actual use effect.

[0004] Therefore, how to provide a humanoid robot chassis is a problem that those skilled in the art need to solve urgently. Utility Model Content

[0005] The purpose of the utility model is to provide a humanoid robot chassis, aiming to solve the problems mentioned in the background technology.

[0006] The utility model is implemented as follows: a humanoid robot chassis comprises:

[0007] Chassis body;

[0008] A crawler track, wherein the crawler track is symmetrically arranged on the side of the chassis body;

[0009] A first storage slot, wherein the first storage slot is symmetrically arranged at the front and rear sides of the middle of the chassis body;

[0010] A flip plate, the flip plate being movably hinged inside the first receiving groove;

[0011] A roller, the roller being movably hinged on the top of the flip plate;

[0012] The traction structure is arranged at the lower end of the middle part of the chassis body and is movably hinged with the inner side of the flip plate.

[0013] Preferably, the bottom of the chassis body is symmetrically provided with second receiving grooves, the tops of the two second receiving grooves are provided with lifting grooves, and the insides of the two second receiving grooves and the lifting grooves are both provided with limiting structures;

[0014] The limiting structure includes a telescopic rod, a lifting plate, a hinged plate and a second positioning plate. The telescopic rod is fixedly installed inside the lifting slot. The second positioning plate is symmetrically hinged inside the second storage slot. The lifting plate is movably hinged to the middle part of the inner side of the second positioning plate. The hinged plate is fixedly installed at the bottom of the telescopic rod and is movably hinged to the top of the lifting plate.

[0015] Preferably, the traction structure includes a slide slot, a slide rail, a tooth plate, a driving gear, a displacement screw and a lifting slot, the slide slot is opened on the inner side of the flip plate, the slide slot is movably hinged with a sliding block, the bottom of the chassis body is opened with a movable slot, the slide rail is fixedly installed at the upper end of the middle of the movable slot, a slide plate is movably installed on the surface of the slide rail, the driving gear is slidably installed on the surface of the slide, the displacement screw is movably installed on the left side of the movable slot and is threadedly connected with the driving gear, the tooth plate is symmetrically arranged with the driving gear as the center, and screw rods are symmetrically installed on the front and rear sides of the tooth plate, the front end of the screw rod on the left side and the rear end of the screw rod on the right side are respectively fixedly connected to the sliding blocks on the front and rear sides, the rear end of the screw rod on the left side and the front end of the screw rod on the right side are both fixedly installed with a first positioning plate, and springs are arrayed on the outer sides of the first positioning plates on the front and rear sides and fixedly connected with the movable slot.

[0016] Preferably, the distance between the tooth plates on the left and right sides is greater than the diameter of the driving gear, and when the driving gear moves to the middle, it does not contact the tooth plates on the left and right sides.

[0017] Preferably, the second positioning plate on the front side is tilted backwards, and the second positioning plate on the rear side is tilted forwards.

[0018] Preferably, the cross-sectional size of the flip plate is equal to the cross-sectional size of the first receiving groove, and the thickness of the flip plate is equal to the thickness of the first receiving groove.

[0019] Preferably, the sum of the combined lengths of the second positioning plates is smaller than the length of the second receiving slot, and the width of the second positioning plates is equal to the width of the second receiving slot.

[0020] Compared with the prior art, the utility model has the following beneficial effects: when in use, by setting up a traction structure, the front or rear flip plate can be controlled to open and then contact the ground when going uphill or downhill, thereby expanding the support area, thereby avoiding the robot's center of gravity being unbalanced, resulting in forward or backward collapse, and causing damage to the robot.

[0021] At the same time, by symmetrically setting a limiting structure at the bottom of the chassis body, when the chassis body moves to the specified position through the track, the limiting structure is activated to limit the position, thereby preventing the robot from moving after moving to the specified place due to a large external force. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 A schematic diagram of the overall appearance structure of a humanoid robot chassis provided by an embodiment of the utility model;

[0024] Figure 2 A right side cross-sectional structural diagram of a humanoid robot chassis provided by an embodiment of the utility model;

[0025] Figure 3 A schematic diagram of the front cross-sectional structure of a humanoid robot chassis provided by an embodiment of the utility model;

[0026] Figure 4 A schematic diagram of a rear cross-sectional structure of a humanoid robot chassis provided in an embodiment of the utility model;

[0027] Figure 5 A schematic top view of the cross-sectional structure of a humanoid robot chassis provided in an embodiment of the utility model.

