Chassis adjusting mechanism of robot
By designing a robot chassis adjustment mechanism that includes a support disc, a rotary disc and a servo motor drive, the problem of excessive bearing capacity in the prior art is solved, and the flexibility of the robot's steering and the service life are extended.
Patent Information
- Application Number
- CN202421126220.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-22
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2034-05-22
AI Technical Summary
In the chassis rotation adjustment mechanism of existing robots, the bearing or rotary bearing load capacity is too large, resulting in damage and affecting service life.
A chassis adjustment mechanism including horizontal support disc and coaxial rotating disc is designed. The transmission shaft and walking wheel are driven by a servo motor to realize the steering of the robot, avoiding the direct bearing capacity of the bearing or the rotation shaft, and using an annular boss, The limit inner and outer rings, walking components and lifting components ensure rotational stability and sealing.
It effectively avoids the problem of bearings or shaft damage, extends the service life of the robot, and improves the flexibility and stability of steering, and has high market application value.
Smart Images
Figure CN222291869U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of robots, and particularly relates to a chassis adjusting mechanism of a robot. Background Art
[0002] At present, robots in the prior art generally need to be used with a chassis rotation adjustment mechanism during operation, and the chassis rotation adjustment mechanism of the robot is mostly connected by a bearing or a rotating shaft. When the robot is installed on the chassis rotation mechanism, the weight of the robot will directly act on the bearing or the rotating shaft, causing the bearing or the rotating shaft to have excessive bearing capacity and be damaged, seriously affecting its service life. Therefore, it is urgent to study a chassis adjustment mechanism of the robot to solve the above problem. Utility Model Content
[0003] The utility model provides a chassis adjustment mechanism for a robot, the purpose of which is to solve the technical problems raised in the above background technology.
[0004] In order to solve the above technical problems, the utility model is realized by the following technical solutions:
[0005] The utility model discloses a chassis adjustment mechanism of a robot, comprising a horizontally arranged support plate and a rotating plate coaxially arranged above the support plate; an annular boss is coaxially fixed to the upper surface of the support plate; an inner edge of the annular boss is coaxially fixed to a limited inner ring; an outer edge of the annular boss is coaxially fixed to a limited outer ring; a walking assembly is installed on the lower surface of the rotating plate; the walking assembly is arranged on the inner side of the limited outer ring; the walking assembly comprises a plurality of mounting plates vertically fixed to the lower surface of the rotating plate; a plurality of the mounting plates are connected to a transmission shaft for radial rotation along the rotating plate; a plurality of the transmission shafts are fixedly sleeved with a walking wheel at one end close to the limited outer ring; a plurality of the walking wheels are rollingly arranged on the upper surface of the annular boss, and a plurality of the walking wheels are arranged between the limited inner ring and the limited outer ring; a servo motor is horizontally fixed to at least one of the mounting plates, and an output shaft of the servo motor is coaxially connected to an end of the transmission shaft on the mounting plate away from the limited outer ring.
[0006] As a preferred technical solution of the utility model, the upper surface of the annular boss is provided with a plurality of limit tooth grooves evenly distributed radially; the lower surface of the rotating disk is vertically equipped with at least one lifting assembly; the lower part of the lifting assembly is vertically connected to a conical block corresponding to the limit tooth groove; the lifting assembly can drive the conical block to move downward so that the conical block can be inserted into any limit tooth groove.
[0007] As a preferred technical solution of the utility model, the lifting assembly includes a carrying cylinder vertically fixed to the lower surface of the rotating disk; an electromagnet is arranged in the upper port of the carrying cylinder; the lower end of the carrying cylinder is a closed structure, and a lifting column is vertically slidably inserted through the lower end of the carrying cylinder; the conical block is fixed to the lower end of the lifting column; an iron block corresponding to the electromagnet is fixed to the upper end of the lifting column; the lower surface of the iron block is connected to the lower end of the carrying cylinder by a tensioning spring; and the tensioning spring is sleeved on the outer periphery of the lifting column.
[0008] As a preferred technical solution of the utility model, a threaded sleeve is coaxially fixed on the upper surface of the support plate; a through hole corresponding to the threaded sleeve is vertically opened on the upper surface of the rotating plate; a positioning bolt is fitted in the gap in the through hole; the lower end thread of the positioning bolt is fitted in the threaded sleeve; and the nut of the positioning bolt is arranged above the rotating plate.
