Robot getting-on auxiliary mechanism

Abstract

The utility model relates to the technical field of robot getting-on assistance, in particular to a robot getting-on assistance mechanism which is installed on a base through idler wheels, a fixing base is fixedly installed on the base, a turnover base is rotatably installed on the fixing base, a lifting base is installed on the turnover base through a lifting device, a through groove is formed in the turnover base and penetrates through the turnover base, and the through groove penetrates through the turnover base. The sliding block is installed on the side, close to the through groove, of the overturning base in a sliding mode, the connecting shaft penetrates through the through groove and the sliding block and extends to the outer side of the overturning base, and the driving assembly is installed on the base and drives the overturning base to overturn around the fixing base under the cooperation of the connecting shaft and the sliding block. And the overturning seat drives the robot to overturn towards the direction of the vehicle under the cooperation of the lifting device and the lifting seat, so that the overturning effect when the robot gets on and gets off the vehicle is achieved, and the getting on and off process of the robot is more convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of robot on-board assistance, in particular to a robot on-board assistance mechanism. Background Art

[0002] When the robot is mounted on a vehicle for special operations (such as a fire truck), the robot needs to be put down. However, due to the height limit of the vehicle, it is inconvenient to get the robot on and off the vehicle, and manual handling is required.

[0003] Existing hydraulic and electric robot loading auxiliary mechanisms realize automatic lifting of the robot through hydraulic or electric drive, avoiding manual handling.

[0004] However, when using the existing robot boarding assistance mechanism, since the mechanism can only achieve linear lifting and lowering, and cannot be turned over when approaching the vehicle, it brings inconvenience to the robot getting on and off the vehicle. Utility Model Content

[0005] The utility model aims to provide a robot boarding assistance mechanism, which solves the problem that when using the existing robot boarding assistance mechanism, the mechanism can only achieve linear lifting and lowering, but cannot be turned over when approaching the vehicle, thus causing inconvenience to the robot getting on and off the vehicle.

[0006] To achieve the above-mentioned purpose, the utility model provides a robot boarding assistance mechanism, including a base, a roller, a flip seat, a lifting seat and a lifting device, the roller is installed on the base, and also includes a flip device, the flip device includes a fixed seat, a slider, a connecting shaft and a driving assembly, the fixed seat is fixedly installed on the base, the flip seat is rotatably installed on the fixed seat, the lifting seat is installed on the flip seat through the lifting device, the flip seat is provided with a through groove, the through groove passes through the flip seat, the slider is slidably installed on the side of the flip seat close to the through groove, the connecting shaft passes through the through groove and the slider, and extends to the outside of the flip seat, and the driving assembly is installed on the base.

[0007] Among them, the driving assembly includes a transmission rod, a T-shaped sleeve and a rotating component. A slide groove is provided on the side of the base close to the slider, and the slide groove runs through the base. The T-shaped sleeve sleeves the rotating component and is slidably installed on the base and runs through the slide groove; the two ends of the transmission rod are respectively rotatably connected to the T-shaped sleeve and the connecting shaft.

[0008] Wherein, the rotating component includes a motor and a screw rod, the motor is fixedly mounted on the base; the screw rod is fixedly mounted on the output shaft of the motor and is threadedly connected to the T-shaped sleeve.

[0009] Wherein, the driving assembly further comprises a limiting sleeve, which is fixedly mounted on the T-shaped sleeve and is located at one end of the T-shaped sleeve close to the transmission rod.

[0010] Among them, the lifting device includes a first scissors strut, a partition and a second scissors strut, the first scissors strut is installed on the flip seat; the partition is installed at one end of the first scissors strut away from the flip seat; the two ends of the second scissors strut are respectively connected to the partition and the lifting seat.