[0028] In the figure: 1-chassis body, 2-track, 3-first receiving groove, 4-flip plate, 5-roller, 6-slide groove, 7-slider, 8-movable groove, 9-screw, 10-first positioning plate, 11-spring, 12-tooth plate, 13-driving gear, 14-lifting groove, 15-telescopic rod, 16-lifting plate, 17-hinge plate, 18-second positioning plate, 19-second receiving groove, 20-slide rail, 21-displacement screw, 22-slide plate. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0030] The specific implementation of the present utility model is described in detail below in conjunction with specific embodiments.

[0031] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 FIG. 1 is a schematic diagram of a humanoid robot chassis provided by an embodiment of the utility model, comprising:

[0032] Chassis body 1;

[0033] The crawler track 2 is symmetrically arranged on the side of the chassis body 1;

[0034] A first receiving slot 3, which is symmetrically arranged at the front and rear sides of the middle of the chassis body 1;

[0035] A flip plate 4, which is movably hinged inside the first receiving groove 3;

[0036] Roller 5, roller 5 is movably hinged on the top of flip plate 4;

[0037] The traction structure is arranged at the lower end of the middle part of the chassis body 1 and is movably hinged to the inner side of the flip plate 4.

[0038] In the embodiment of the utility model, when in use, the chassis body 1 is moved by the crawler 2, and then when going uphill or downhill, the traction structure is activated to open the flip plate 4, and then the roller 5 is in contact with the ground, so as to facilitate going uphill or downhill;

[0039] By setting up a traction structure, when going uphill or downhill, the front or rear flip plate 4 can be controlled to open and then contact the ground, so that the supporting area is expanded, thereby preventing the robot from losing its center of gravity and causing it to collapse forward or backward, causing damage to the robot.

[0040] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, as a preferred embodiment of the utility model, the bottom of the chassis body 1 is symmetrically provided with second receiving grooves 19, the tops of the two second receiving grooves 19 are provided with lifting grooves 14, and the insides of the two second receiving grooves 19 and the lifting grooves 14 are both provided with limiting structures;

[0041] The limiting structure includes a telescopic rod 15, a lifting plate 16, a hinged plate 17 and a second positioning plate 18. The telescopic rod 15 is fixedly installed inside the lifting groove 14. The second positioning plate 18 is symmetrically hinged to the inside of the second storage groove 19. The lifting plate 16 is movably hinged to the middle part of the inner side of the second positioning plate 18. The hinged plate 17 is fixedly installed at the bottom of the telescopic rod 15 and is movably hinged to the top of the lifting plate 16.

[0042] In the embodiment of the utility model, when the chassis body 1 moves to the specified position through the crawler 2, the telescopic rod 15 in the lifting slot 14 is started, thereby driving the lifting plate 16 to descend, and then driving the hinge plate 17 to move downward, and driving the second positioning plate 18 to rotate and open until it contacts the ground, so that the chassis body 1 can no longer move;

[0043] By setting a limit structure, the robot can be prevented from moving when it is subjected to a large external force after being designated to a designated location.

[0044] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, as a preferred embodiment of the utility model, the traction structure includes a slide groove 6, a slide rail 20, a tooth plate 12, a driving gear 13, a displacement screw 21 and a lifting groove 14. The slide groove 6 is opened on the inner side of the flip plate 4, and a slider 7 is movably hinged inside the slide groove 6. A movable groove 8 is opened at the bottom of the chassis body 1, and the slide rail 20 is fixedly installed at the upper end of the middle of the movable groove 8. A slide plate 22 is movably installed on the surface of the slide rail 20, and the driving gear 13 is slidably installed on the surface of the slide plate 22. The displacement screw 21 is movably installed on the left side of the movable groove 8 and is threadedly connected with the driving gear 13. The tooth plate 12 is symmetrically arranged with the driving gear 13 as the center, and screw rods 9 are symmetrically installed on the front and rear sides of the tooth plate 12. The front end of the left screw rod 9 and the rear end of the right screw rod 9 are respectively fixedly connected to the sliders 7 on the front and rear sides, and the rear end of the left screw rod 9 and the front end of the right screw rod 9 are both fixedly installed with a first positioning plate 10, and the outer sides of the first positioning plates 10 on the front and rear sides are arrayed with springs 11, which are fixedly connected to the movable groove 8.

