Walking device of service robot

Abstract

The utility model belongs to a walking device of a service robot, and discloses a walking device for improving the stability of a service robot body. The supporting component comprises a fixed saddle, walking wheels are arranged on the two sides of the fixed saddle, a first fixed shaft is installed at the bottom of the fixed saddle, a second fixed plate is installed at the bottom end of the first fixed shaft, the outer surface of the first fixed shaft is sleeved with a movable frame and a first spring, and a supporting plate is installed at the bottom of the movable frame. A first notch is formed in the bottom of the fixed saddle, a second fixed shaft is installed in the first notch, the outer surface of the second fixed shaft is sleeved with a movable part and a second spring, a first fixed plate is installed at the bottom of the fixed saddle, and a control motor is installed at the bottom of the first fixed plate; and a cam is mounted on an output shaft of the control motor. The supporting plate is driven to make extrusion contact with the ground, the contact area and friction force between the supporting plate and the ground are increased, and the service robot body is more stable.

Description

Technical Field

[0001] The utility model belongs to the technical field of service robots, in particular to a walking device of a service robot. Background Art

[0002] Service robots have functions such as intelligent navigation, voice interaction, and face recognition, and can demonstrate strong practical value in many service fields. Service robots can play a role in many fields such as catering, hotels, medical care, education, home and security. The application range of service robots is very wide. They are semi-autonomous or fully autonomous robots that can complete service work that is beneficial to human health.

[0003] Service robots usually use roller structures to move. Since the contact area between the roller structure and the ground is small, the friction between the service robot and the ground is low. When the user operates or maintains the screen of the service robot, it will cause a thrust on the service robot. At this time, it is difficult for the service robot to remain stationary, causing the service robot to slide easily. Therefore, the stability of the service robot is low when it is stationary, affecting the user's operation. Utility Model Content

[0004] In order to solve the problems raised in the above background technology, the utility model provides a walking device of a service robot, which has the advantage of being able to maintain stability during operation.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a walking device of a service robot includes a service robot body and also includes:

[0006] A supporting component, which is arranged at the bottom of the service robot body and is used to improve the stability of the service robot body;

[0007] Among them, the supporting component includes a fixed seat, walking wheels are arranged on both sides of the fixed seat, a first fixed shaft is installed at the bottom of the fixed seat, a second fixed plate is installed at the bottom end of the first fixed shaft, a movable frame and a first spring are sleeved on the outer surface of the first fixed shaft, a supporting plate is installed at the bottom of the movable frame, a first slot is opened at the bottom of the fixed seat, a second fixed shaft is installed inside the first slot, a movable part and a second spring are sleeved on the outer surface of the second fixed shaft, a first fixed plate is installed at the bottom of the fixed seat, a control motor is installed at the bottom of the first fixed plate, and a cam is installed on the output shaft of the control motor.

[0008] Preferably, a chamfer is provided at the bottom of the movable member, and the movable member is in extrusion contact with the movable frame.

[0009] Preferably, the second spring is elastically supported between the first notch and the movable member.

[0010] Preferably, the cam is in press contact with the movable member.

[0011] Preferably, the bottom of the support plate is corrugated, and the support plate can contact the ground when moving downward.

[0012] Preferably, the first spring is elastically supported between the movable frame and the second fixed plate.

[0013] Preferably, a movable rod is installed on the top of the second fixed plate, the top end of the movable rod is connected to a connecting plate, a second slot is opened inside the fixed seat, a movable ring and a return spring are sleeved inside the second slot, a connecting rod is installed in the middle of the movable ring, and a pressure plate is installed at the bottom end of the connecting rod.

[0014] Preferably, the return spring is elastically supported between the second notch and the movable ring, and the connecting plate is in compression contact with the connecting rod.

[0015] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0016] The utility model controls the operation of the motor to make the cam rotate, so that the cooperation between the cam and the movable part can drive the movable part to move along the outer surface of the second fixed axis. At the same time, through the cooperation between the movable part and the movable frame, when the chamfer of the movable part squeezes the movable frame, the movable frame will be driven to move downward along the outer surface of the first fixed axis and drive the support plate, and then the support plate can be driven to squeeze and contact with the ground, thereby increasing the contact area and friction with the ground, making the service robot body more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure 2 It is a partial cross-sectional structural schematic diagram of the side of the utility model;

[0019] Figure 3 For this utility model Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0020] Figure 4 It is a partial cross-sectional structural schematic diagram of the front side of the utility model;

[0021] Figure 5 For this utility model Figure 4 Schematic diagram of the enlarged structure at point B in the middle.