[0009] As a preferred technical solution of the utility model, a retaining ring is coaxially fixed to the lower surface of the rotating disk; the retaining ring is arranged on the outer periphery of the limiting outer ring, and the retaining ring and the limiting outer ring are gap-matched.
[0010] The utility model has the following beneficial effects:
[0011] The utility model connects the robot's collection system and grasping system to the rotating disk with bolts, and connects the robot's control system, walking system and power supply system to the supporting disk with bolts. When the robot needs to turn, the servo motor drives the transmission shaft to rotate, prompting the transmission shaft to drive the walking wheels to rotate, so that the walking wheels roll on the upper surface of the annular boss, thereby realizing the turning of the robot. This not only avoids the problem of damage to bearings or rotating shafts in the prior art, but also effectively prolongs the service life of the robot, and has a high market application value.
[0012] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0014] Figure 1 The utility model is a schematic diagram of the structure of a chassis adjustment mechanism of a robot.
[0015] Figure 2 for Figure 1The main view of the structure.
[0016] Figure 3 It is a structural schematic diagram of the walking assembly and the lifting assembly of the utility model being arranged between the supporting plate and the rotating plate.
[0017] Figure 4 It is a structural schematic diagram of the support plate of the utility model.
[0018] Figure 5 It is a structural schematic diagram of the walking assembly and the lifting assembly of the utility model being arranged on a rotating disk.
[0019] Figure 6 It is a structural schematic diagram of the walking assembly of the utility model being arranged between the supporting disk and the rotating disk.
[0020] Figure 7 It is a structural schematic diagram of the lifting assembly of the utility model being arranged between the supporting plate and the rotating plate.
[0021] Figure 8 It is a structural schematic diagram of the lifting assembly of the utility model.
[0022] Fig. 9 It is a structural schematic diagram of the power supply component of the utility model.
[0023] In the accompanying drawings, the components represented by the reference numerals are listed as follows:
[0024] 1-support plate, 2-rotating plate, 3-travel assembly, 4-lifting assembly, 5-conical block, 6-positioning bolt, 7-power supply assembly, 101-annular boss, 102-limiting tooth groove, 103-limiting inner ring, 104-limiting outer ring, 105-screw sleeve, 201-blocking ring, 202-through hole, 301-mounting plate, 302-transmission shaft, 303-travel wheel, 304-servo motor, 401-carrying cylinder, 402-electromagnet, 403-lifting column, 404-iron block, 405-tensioning spring, 701-first conductive ring, 702-second conductive ring, 703-power supply line, 704-power supply connector, 705-first transmission line, 706-second transmission line. DETAILED DESCRIPTION
[0025] 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 of 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.
[0026] Embodiment 1:
[0027] See also Figure 1-6 As shown, the utility model is a chassis adjustment mechanism of a robot, comprising a horizontally arranged support plate 1 and a rotating plate 2 coaxially arranged above the support plate 1; an annular boss 101 is coaxially fixed to the upper surface of the support plate 1; a limited inner ring 103 is coaxially fixed to the inner edge of the annular boss 101; a limited outer ring 104 is coaxially fixed to the outer edge of the annular boss 101; the support plate 1, the annular boss 101, the limited inner ring 103 and the limited outer ring 104 are an integrated structure; a walking assembly 3 is installed on the lower surface of the rotating plate 2; the walking assembly 3 is arranged on the inner side of the limited outer ring 104; the walking assembly 3 includes a plurality of mounting plates 301 vertically welded to the lower surface of the rotating plate 2; a plurality of mounting plates 301 are ... fixed to the lower surface of the rotating plate 2; a plurality of mounting plates 30 The mounting plates 301 are all connected with transmission shafts 302 for radial rotation along the rotating disk 2; the ends of the multiple transmission shafts 302 close to the limiting outer ring 104 are fixedly sleeved with conventional running wheels 303 in this field; the running wheels 303 adopt conventional anti-skid tires in this field; the multiple running wheels 303 are all rollingly arranged on the upper surface of the annular boss 101, and the multiple running wheels 303 are all arranged between the limiting inner ring 103 and the limiting outer ring 104; the servo motors 304 are connected with horizontal bolts on two mounting plates 301, and the output shaft of the servo motor 304 is coaxially connected with the end of the transmission shaft 302 on the mounting plate 301 away from the limiting outer ring 104 through a conventional coupling in this field. When in use, the robot's collection system and grasping system are bolted to the rotating disk 2, and the robot's control system, walking system and power supply system are bolted to the supporting disk 1. When the robot needs to turn, the servo motor 304 drives the transmission shaft 302 to rotate, prompting the transmission shaft 302 to drive the walking wheel 303 to rotate, so that the walking wheel 303 rolls on the upper surface of the annular boss 101, thereby realizing the turning of the robot. This not only avoids the problem of damage to the bearings or rotating shafts used in the prior art, but also effectively extends the service life of the robot.
