Robot moving assembly capable of preventing clamping of foreign matter

Abstract

The utility model provides a robot moving assembly capable of preventing from being blocked by foreign matters, which relates to the field of robots and comprises moving supports respectively mounted at the head end and the tail end of a robot frame, a first driving assembly used for driving the moving supports to steer is arranged on the robot frame, and moving wheel sets and obstacle removing shovels are further arranged on the moving supports. The obstacle clearing shovel is located at the front end of the moving wheel set, obstacle avoiding pulleys are rotationally installed on the two sides of the obstacle clearing shovel, the first driving assembly drives the moving support to steer, meanwhile, the obstacle clearing shovel steers synchronously along with the moving support, and therefore the obstacle clearing shovel is more flexible for obstacles and foreign matter at the corner. When the obstacle removing shovel turns, the obstacle avoiding pulley can guide the obstacle foreign matter at the corner, the obstacle foreign matter is prevented from directly impacting the outer side of the obstacle removing shovel, and the obstacle removing effect in the moving process of the robot is further improved.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a robot moving component for preventing foreign objects from jamming. Background Technique

[0002] From the perspective of the working space of robots, robots are divided into ground robots, underwater robots and aerial robots, among which ground robots are the most widely used. Ground robots are further divided into wheeled and tracked types, each with its own advantages. Tracked robots are widely adopted due to their strong adaptability to the ground and strong climbing ability, but they walk slowly and clumsily. Wheeled robots, on the other hand, have attracted the interest of researchers with their advantages of being light, flexible and fast.

[0003] The steering methods of existing mobile robots all achieve steering by rotating the front walking wheels. In order to prevent foreign objects on the ground from jamming the robot chassis, a clearance shovel is usually fixedly installed at the front end of the robot frame. However, during the steering process of the robot, the clearance shovel does not move accordingly, and foreign objects at the corner are likely to jam the robot chassis when the robot steers, resulting in inconvenient walking.

[0004] Therefore, it is necessary to provide a new robot moving component for preventing foreign objects from jamming to solve the above technical problems. Content of the Utility Model

[0005] To solve the above technical problems, the utility model provides a robot moving component for preventing foreign objects from jamming.

[0006] The robot moving component for preventing foreign objects from jamming provided by the utility model includes moving brackets respectively installed at the head and tail ends of the robot frame. A first driving component for driving the moving brackets to steer is provided on the robot frame. A moving wheel set and a clearance shovel are further provided on the moving brackets. The clearance shovel is located in front of the moving wheel set, and obstacle-avoiding pulleys are rotatably installed on both sides of the clearance shovel.

[0007] Furthermore, the moving bracket includes a connecting frame, a first shaft rod and a second shaft rod. The first shaft rod and the second shaft rod are respectively rotatably installed on the robot frame. Driving gears are provided on the outer surfaces of the first shaft rod and the second shaft rod, and the two driving gears are meshed with each other. The top end of the first shaft rod is fixedly connected to the output end of the first driving component, the bottom end of the second shaft rod is fixedly connected to the top of the connecting frame, and the moving wheel set is rotatably installed on the connecting frame.

[0008] Furthermore, the mobile wheel set includes a mounting seat, a horizontal shaft, and two opposite connecting rods. The mounting seat is fixedly installed on one side of the connecting frame. A power member for driving the horizontal shaft to rotate is provided on the connecting frame. Both ends of the horizontal shaft are rotatably installed on both sides of the connecting frame. Both ends of the horizontal shaft are fixedly connected to the two connecting rods respectively. The other ends of the two connecting rods are fixedly connected with walking wheels.

[0009] Furthermore, the power member includes a power motor, a first bevel gear, and a second bevel gear. The power motor is fixedly installed at the bottom of the mounting seat. The rotor end of the power motor is fixedly connected to the first bevel gear. The second bevel gear is fixedly installed on the outer surface of the horizontal shaft. The second bevel gear meshes with the first bevel gear.

[0010] Furthermore, the first driving assembly includes a support frame, a mounting plate, a driving motor, and a driving shaft. The support frame is fixedly installed on the top of the robot frame. The mounting plate is fixedly installed on the top of the support frame. The driving motor is fixedly installed on the top wall of the mounting plate. The rotor end of the driving motor is fixedly connected to one end of the driving shaft. The other end of the driving shaft is fixedly connected to the first shaft.

[0011] Furthermore, the driving shaft is rotatably connected to the support frame through a ball bearing.