[0022] In the figure: 1. service robot body; 2. fixed seat; 3. walking wheel; 4. first fixed axis; 5. movable frame; 6. first spring; 7. support plate; 8. first notch; 9. second fixed axis; 10. movable part; 11. second spring; 12. first fixed plate; 13. control motor; 14. cam; 15. second fixed plate; 16. movable rod; 17. connecting plate; 18. second notch; 19. connecting rod; 20. movable ring; 21. reset spring; 22. pressure plate. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] like Figures 1 to 5 As shown, the utility model provides a walking device of a service robot, including a service robot body 1, and also includes:

[0025] A supporting component, which is arranged at the bottom of the service robot body 1 and is used to improve the stability of the service robot body 1;

[0026] Among them, the supporting component includes a fixed seat 2, both sides of the fixed seat 2 are provided with walking wheels 3, a first fixed shaft 4 is installed at the bottom of the fixed seat 2, a second fixed plate 15 is installed at the bottom end of the first fixed shaft 4, a movable frame 5 and a first spring 6 are sleeved on the outer surface of the first fixed shaft 4, a support plate 7 is installed at the bottom of the movable frame 5, a first slot 8 is opened at the bottom of the fixed seat 2, a second fixed shaft 9 is installed inside the first slot 8, a movable part 10 and a second spring 11 are sleeved on the outer surface of the second fixed shaft 9, a first fixed plate 12 is installed at the bottom of the fixed seat 2, a control motor 13 is installed at the bottom of the first fixed plate 12, and a cam 14 is installed on the output shaft of the control motor 13.

[0027] By controlling the operation of the motor 13, the cam 14 will rotate, so that the cam 14 and the movable part 10 can cooperate to drive the movable part 10 to move along the outer surface of the second fixed axis 9. At the same time, through the cooperation between the movable part 10 and the movable frame 5, when the chamfer of the movable part 10 squeezes the movable frame 5, it will drive the movable frame 5 to move downward along the outer surface of the first fixed axis 4 and drive the support plate 7, and then the support plate 7 can be driven to squeeze and contact with the ground, thereby increasing the contact area and friction with the ground, making the service robot body 1 more stable.

[0028] The bottom of the movable member 10 is provided with a chamfer, and the movable member 10 is in extrusion contact with the movable frame 5 .

[0029] By setting the chamfer at the bottom of the movable part 10, when the movable part 10 squeezes the movable frame 5, its inclined surface will gradually drive the movable frame 5 to move downward along the outer surface of the first fixed axis 4, so that the support plate 7 can be driven by the movable frame 5 to be squeezed against the ground, and when the service robot body 1 is subjected to thrust, it can be prevented from sliding, thereby facilitating the user's operation.

[0030] The second spring 11 is elastically supported between the first notch 8 and the movable member 10 .

[0031] Through the design of the second spring 11, the movable part 10 has good elastic reset performance. At this time, since the second spring 11 is in a compressed state, it will apply an elastic force to the movable part 10, so that when the cam 14 releases the pressure on the movable part 10, it will drive the movable part 10 to release the pressure on the movable frame 5.

[0032] The cam 14 is in press contact with the movable member 10 .

[0033] Through the cooperation between the cam 14 and the movable part 10, when the cam 14 rotates to squeeze the movable part 10, the movable part 10 will move along the outer surface of the second fixed shaft 9 and squeeze the movable frame 5, so that the movable frame 5 moves downward along the outer surface of the first fixed shaft 4 and drives the support plate 7 to contact the ground.

[0034] The bottom of the support plate 7 is corrugated, and the support plate 7 can contact the ground when moving downward.

[0035] By setting the corrugations at the bottom of the support plate 7, the bottom of the support plate 7 is made rougher, which can increase the friction of the support plate 7 when the support plate 7 contacts the ground. Therefore, when the service robot body 1 remains stationary, the stability of the service robot body 1 can be improved to avoid movement when it is operated.

[0036] The first spring 6 is elastically supported between the movable frame 5 and the second fixed plate 15 .

[0037] Through the design of the first spring 6, the movable frame 5 has good elastic reset performance. At this time, since the first spring 6 is in a compressed state, it will apply an elastic force to the movable frame 5. When the cam 14 releases the squeeze on the movable part 10, the first spring 6 will apply an upward thrust to the movable frame 5, thereby driving the movable frame 5 to move upward along the outer surface of the first fixed axis 4 and drive the support plate 7 to separate from the ground, and then when the service robot body 1 moves, it can control the support plate 7 to separate from the ground, so that it can move normally.