[0011] The utility model provides a robot boarding assistance mechanism. When the robot needs to board the vehicle, the robot is placed on the lifting seat, the rollers on the base are used to push the base to the position of the vehicle, then the lifting seat is driven to rise by the lifting device, and the lifting seat drives the robot to rise to the height of the vehicle, then the motor is started to drive the screw rod to rotate, the screw rod is threadedly connected to the T-shaped sleeve, and the T-shaped sleeve passes through the slide groove, the rotation of the screw rod drives the T-shaped sleeve to slide in the slide groove toward the side away from the motor through the threaded connection, the T-shaped sleeve is rotatably connected to one end of the transmission rod, and the other end of the transmission rod is rotatably connected to the connecting shaft, The sliding of the T-shaped sleeve drives the transmission rod to deviate through the rotation connection, and the transmission rod further drives the connecting shaft to rotate around the axis of the fixed seat. The slider is slidably installed on the flip seat, and the connecting shaft passes through the slider. The rotation of the connecting shaft drives the slider to move on the flip seat, and the cooperation between the connecting shaft and the slider further drives the flip seat to flip around the fixed seat. The flip seat drives the robot to flip toward the direction of the vehicle to an angle suitable for getting on the vehicle through the cooperation of the lifting device and the lifting seat. Similarly, the robot gets off the vehicle in the same way, thereby achieving a flipping effect when the robot gets on and off the vehicle, thereby making the robot's getting on and off the vehicle process more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0013] Figure 1 It is a schematic diagram of the overall structure of a robot boarding assistance mechanism according to the first embodiment of the utility model.

[0014] Figure 2 It is a schematic diagram of the connection between the T-shaped sleeve and the limiting sleeve in the first embodiment of the utility model.

[0015] Figure 3 It is a schematic diagram of the overall structure of a robot boarding assistance mechanism according to the second embodiment of the utility model.

[0016] In the figure: 101-base, 102-roller, 103-flip seat, 104-lifting seat, 105-fixed seat, 106-slider, 107-connecting shaft, 108-through slot, 109-transmission rod, 110-T-type sleeve, 111-slide slot, 112-motor, 113-screw rod, 114-limiting sleeve, 201-first scissors support, 202-partition, 203-second scissors support. DETAILED DESCRIPTION

[0017] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0018] The first embodiment of the present application is:

[0019] See also Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the overall structure of a robot boarding assistance mechanism according to the first embodiment of the utility model. Figure 2 It is a schematic diagram of the connection between the T-shaped sleeve and the limiting sleeve in the first embodiment of the utility model.

[0020] The utility model provides a robot boarding assistance mechanism: comprising a base 101, a roller 102, a flip seat 103, a lifting seat 104 and a lifting device, and also comprising a flip device, wherein the flip device comprises a fixed seat 105, a slider 106, a connecting shaft 107 and a driving assembly, wherein the driving assembly comprises a transmission rod 109, a T-shaped sleeve 110 and a rotating member, wherein the rotating member comprises a motor 112 and a screw rod 113, and the driving assembly further comprises a limit sleeve 114. The above-mentioned scheme solves the above-mentioned problem that when using the existing robot boarding assistance mechanism, the mechanism can only realize linear lifting and cannot be flipped when approaching the vehicle, thereby causing inconvenience to the robot getting on and off the vehicle. It can be understood that the present scheme can also be used to solve the problem of robot lifting and lowering.

[0021] In this embodiment, the driving component drives the flip seat 103 to flip under the cooperation of the connecting shaft 107 and the slider 106, and the flip seat 103 drives the robot to flip toward the direction of the vehicle under the cooperation of the lifting device and the lifting seat 104, thereby achieving a flipping effect when the robot gets on and off the vehicle, thereby making the process of getting on and off the vehicle more convenient.

