Walking mechanism of intelligent service robot

Abstract

The utility model discloses a walking mechanism of an intelligent service robot, four corners of the bottom of a walking underframe are connected with connecting seats, a rotating rod is rotatably connected between two connecting seats at the same side of the bottom of the walking underframe, and the end part of the rotating rod is provided with a threaded rod close to the connecting seats. When the hydraulic cylinder and the telescopic rod extend, the moving wheels can be stored in the side baffles conveniently, so that after a stable support at the end of the telescopic rod extends to be in contact with the ground and extends to be flush with the bottoms of the side baffles, the moving wheels can be stored in the side baffles conveniently, and the moving wheels can be stored in the side baffles conveniently. The supporting stability of the bottom of the walking chassis is further improved through cooperation with the side baffles, so that moving wheels are replaced to support the walking chassis, the stability of the walking chassis during service work of the robot is guaranteed, and the problem that the robot cannot effectively keep stable for a long time during long-time service work at a designated position is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a walking mechanism of an intelligent service robot. Background Technique

[0002] With the progress of modern science and technology, intelligent service robots have begun to be used in all aspects of social life, providing various services for people in many places. An intelligent service robot is an intelligent device integrating a variety of high technologies that provides necessary services for humans in an unstructured environment. It mainly focuses on the application requirements of service robots and dangerous operation robots, and studies common basic technologies such as research design methods, manufacturing processes, intelligent control, and application system integration. At present, in the actual service work process of intelligent robots, a walking mechanism is required to make them move, so as to complete the work requirements of mobile services;

[0003] However, after the current robot walking mechanism walks to the predetermined service working position, the walking mechanism is only supported by the walking wheels at its bottom. Due to the lack of further function to stabilize the robot, the robot cannot effectively maintain stability for a long time, resulting in the robot being prone to position deviation during long-term work, affecting its operation accuracy. Moreover, when the robot is placed for a long time, since its walking wheels cannot be stored, when the robot performs long-term service work at a designated position, its stability cannot be guaranteed due to insufficient support stability of the walking wheels. Content of the Utility Model

[0004] The utility model provides a walking mechanism of an intelligent service robot, which can effectively solve the problem proposed in the above background technique that after the current robot walking mechanism walks to the predetermined service working position, the walking mechanism is only supported by the walking wheels at its bottom. Due to the lack of further function to stabilize the robot, the robot cannot effectively maintain stability for a long time, resulting in the robot being prone to position deviation during long-term work, affecting its operation accuracy. Moreover, when the robot is placed for a long time, since its walking wheels cannot be stored, when the robot performs long-term service work at a designated position, its stability cannot be guaranteed due to insufficient support stability of the walking wheels.

[0005] To achieve the above object, the present utility model provides the following technical solution: A traveling mechanism of an intelligent service robot, including a traveling chassis. On both side edges at the bottom of the traveling chassis, L-shaped side baffles are installed. At the four corners of the bottom of the traveling chassis, connection seats are connected. Between two connection seats located on the same side at the bottom of the traveling chassis, a rotating rod is rotatably connected. At the end of the rotating rod near the connection seat, a threaded rod is provided. The outer side of the threaded rod is threadedly engaged with a driving seat. The bottom of the driving seat is rotatably connected with a connecting short bracket. On one side edge of the connecting short bracket, a moving wheel is rotatably connected, and on the other side edge of the connecting short bracket, a connecting long bracket is rotatably connected. The end of the connecting long bracket away from the connecting short bracket is rotatably connected to the edge of a support seat. The support seat is fixedly connected to the bottom of the traveling chassis, and the rotating rod is rotatably connected to the inside of the support seat;

[0006] At the middle position between two support seats on the side of the rotating rod, a driving gear is fixedly connected. On both sides of the top of the traveling chassis corresponding to one side of the driving gear, hydraulic cylinders are installed. At the end of the hydraulic cylinder, a telescopic rod is provided. At the corresponding position of the side of the telescopic rod and the driving gear, a driving tooth plate is connected. At the bottom of the telescopic rod, a stable support is installed.

[0007] Preferably, the rotating rod drives the threaded rod to rotate, the threaded rod drives the driving seat to move, and the moving wheel deflects under the drive of the connecting short bracket and the connecting long bracket.

[0008] Preferably, a telescopic groove is opened in the traveling chassis corresponding to the telescopic rod, the telescopic rod is connected in the telescopic groove, the telescopic rod is meshed with the driving gear through the driving tooth plate on its side, and an anti-slip pad is provided at the bottom of the stable support.