[0012] Compared with the related art, the robot moving assembly for preventing foreign objects from being stuck provided by the present utility model has the following beneficial effects:

[0013] The first driving assembly drives the moving bracket to turn. At the same time, the obstacle clearing shovel turns synchronously with the moving bracket, making the obstacle clearing shovel more flexible in dealing with obstacle foreign objects at the corner. In addition, when the obstacle clearing shovel turns, the obstacle avoidance pulley can guide the obstacle foreign objects at the corner, avoiding the obstacle foreign objects from directly hitting the outside of the obstacle clearing shovel, and further improving the obstacle clearing effect during the movement of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic diagram of the overall structure of the robot moving assembly for preventing foreign objects from being stuck provided by the present utility model Figure 1 ;

[0015] Figure 2 is Figure 1 the enlarged structural schematic diagram of the place A shown in

[0016] Figure 3 is a schematic diagram of the overall structure of the robot moving assembly for preventing foreign objects from being stuck provided by the present utility model Figure 2 ;

[0017] Figure 4Schematic structural diagram of the mobile support and mobile wheel set provided by the present utility model;

[0018] Figure 5 Schematic structural diagram of the robot frame provided by the present utility model.

[0019] Reference numerals in the figure: 1, robot frame; 2, mobile support; 3, mobile wheel set; 4, obstacle clearing shovel; 5, obstacle avoidance pulley; 6, connecting frame; 7, first shaft rod; 8, second shaft rod; 9, driving gear; 10, mounting seat; 11, horizontal shaft; 12, connecting rod; 13, traveling wheel; 14, power motor; 15, first bevel gear; 16, second bevel gear; 17, support frame; 18, mounting plate; 19, driving motor; 20, driving shaft. Specific embodiments

[0020] The present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

[0021] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , where Figure 1 is the overall structural schematic diagram of the robot moving assembly provided by the present utility model for preventing foreign objects from getting stuck Figure 1 ; Figure 2 is Figure 1 the enlarged structural schematic diagram of the position A shown Figure 3 is the overall structural schematic diagram of the robot moving assembly provided by the present utility model for preventing foreign objects from getting stuck Figure 2 ; Figure 4 is the schematic structural diagram of the mobile support and mobile wheel set provided by the present utility model; Figure 5 is the schematic structural diagram of the robot frame provided by the present utility model.

[0022] In the specific implementation process, as Figures 1 - 5 shown, the robot moving assembly for preventing foreign objects from getting stuck includes mobile supports 2 respectively installed at the head and tail ends of the robot frame 1. A first driving assembly for driving the mobile support 2 to turn is provided on the robot frame 1. A mobile wheel set 3 and an obstacle clearing shovel 4 are further provided on the mobile support 2. The obstacle clearing shovel 4 is located at the front end of the mobile wheel set 3. Obstacle avoidance pulleys 5 are rotatably installed on both sides of the obstacle clearing shovel 4. The mobile support 2 is driven to turn by the first driving assembly. At the same time, the obstacle clearing shovel 4 turns synchronously with the mobile support 2, making the obstacle clearing shovel 4 more flexible in dealing with obstacle foreign objects at the corner. In addition, when the obstacle clearing shovel 4 turns, the obstacle avoidance pulleys 5 can guide the obstacle foreign objects at the corner, avoiding the obstacle foreign objects directly hitting the outside of the obstacle clearing shovel 4.

[0023] The mobile support 2 includes a connecting frame 6, a first shaft 7 and a second shaft 8. The first shaft 7 and the second shaft 8 are respectively rotatably installed on the robot frame 1. Driving gears 9 are arranged on the outer surfaces of the first shaft 7 and the second shaft 8, and the two driving gears 9 are meshed with each other. The top end of the first shaft 7 is fixedly connected to the output end of the first driving assembly, and the bottom end of the second shaft 8 is fixedly connected to the top of the connecting frame 6. The mobile wheel set 3 is rotatably installed on the connecting frame 6. The first shaft 7 and the second shaft 8 are driven by the driving gears 9. When the second shaft 8 rotates, the connecting frame 6 can be driven to turn accordingly;

[0024] The first driving assembly includes a support frame 17, a mounting plate 18, a driving motor 19 and a driving shaft 20. The support frame 17 is fixedly installed on the top of the robot frame 1, the mounting plate 18 is fixedly installed on the top of the support frame 17, the driving motor 19 is fixedly installed on the top wall of the mounting plate 18, the rotor end of the driving motor 19 is fixedly connected to one end of the driving shaft 20, and the other end of the driving shaft 20 is fixedly connected to the first shaft 7. By starting the driving motor 19, the driving shaft 20 is driven to rotate, and the first shaft 7 is driven to rotate by the driving shaft 20. The driving shaft 20 and the support frame 17 are rotatably connected through a ball bearing.