[0022] The fixed seat 105 is fixedly mounted on the base 101, the flip seat 103 is rotatably mounted on the fixed seat 105, the lifting seat 104 is mounted on the flip seat 103 through the lifting device, a through slot 108 is provided on the flip seat 103, the through slot 108 passes through the flip seat 103, the slider 106 is slidably mounted on a side of the flip seat 103 close to the through slot 108, the connecting shaft 107 passes through the through slot 108 and the slider 106, and extends to the outside of the flip seat 103, the driving assembly is mounted on the base 101, the number of the flip devices is two groups, and the two groups of flip devices are symmetrically distributed along the center line of the base 101, the The fixed seat 105 is welded on the base 101, the slider 106 is a block structure, the axis of the connecting shaft 107 is perpendicular to the center line of the slider 106, and the driving assembly enables the connecting shaft 107 to have a better rotation effect. The driving assembly drives the connecting shaft 107 to rotate around the axis of the fixed seat 105. The rotation of the connecting shaft 107 drives the flip seat 103 to flip around the axis of the fixed seat 105 through the sliding of the slider 106. The flip seat 103 drives the robot to flip toward the direction of the vehicle with the cooperation of the lifting device and the lifting seat 104, thereby realizing the flipping effect when the robot gets on and off the vehicle, thereby making the process of getting on and off the vehicle more convenient.

[0023] Secondly, a slide groove 111 is provided on one side of the base 101 close to the slider 106, and the slide groove 111 passes through the base 101. The T-shaped sleeve 110 sleeves the rotating component and is slidably installed on the base 101 and passes through the slide groove 111; the two ends of the transmission rod 109 are respectively rotatably connected with the T-shaped sleeve 110 and the connecting shaft 107, and circular holes are provided at both ends of the transmission rod 109. The cross-section of the T-shaped sleeve 110 is T-shaped, and the rotating component makes the T-shaped sleeve 110 have a better effect. The rotating component drives the T-shaped sleeve 110 to move in the slide groove 111, and the movement of the T-shaped sleeve 110 drives the connecting shaft 107 to rotate through the offset of the transmission rod 109, thereby realizing the rotation effect of the connecting shaft 107.

[0024] Again, the motor 112 is fixedly mounted on the base 101; the screw rod 113 is fixedly mounted on the output shaft of the motor 112 and is threadedly connected to the T-shaped sleeve 110. The motor 112 is fixed to the base 101 by bolts, and the screw rod 113 is welded to the output shaft of the motor 112. The motor 112 drives the screw rod 113 to rotate, and the rotation of the screw rod 113 drives the T-shaped sleeve 110 to move in the slide groove 111 through the threaded connection, thereby achieving the movement effect of the T-shaped sleeve 110.

[0025] Finally, the limiting sleeve 114 is fixedly mounted on the T-shaped sleeve 110 and is located at one end of the T-shaped sleeve 110 close to the transmission rod 109. The limiting sleeve 114 is sleeved on the T-shaped sleeve 110. The setting of the limiting sleeve 114 prevents the transmission rod 109 from falling off the T-shaped sleeve 110.

[0026] In this embodiment, when the robot needs to get on the vehicle, the robot is placed on the lifting seat 104, and the base 101 is pushed to the position of the vehicle through the roller 102 on the base 101, and then the lifting seat 104 is driven to rise through the lifting device, and the lifting seat 104 drives the robot to rise to the height of the vehicle, and then the motor 112 is started to drive the screw rod 113 to rotate, and the screw rod 113 is threadedly connected with the T-shaped sleeve 110, and the T-shaped sleeve 110 passes through the slide groove 111. The rotation of the screw rod 113 drives the T-shaped sleeve 110 to slide in the slide groove 111 toward the side away from the motor 112 through the threaded connection, and the T-shaped sleeve 110 is rotatably connected to one end of the transmission rod 109, and the other end of the transmission rod 109 is rotatably connected to the connecting shaft 107. The sliding of the sleeve 110 drives the transmission rod 109 to deflect through the rotation connection, and the transmission rod 109 further drives the connecting shaft 107 to rotate around the axis of the fixed seat 105. The slider 106 is slidably installed on the flip seat 103, and the connecting shaft 107 passes through the slider 106. The rotation of the connecting shaft 107 drives the slider 106 to move on the flip seat 103. Through the cooperation of the connecting shaft 107 and the slider 106, the flip seat 103 is further driven to flip around the fixed seat 105. The flip seat 103 drives the robot to flip toward the direction of the vehicle to an angle suitable for getting on the vehicle through the cooperation of the lifting device and the lifting seat 104. Similarly, the robot gets off the vehicle in the same way, thereby achieving a flipping effect when the robot gets on and off the vehicle, thereby making the robot's getting on and off the vehicle process more convenient.