[0045] In the embodiment of the utility model, when going downhill, the driving gear 13 is meshed and connected with the left tooth plate 12, and then the driving gear 13 is started, so that the left tooth plate 12 moves forward, and then drives the left screw rod 9 to move forward, so that the slider 7 no longer pulls the flip plate 4, so that the flip plate 4 moves out of the first storage groove 3, and then the slider 7 moves along the slide groove 6 on the inner side of the flip plate 4 until the roller 5 contacts the ground, thereby increasing the support area;

[0046] By providing the first positioning plate 10 and the spring 11, when the driving gear 13 is released from the meshing with the tooth plate 12, it is automatically reset to pull up the flip plate 4, thereby facilitating the movement.

[0047] like Figure 2 and Figure 5As shown, as a preferred embodiment of the utility model, the distance between the left and right tooth plates 12 is greater than the diameter of the driving gear 13, and when the driving gear 13 moves to the middle, it does not contact the left and right tooth plates 12.

[0048] In the embodiment of the utility model, when in use, by making the distance between the left and right side tooth plates 12 greater than the diameter value of the driving gear 13, and when the driving gear 13 moves to the middle, it does not contact the left and right side tooth plates 12, so that when the driving gear 13 moves left and right, it will only contact the tooth plate 12 on one side, so that the situation of both sides opening at the same time and affecting the movement will not occur.

[0049] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, as a preferred embodiment of the present utility model, the front second positioning plate 18 is tilted backward, and the rear second positioning plate 18 is tilted forward.

[0050] In the embodiment of the utility model, when in use, the front second positioning plate 18 is tilted backward and the rear second positioning plate 18 is tilted forward, so as to limit the forward and backward movement of the crawler 2 to avoid movement when subjected to external force and affect normal work.

[0051] like Figure 1 and Figure 2 As shown, as a preferred embodiment of the present utility model, the cross-sectional size of the flip plate 4 is equal to the cross-sectional size of the first receiving groove 3 , and the thickness value of the flip plate 4 is equal to the thickness value of the first receiving groove 3 .

[0052] In the embodiment of the utility model, when in use, by making the cross-sectional size of the flip plate 4 equal to the cross-sectional size of the first storage groove 3, and the thickness value of the flip plate 4 equal to the thickness value of the first storage groove 3, it is convenient to store and reduce the occupied space, thereby reducing obstacles during movement.

[0053] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, as a preferred embodiment of the present utility model, the sum of the combined lengths of the second positioning plates 18 is less than the length of the second receiving groove 19 , and the width of the second positioning plates 18 is equal to the width of the second receiving groove 19 .

[0054] In the embodiment of the utility model, when in use, by making the sum of the combined lengths of the second positioning plates 18 smaller than the length of the second receiving groove 19 and the width of the second positioning plates 18 equal to the width of the second receiving groove 19, storage is facilitated and obstacles to movement are reduced.

[0055] The above embodiment of the utility model provides a humanoid robot chassis, when in use, when going uphill or downhill, the displacement screw 21 is started, so that the driving gear 13 moves along the slide rail 20, thereby meshing and engaging with the left tooth plate 12 or the right tooth plate 12;

[0056] For example, when going downhill, the driving gear 13 is meshed with the left tooth plate 12, and then the driving gear 13 is started, so that the left tooth plate 12 moves forward, and then the left screw rod 9 moves forward, so that the slider 7 no longer pulls the flip plate 4, so that the flip plate 4 moves out of the first storage groove 3, and then the slider 7 moves along the slide groove 6 on the inner side of the flip plate 4 until the roller 5 contacts the ground, thereby increasing the support area, and then, when going downhill, the support area is expanded, thereby preventing the robot from losing its center of gravity and collapsing forward;

[0057] When going uphill, the driving gear 13 is meshed with the right toothed plate 12, and then the driving gear 13 is started, so that the right toothed plate 12 moves backward, and then drives the right screw rod 9 to move backward, so that the slider 7 no longer pulls the flip plate 4, so that the flip plate 4 moves out of the first storage groove 3, and then the slider 7 moves along the slide groove 6 on the inner side of the flip plate 4 until the roller 5 contacts the ground, thereby increasing the support area, and then, when going uphill, the support area is expanded, thereby avoiding the robot's center of gravity from being unbalanced and reducing the situation of collapsing backwards;