[0028] Among them Figure 2-5 and Fig. 9 As shown, the upper surface of the support plate 1 is coaxially welded with a screw sleeve 105; the upper surface of the rotating plate 2 is vertically provided with a through hole 202 corresponding to the screw sleeve 105; the through hole 202 is gap-fitted with a positioning bolt 6; the lower end of the positioning bolt 6 is threadedly fitted in the screw sleeve 105; the nut of the positioning bolt 6 is arranged above the rotating plate 2. When in use, by passing the positioning bolt 6 through the through hole 202 and threading it in the screw sleeve 105, the nut of the positioning bolt 6 is arranged above the rotating plate 2, thereby ensuring the connection stability between the support plate 1 and the rotating plate 2, and effectively avoiding the problem that the support plate 1 is separated from the rotating plate 2.
[0029] Among them Figure 2-3 and Figure 5As shown, the lower surface of the rotating disk 2 is integrally formed with a coaxially arranged retaining ring 201; the retaining ring 201 is arranged on the outer periphery of the limiting outer ring 104, and the retaining ring 201 and the limiting outer ring 104 are in clearance fit; the lower surface horizontal position of the retaining ring 201 is lower than the upper surface horizontal position of the limiting outer ring 104. When in use, by arranging the retaining ring 201 on the outer periphery of the limiting outer ring 104 and designing the retaining ring 201 and the limiting outer ring 104 to be in clearance fit, a relatively sealed space can be formed between the supporting disk 1 and the rotating disk 2, thereby preventing the walking component 3 from being exposed.
[0030] Embodiment 2:
[0031] Based on Example 1, Figure 2-5 and Figure 7-8 As shown, the upper surface of the annular boss 101 is evenly distributed with a plurality of limiting tooth grooves 102 along the radial direction; the lower surface of the rotating disk 2 is vertically provided with a plurality of lifting assemblies 4 along the annular direction; the lower part of the lifting assemblies 4 is vertically connected with a conical block 5 corresponding to the limiting tooth groove 102; the lifting assemblies 4 can drive the conical block 5 to move downward so that the conical block 5 is inserted into any limiting tooth groove 102; the lifting assemblies 4 include a bearing cylinder 401 connected to the lower surface of the rotating disk 2 by vertical bolts; a conventional screw thread in the art is arranged in the upper port of the bearing cylinder 401 The electromagnet 402 is fixed to the lower surface of the rotating disk 2 by double-sided tape; the lower end of the supporting cylinder 401 is a closed structure, and the lower end of the supporting cylinder 401 is vertically slidably inserted with a lifting column 403; the conical block 5 is welded to the lower end of the lifting column 403; the upper end of the lifting column 403 is welded with an iron block 404 corresponding to the electromagnet 402; the lower surface of the iron block 404 is connected to the lower end of the supporting cylinder 401 by a tensioning spring 405; the tensioning spring 405 is sleeved on the outer periphery of the lifting column 403. When in use, after the robot is turned by the walking component 3, the electromagnet 402 is controlled to be powered off, so that the lifting column 403 moves downward under the elastic action of the tensioning spring 405, so that the conical block 5 is inserted into a limiting tooth groove 102, thereby locking the rotating disk 2 and avoiding problems such as rotation of the rotating disk 2; and when the robot needs to turn, the electromagnet 402 is controlled to be powered on, so that the lifting column 403 drives the conical block 5 to move upward, so that the conical block 5 is disengaged from the limiting tooth groove 102, thereby ensuring the rotation effect of the walking component 3 on the rotating disk 2.