[0027] The second embodiment of the present application is:

[0028] See also Figure 3 ,in Figure 3 It is a schematic diagram of the overall structure of a robot boarding assistance mechanism according to the second embodiment of the utility model. On the basis of the first embodiment, the robot boarding assistance mechanism according to this embodiment also includes a lifting device, and the lifting device includes a first scissors strut 201, a partition 202 and a second scissors strut 203.

[0029] In this embodiment, the lifting seat 104 can drive the robot to be lifted and lowered by the cooperation of the independent lifting of the first scissors strut 201 and the second scissors strut 203, thereby achieving the lifting effect of the robot.

[0030] Among them, the first scissors strut 201 is installed on the turning seat 103; the partition 202 is installed at one end of the first scissors strut 201 away from the turning seat 103; the two ends of the second scissors strut 203 are respectively connected to the partition 202 and the lifting seat 104, the center lines of the first scissors strut 201 and the second scissors strut 203 coincide, the first scissors strut 201 and the second scissors strut 203 are both scissors-shaped, and the partition 202 is a plate-like structure. The partition 202 is driven to rise and fall by the first scissors strut 201, and at the same time, the second scissors strut 203 drives the lifting seat 104 to rise and fall. With the cooperation of the independent lifting of the first scissors strut 201 and the second scissors strut 203, the lifting seat 104 can drive the robot to rise and fall, thereby achieving the lifting effect of the robot.

[0031] In this embodiment, the partition 202 is driven to be raised and lowered by the first scissors strut 201, and at the same time, the second scissors strut 203 drives the lifting seat 104 to be raised and lowered. With the independent lifting and lowering of the first scissors strut 201 and the second scissors strut 203, the lifting seat 104 can drive the robot to be raised and lowered, thereby achieving the lifting effect of the robot.

[0032] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A robot boarding assistance mechanism, comprising a base, a roller, a flip seat, a lifting seat and a lifting device, wherein the roller is mounted on the base, and characterized in that: Also includes a flipping device; The flipping device includes a fixed seat, a slider, a connecting shaft and a driving assembly. The fixed seat is fixedly mounted on the base, the flipping seat is rotatably mounted on the fixed seat, the lifting seat is mounted on the flipping seat through the lifting device, a through slot is provided on the flipping seat, the through slot passes through the flipping seat, the slider is slidably mounted on a side of the flipping seat close to the through slot, the connecting shaft passes through the through slot and the slider and extends to the outside of the flipping seat, and the driving assembly is mounted on the base.

2. The robot boarding assistance mechanism according to claim 1, characterized in that: The driving assembly includes a transmission rod, a T-shaped sleeve and a rotating component. A slide groove is provided on the side of the base close to the slider, and the slide groove passes through the base. The rotating component of the T-shaped sleeve is slidably installed on the base and passes through the slide groove; the two ends of the transmission rod are respectively rotatably connected to the T-shaped sleeve and the connecting shaft.

3. The robot boarding assistance mechanism according to claim 2, characterized in that: The rotating component comprises a motor and a screw rod. The motor is fixedly mounted on the base. The screw rod is fixedly mounted on the output shaft of the motor and is threadedly connected with the T-shaped sleeve.

4. The robot boarding assistance mechanism according to claim 3, characterized in that: The driving assembly further comprises a limiting sleeve, which is fixedly mounted on the T-shaped sleeve and is located at one end of the T-shaped sleeve close to the transmission rod.

5. The robot boarding assistance mechanism according to claim 1, characterized in that: The lifting device includes a first scissors strut, a partition and a second scissors strut, the first scissors strut is installed on the flip seat; the partition is installed at one end of the first scissors strut away from the flip seat; the two ends of the second scissors strut are respectively connected to the partition and the lifting seat.

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