[0058] When the chassis body 1 moves to the designated position through the crawler track 2, the telescopic rod 15 in the lifting slot 14 is started, thereby driving the lifting plate 16 to descend, and then driving the hinged plate 17 to move downward, and driving the second positioning plate 18 to rotate and open until it contacts the ground, so that the chassis body 1 can no longer move, thereby preventing the robot from moving due to a large external force after being designated to the designated place.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A humanoid robot chassis, characterized in that: include; Chassis body (1); A crawler track (2), wherein the crawler track (2) is symmetrically arranged on the side of the chassis body (1); A first receiving groove (3), wherein the first receiving groove (3) is symmetrically arranged at the front and rear sides of the middle of the chassis body (1); A flip plate (4), the flip plate (4) being movably hinged inside the first receiving groove (3); A roller (5), wherein the roller (5) is movably hinged on the top of the flip plate (4); A traction structure is arranged at the lower end of the middle part of the chassis body (1) and is movably hinged to the inner side of the flip plate (4).

2. A humanoid robot chassis according to claim 1, characterized in that: The bottom of the chassis body (1) is symmetrically provided with second receiving grooves (19), the tops of the two second receiving grooves (19) are provided with lifting grooves (14), and the interiors of the two second receiving grooves (19) and the lifting grooves (14) are both provided with limiting structures; The limiting structure comprises a telescopic rod (15), a lifting plate (16), a hinged plate (17) and a second positioning plate (18); the telescopic rod (15) is fixedly mounted inside the lifting slot (14); the second positioning plate (18) is hinged symmetrically front and rearward inside the second receiving slot (19); the lifting plate (16) is movably hinged at the middle of the inner side of the second positioning plate (18); the hinged plate (17) is fixedly mounted at the bottom of the telescopic rod (15) and is movably hinged to the top of the lifting plate (16).

3. A humanoid robot chassis according to claim 1, characterized in that: The traction structure comprises a slide groove (6), a slide rail (20), a tooth plate (12), a driving gear (13), a displacement screw (21) and a lifting groove (14); the slide groove (6) is arranged on the inner side of the flip plate (4); a slider (7) is movably hinged inside the slide groove (6); a movable groove (8) is arranged at the bottom of the chassis body (1); the slide rail (20) is fixedly mounted at the upper end of the middle part of the movable groove (8); a slide plate (22) is movably mounted on the surface of the slide rail (20); the driving gear (13) is slidably mounted on the surface of the slide plate (22); the displacement screw (21) is movably hinged inside the slide groove (6); a movable groove (8) is arranged at the bottom of the chassis body (1); the slide rail (20) is fixedly mounted at the upper end of the middle part of the movable groove (8); a slide plate (22) is movably mounted on the surface of the slide rail (20); the displacement screw (21) is movably hinged inside the slide groove (6); a movable groove (8) is arranged at the bottom of the chassis body (1); the movable groove (8) is fixedly mounted at the upper end of the middle part of the movable groove (8); a slide plate (22) is movably mounted on the surface of the slide plate (2 ... movable slide plate (22) is movably mounted It is installed on the left side of the movable groove (8) and is threadedly connected to the driving gear (13). The tooth plate (12) is symmetrically arranged with the driving gear (13) as the center. The front and rear sides of the tooth plate (12) are symmetrically installed with screw rods (9). The front end of the left screw rod (9) and the rear end of the right screw rod (9) are respectively fixedly connected to the sliders (7) on the front and rear sides. The rear end of the left screw rod (9) and the front end of the right screw rod (9) are both fixedly installed with a first positioning plate (10). The outer sides of the first positioning plates (10) on the front and rear sides are both arranged with springs (11) in an array and are fixedly connected to the movable groove (8).

4. A humanoid robot chassis according to claim 3, characterized in that: The distance between the toothed plates (12) on the left and right sides is greater than the diameter of the driving gear (13), and when the driving gear (13) moves to the middle, it does not contact the toothed plates (12) on the left and right sides.

5. The humanoid robot chassis according to claim 2, characterized in that: The second positioning plate (18) at the front side is tilted backwards, and the second positioning plate (18) at the rear side is tilted forwards.

6. The humanoid robot chassis according to claim 1, characterized in that: The cross-sectional size of the flip plate (4) is equal to the cross-sectional size of the first receiving groove (3), and the thickness value of the flip plate (4) is equal to the thickness value of the first receiving groove (3).

7. The humanoid robot chassis according to claim 2, characterized in that: The sum of the lengths of the second positioning plates (18) after being combined is less than the length of the second receiving groove (19), and the width of the second positioning plates (18) is equal to the width of the second receiving groove (19).

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