[0038] Among them, a movable rod 16 is installed on the top of the second fixed plate 15, and the top end of the movable rod 16 is connected to a connecting plate 17. A second slot 18 is opened inside the fixed seat 2, and a movable ring 20 and a return spring 21 are sleeved inside the second slot 18. A connecting rod 19 is installed in the middle of the movable ring 20, and a pressure plate 22 is installed at the bottom end of the connecting rod 19.

[0039] When the second fixed plate 15 moves downward, a pulling force will be applied to the movable rod 16, so that when the movable rod 16 pulls the second fixed plate 15, the second fixed plate 15 will cause a pressure on the connecting rod 19. At the same time, through the cooperation between the movable ring 20 and the second slot 18, the movable ring 20 will move along the inner wall of the second slot 18, and then can drive the pressure plate 22 to be squeezed with the ground, which can limit 1 from shaking back and forth.

[0040] The return spring 21 is elastically supported between the second notch 18 and the movable ring 20 , and the connecting plate 17 is in compression contact with the connecting rod 19 .

[0041] Through the design of the reset spring 21, the movable ring 20 has good elastic reset performance. At this time, since the reset spring 21 is in a compressed state, it will apply an elastic force to the movable ring 20, so that when the connecting plate 17 releases the squeeze on the connecting rod 19, it can drive the pressure plate 22 to separate from the ground.

[0042] The working principle and use process of this utility model:

[0043] When the service robot body 1 stops moving, the control motor 13 will start to run to control the cam 14 to rotate, so that the cam 14 and the movable part 10 can cooperate to push the movable part 10 to move along the outer surface of the second fixed axis 9. When the movable part 10 moves, it will be squeezed with the movable frame 5. When the chamfer of the movable part 10 squeezes the movable frame 5, it will drive the movable frame 5 to move downward along the outer surface of the first fixed axis 4 and drive the support plate 7, and then the service robot body 1 can be made more stable by driving the support plate 7 to be squeezed into contact with the ground.

[0044] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A walking device of a service robot, comprising a service robot body (1), characterized in that: Also includes: A supporting component, which is arranged at the bottom of the service robot body (1) and is used to improve the stability of the service robot body (1); The supporting component comprises a fixed seat (2), both sides of which are provided with walking wheels (3), a first fixed shaft (4) is installed at the bottom of the fixed seat (2), a second fixed plate (15) is installed at the bottom end of the first fixed shaft (4), a movable frame (5) and a first spring (6) are sleeved on the outer surface of the first fixed shaft (4), a supporting plate (7) is installed at the bottom of the movable frame (5), a first notch (8) is opened at the bottom of the fixed seat (2), a second fixed shaft (9) is installed inside the first notch (8), a movable part (10) and a second spring (11) are sleeved on the outer surface of the second fixed shaft (9), a first fixed plate (12) is installed at the bottom of the fixed seat (2), a control motor (13) is installed at the bottom of the first fixed plate (12), and a cam (14) is installed on the output shaft of the control motor (13).

2. The walking device of the service robot according to claim 1, characterized in that: The bottom of the movable part (10) is provided with a chamfer, and the movable part (10) is in extrusion contact with the movable frame (5).

3. The walking device of the service robot according to claim 1, characterized in that: The second spring (11) is elastically supported between the first notch (8) and the movable member (10).

4. The walking device of the service robot according to claim 1, characterized in that: The cam (14) is in press contact with the movable part (10).

5. The walking device of the service robot according to claim 1, characterized in that: The bottom of the support plate (7) is corrugated, and the support plate (7) can contact the ground when moving downward.

6. The walking device of the service robot according to claim 1, characterized in that: The first spring (6) is elastically supported between the movable frame (5) and the second fixed plate (15).

7. The walking device of the service robot according to claim 1, characterized in that: A movable rod (16) is installed on the top of the second fixed plate (15), and the top end of the movable rod (16) is connected to a connecting plate (17). A second notch (18) is opened inside the fixed seat (2), and a movable ring (20) and a return spring (21) are sleeved inside the second notch (18). A connecting rod (19) is installed in the middle of the movable ring (20), and a pressure plate (22) is installed at the bottom end of the connecting rod (19).

8. The walking device of the service robot according to claim 7, characterized in that: The return spring (21) is elastically supported between the second notch (18) and the movable ring (20), and the connecting plate (17) is in compression contact with the connecting rod (19).

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