[0025] The mobile wheel set 3 includes a mounting seat 10, a transverse shaft 11 and two opposite connecting rods 12. The mounting seat 10 is fixedly installed on one side of the connecting frame 6. A power member for driving the transverse shaft 11 to rotate is arranged on the connecting frame 6. The two ends of the transverse shaft 11 are respectively rotatably installed on both sides of the connecting frame 6, and the two ends of the transverse shaft 11 are respectively fixedly connected to the two connecting rods 12. The other ends of the two connecting rods 12 are fixedly connected with traveling wheels 13;

[0026] The power member includes a power motor 14, a first bevel gear 15 and a second bevel gear 16. The power motor 14 is fixedly installed at the bottom of the mounting seat 10, the rotor end of the power motor 14 is fixedly connected to the first bevel gear 15, the second bevel gear 16 is fixedly installed on the outer surface of the transverse shaft 11, and the second bevel gear 16 is meshed with the first bevel gear 15. By driving the first bevel gear 15 to rotate by the power motor 14, the second bevel gear 16 rotates in the opposite direction along with the first bevel gear 15, and the transverse shaft 11 is driven to rotate by the second bevel gear 16, so that the traveling wheels 13 rotate to move.

[0027] The working principle provided by the present utility model is as follows: When the device is in use, the driving motor 19 is started to drive the driving shaft 20 to rotate, the first shaft 7 is driven to rotate by the driving shaft 20, the first shaft 7 and the second shaft 8 are driven by the driving gears 9. When the second shaft 8 rotates, the connecting frame 6 can be driven to turn accordingly. At the same time, the obstacle clearing shovel 4 turns synchronously with the mobile support 2, so that the obstacle clearing shovel 4 is more flexible in dealing with the obstacle foreign matters at the corner. In addition, when the obstacle clearing shovel 4 turns, the obstacle avoidance pulley 5 can guide the obstacle foreign matters at the corner to avoid the obstacle foreign matters directly hitting the outside of the obstacle clearing shovel 4.

[0028] The circuits and controls involved in the present utility model are all prior arts and will not be elaborated here.

[0029] The above are only embodiments of the present utility model, and thus do not limit the patent scope of the present utility model. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present utility model.

Claims

1. A robot moving component that prevents foreign objects from getting stuck, characterized in that: The invention comprises a mobile support (2) respectively mounted on the front and rear ends of a robot frame (1); the robot frame (1) is provided with a driving component for driving the mobile support (2) to turn; the mobile support (2) is also provided with a mobile wheel group (3) and an obstacle-clearing shovel (4); the obstacle-clearing shovel (4) is located at the front end of the mobile wheel group (3); obstacle-avoiding pulleys (5) are rotatably mounted on both sides of the obstacle-clearing shovel (4).

2. The robot moving component for preventing foreign matter from getting stuck according to claim 1, characterized in that: The movable bracket (2) comprises a connecting frame (6), a shaft rod 1 (7) and a shaft rod 2 (8); the shaft rod 1 (7) and the shaft rod 2 (8) are respectively rotatably mounted on the robot frame (1); the outer surfaces of the shaft rod 1 (7) and the shaft rod 2 (8) are both provided with driving gears (9); the two driving gears (9) are meshed with each other; the top end of the shaft rod 1 (7) is fixedly connected to the output end of the driving component 1; the bottom end of the shaft rod 2 (8) is fixedly connected to the top of the connecting frame (6); and the movable wheel group (3) is rotatably mounted on the connecting frame (6).

3. The robot moving assembly for preventing foreign objects from getting stuck according to claim 2, characterized in that: The movable wheel group (3) comprises a mounting seat (10), a transverse axis (11), and two opposite connecting rods (12); the mounting seat (10) is fixedly mounted on one side of the connecting frame (6); a power member for driving the transverse axis (11) to rotate is provided on the connecting frame (6); two ends of the transverse axis (11) are rotatably mounted on two sides of the connecting frame (6); the two ends of the transverse axis (11) are fixedly connected to the two connecting rods (12) respectively; and the other ends of the two connecting rods (12) are fixedly connected to walking wheels (13).

4. The robot moving assembly for preventing foreign matter from getting stuck according to claim 3, characterized in that: The power component comprises a power motor (14), a first bevel gear (15) and a second bevel gear (16); the power motor (14) is fixedly mounted on the bottom of the mounting seat (10); a rotor end of the power motor (14) is fixedly connected to the first bevel gear (15); the second bevel gear (16) is fixedly mounted on the outer surface of the transverse shaft (11); and the second bevel gear (16) is meshed with the first bevel gear (15).

5. The robot moving assembly for preventing foreign matter from getting stuck according to claim 4, characterized in that: The driving component 1 comprises a support frame (17), a mounting plate (18), a driving motor (19) and a driving shaft (20); the supporting frame (17) is fixedly mounted on the top of the robot frame (1); the mounting plate (18) is fixedly mounted on the top of the supporting frame (17); the driving motor (19) is fixedly mounted on the top wall of the mounting plate (18); the rotor end of the driving motor (19) is fixedly connected to one end of the driving shaft (20); and the other end of the driving shaft (20) is fixedly connected to the shaft rod 1 (7).

6. The robot moving assembly for preventing foreign matter from getting stuck according to claim 5, characterized in that: The driving shaft (20) is rotatably connected to the support frame (17) via a ball bearing.

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