[0009] Preferably, on both middle ends of the top of the traveling chassis, blower boxes are installed. On the top of the blower box, a collection box is installed. In the middle of the top of the collection box, a negative pressure hose is connected. Inside the collection box, a processing sliding box is slidably connected. At the bottom of the processing sliding box, an intercepting net is provided;

[0010] At the position of the bottom of the traveling chassis, the air inlet end of the negative pressure hose is provided with a transverse dust collection box. At the bottom of the transverse dust collection box, collection branch pipes are equidistantly connected. At both ends of the transverse dust collection box at the bottom of the traveling chassis, end plates are installed. Inside the end plates, guide grooves are opened. At the corresponding position of the side of the transverse dust collection box and the guide grooves, limit bolts are connected.

[0011] Preferably, an air inlet is opened on the side of the blower box, and a negative pressure suction blower is installed inside the blower box. The negative pressure hose is a flexible hose, and a card slot is provided at the corresponding position of the side of the traveling chassis and the negative pressure hose.

[0012] Preferably, the edge of the horizontal dust collection box is in close contact with the side of the end plate, and the limit bolt slides along the guide groove, and the limit bolt locks and fixes the horizontal dust collection box and the end plate.

[0013] Compared with the prior art, the beneficial effects of the present utility model are as follows: The structure of the present utility model is scientific and reasonable, and it is safe and convenient to use:

[0014] 1. Through the connecting seat, the rotating rod, the threaded rod, the driving seat and the connecting seat, it is convenient to synchronously rotate the threaded rod under the drive of the rotating rod, so as to drive the driving seat to displace. And by using the connecting short bracket and the connecting long bracket, during the displacement of the driving seat, the moving wheel can be synchronously driven to move in position, so that when the connecting short bracket is perpendicular to the driving seat, the moving wheel can be stably supported and used, facilitating the walking of the walking chassis. At the same time, after the connecting short bracket deflects to a certain angle with the driving seat, it is convenient to drive the moving wheel to deflect and be received inside the side baffle, so as to conveniently fold and receive the moving wheel.

[0015] And by using the hydraulic cylinder to drive the telescopic rod and the driving tooth plate to perform lifting activities, it is convenient to drive the rotating rod and the threaded rod to rotate through the meshing connection between the driving tooth plate and the driving gear, so as to use the hydraulic cylinder as the starting condition for the support and folding storage of the moving wheel. When the hydraulic cylinder and the telescopic rod extend, the moving wheel can be received into the side baffle, so that the stable support at the end of the telescopic rod touches the ground after extension, and when the stable support extends to be flush with the bottom of the side baffle, it cooperates with the side baffle to improve the stability of the bottom support of the walking chassis, so as to replace the moving wheel to support the walking chassis and ensure the stability of the walking chassis during the robot service operation, solving the problem that the robot cannot maintain stability effectively for a long time when performing long-term service work at a specified position.

[0016] 2. Through the fan box, the negative pressure hose, the horizontal dust collection box and the collection branch pipe, it is convenient to quickly collect the dust overflowing from the bottom during the walking of the walking chassis through negative pressure attraction, so that the dust can be quickly collected into the collection box. With the processing sliding box and the intercepting net slidably arranged in the collection box, it is convenient to intercept and collect the dust, facilitating subsequent convenient cleaning of the dust. In this way, when the walking chassis walks through the moving wheel, the influence of dust on the contact friction between the moving wheel and the ground can be avoided, so as to ensure that the moving wheel can walk more stably on the ground.

[0017] And by using the end plate, the guide groove and the limit bolt, it is convenient to adjust the working position height of the horizontal dust collection box, so as to facilitate the free adjustment of the horizontal dust collection box according to needs and improve its actual dust suction effect. Description of the Drawings

[0018] The accompanying drawings are used to provide a further understanding of the present utility model and constitute a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model and do not constitute a limitation to the present utility model.

[0019] In the accompanying drawings:

[0020] Figure 1 is a schematic structural view of the present utility model;

[0021] Figure 2 is a schematic structural view of the connecting seat of the present utility model;

[0022] Figure 3 is a schematic structural view of the connection structure of the moving wheel of the present utility model;

[0023] Figure 4 is a schematic structural view of the horizontal dust collection box of the present utility model;

[0024] The reference numerals in the figures: 1, walking chassis; 2, side baffle; 3, connecting seat; 4, rotating rod; 5, threaded rod; 6, driving seat; 7, connecting short bracket; 8, moving wheel; 9, connecting long bracket; 10, supporting seat; 11, driving gear; 12, hydraulic cylinder; 13, telescopic rod; 14, driving tooth plate; 15, stable support; 16, fan box; 17, collection box; 18, negative pressure hose; 19, processing sliding box; 20, intercepting net; 21, horizontal dust collection box; 22, collection branch pipe; 23, end plate; 24, guide groove; 25, limit bolt. Detailed implementation manners

[0025] The following describes the preferred embodiments of the present utility model with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present utility model and are not used to limit the present utility model.