[0032] Among them Figure 2-3 and Fig. 9As shown, the walking assembly 3 and the lifting assembly 4 are connected through the power supply assembly 7; the power supply assembly 7 includes a first conductive ring 701 fixedly sleeved on the outer periphery of the screw sleeve 105 and a second conductive ring 702 rotatably sleeved on the outer periphery of the screw sleeve 105; the first conductive ring 701 and the second conductive ring 702 are both conventional elements in the field; the lower surface of the first conductive ring 701 is in contact with the upper surface of the second conductive ring 702; the first conductive ring 701 is connected with a power supply line 703; one end of the power supply line 703 passes through the side wall of the screw sleeve 105 and is vertically inserted on the positioning bolt 6, and one end of the power supply line 703 is fixed with a conventional power supply connector 704 in the field; the second conductive ring 702 is connected with a first power transmission line 705 and a second power transmission line 706; the end of the first power transmission line 705 away from the second conductive ring 702 is connected to the power supply end of the servo motor 304; the end of the second power transmission line 706 away from the second conductive ring 702 is connected to the power supply end of the electromagnet 402. When in use, by connecting the power supply connector 704 to the power supply system of the robot, the servo motor 304 and the electromagnet 402 are powered by the power supply connector 704 via the power supply line 703, the first conductive ring 701, the second conductive ring 702, the first transmission line 705 and the second transmission line 706, thereby ensuring the use effect of the servo motor 304 and the electromagnet 402; at the same time, during the rotation of the rotating disk 2, the first transmission line 705 and the second transmission line 706 pull the second conductive ring 702 to rotate around the outer periphery of the screw sleeve 105, thereby ensuring the power supply effect to the servo motor 304 and the electromagnet 402.
[0033] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.
Claims
1. A chassis adjustment mechanism for a robot, characterized in that: It comprises a horizontally arranged support plate (1) and a rotating plate (2) coaxially arranged above the support plate (1); An annular boss (101) is coaxially fixed on the upper surface of the support disk (1); an inner limit ring (103) is coaxially fixed on the inner edge of the annular boss (101); an outer limit ring (104) is coaxially fixed on the outer edge of the annular boss (101); a travel assembly (3) is mounted on the lower surface of the rotating disk (2); the travel assembly (3) is arranged on the inner side of the limit outer ring (104); the travel assembly (3) comprises a plurality of mounting plates (301) vertically fixed to the lower surface of the rotating disk (2); a transmission shaft is connected to the plurality of mounting plates (301) so as to rotate radially along the rotating disk (2). (302); a plurality of the transmission shafts (302) are fixedly sleeved with a running wheel (303) at one end close to the limiting outer ring (104); a plurality of the running wheels (303) are rollingly arranged on the upper surface of the annular boss (101), and a plurality of the running wheels (303) are arranged between the limiting inner ring (103) and the limiting outer ring (104); a servo motor (304) is horizontally fixed on at least one of the mounting plates (301), and an output shaft of the servo motor (304) is coaxially connected to an end of the transmission shaft (302) on the mounting plate (301) away from the limiting outer ring (104).
2. The chassis adjustment mechanism of a robot according to claim 1, characterized in that: The upper surface of the annular boss (101) is evenly distributed radially with a plurality of limiting tooth grooves (102); the lower surface of the rotating disk (2) is vertically mounted with at least one lifting assembly (4); the lower part of the lifting assembly (4) is vertically connected with a conical block (5) corresponding to the limiting tooth groove (102); the lifting assembly (4) can drive the conical block (5) to move downward so that the conical block (5) is inserted into any limiting tooth groove (102).
3. The chassis adjustment mechanism of a robot according to claim 2, characterized in that: The lifting assembly (4) comprises a bearing cylinder (401) vertically fixed to the lower surface of the rotating disk (2); an electromagnet (402) is arranged in the upper end of the bearing cylinder (401); the lower end of the bearing cylinder (401) is a closed structure, and a lifting column (403) is vertically slidably inserted through the lower end of the bearing cylinder (401); the conical block (5) is fixed to the lower end of the lifting column (403); an iron block (404) corresponding to the electromagnet (402) is fixed to the upper end of the lifting column (403); the lower surface of the iron block (404) and the lower end of the bearing cylinder (401) are connected via a tensioning spring (405); and the tensioning spring (405) is sleeved on the outer circumference of the lifting column (403).
4. A chassis adjustment mechanism for a robot according to claim 2 or 3, characterized in that: A screw sleeve (105) is coaxially fixed on the upper surface of the support plate (1); a through hole (202) corresponding to the screw sleeve (105) is vertically opened on the upper surface of the rotating plate (2); a positioning bolt (6) is clearance-fitted in the through hole (202); the lower end of the positioning bolt (6) is threadedly fitted in the screw sleeve (105); and the nut of the positioning bolt (6) is arranged above the rotating plate (2).
5. The chassis adjustment mechanism of a robot according to claim 4, characterized in that: A retaining ring (201) is coaxially fixed on the lower surface of the rotating disk (2); the retaining ring (201) is arranged on the outer periphery of the limiting outer ring (104), and the retaining ring (201) and the limiting outer ring (104) are clearance-matched.