[0026] Embodiment: As Figures 1-4As shown in the figure, the present utility model provides a technical solution, a walking mechanism of an intelligent service robot, which includes a walking chassis 1. L-shaped side baffles 2 are installed at both side ends of the bottom of the walking chassis 1. Connecting seats 3 are connected to the four corners of the bottom of the walking chassis 1. A rotating rod 4 is rotatably connected between two connecting seats 3 located on the same side of the bottom of the walking chassis 1. A threaded rod 5 is provided near the connecting seat 3 at the end of the rotating rod 4. A driving seat 6 is connected to the outside of the threaded rod 5 by thread fitting. The bottom of the driving seat 6 is rotatably connected to a connecting short bracket 7. One side of the connecting short bracket 7 is rotatably connected to a moving wheel 8, and the other side of the connecting short bracket 7 is rotatably connected to a connecting long bracket 9. One end of the connecting long bracket 9 away from the connecting short bracket 7 is rotatably connected to the side of a support seat 10. The rotating rod 4 drives the threaded rod 5 to rotate, and the threaded rod 5 drives the driving seat 6 to move. The moving wheel 8 deflects under the drive of the connecting short bracket 7 and the connecting long bracket 9, so that when the connecting short bracket 7 is perpendicular to the driving seat 6, the moving wheel 8 can be stably supported for use, facilitating the walking of the walking chassis 1. At the same time, after the connecting short bracket 7 deflects to a certain angle with the driving seat 6, it is convenient to drive the moving wheel 8 to deflect and be stored inside the side baffle 2, thereby facilitating the folding and storage of the moving wheel 8. The support seat 10 is fixedly connected to the bottom of the walking chassis 1, and the rotating rod 4 is rotatably connected to the inside of the support seat 10;

[0027] A driving gear 11 is fixedly connected to the side of the rotating rod 4 at the middle position between the two support seats 10. Hydraulic cylinders 12 are installed on both sides of the top of the walking chassis 1 corresponding to one side of the driving gear 11. An expansion rod 13 is provided at the end of the hydraulic cylinder 12. A driving toothed plate 14 is connected to the side of the expansion rod 13 corresponding to the driving gear 11. A stable support 15 is installed at the bottom of the expansion rod 13. A telescopic groove is opened in the walking chassis 1 corresponding to the expansion rod 13, and the expansion rod 13 is connected to the telescopic groove. The expansion rod 13 is meshed with the driving gear 11 through the driving toothed plate 14 on its side. An anti-slip pad is provided at the bottom of the stable support 15, which is convenient to drive the rotating rod 4 and the threaded rod 5 to rotate through the meshing connection between the driving toothed plate 14 and the driving gear 11, and improve the stability of the stable support 15 during support use.

[0028] On both sides of the middle of the top of the walking chassis 1, blower boxes 16 are installed. On the top of the blower boxes 16, collection boxes 17 are installed. In the middle of the top of the collection boxes 17, negative pressure hoses 18 are connected. Inside the collection boxes 17, treatment sliding boxes 19 are slidably connected. At the bottom of the treatment sliding boxes 19, intercepting nets 20 are arranged. Air inlets are opened at the edges of the blower boxes 16, and negative pressure dust suction blowers are installed inside the blower boxes 16. The negative pressure hoses 18 are flexible hoses. At the position corresponding to the negative pressure hoses 18 at the edges of the walking chassis 1, card slots are provided, which is convenient for quickly collecting the dust overflowing from the bottom of the walking chassis 1 during its walking through negative pressure attraction, so that the dust can be quickly collected into the collection boxes 17;

[0029] At the bottom position of the walking chassis 1, the air inlet end of the negative pressure hose 18 is provided with a transverse dust collection box 21. At the bottom of the transverse dust collection box 21, collection branch pipes 22 are equidistantly connected. At both ends of the transverse dust collection box 21 at the bottom of the walking chassis 1, end plates 23 are installed. Guide grooves 24 are opened inside the end plates 23. At the position corresponding to the guide grooves 24 at the edges of the transverse dust collection box 21, limit bolts 25 are connected. The edges of the transverse dust collection box 21 are in close contact with the side edges of the end plates 23, and the limit bolts 25 slide along the guide grooves 24. The limit bolts 25 lock and fix the transverse dust collection box 21 and the end plates 23, which is convenient for adjusting the working position height of the transverse dust collection box 21 and enables the transverse dust collection box 21 to be freely adjusted according to requirements.

[0030] The working principle and usage process of the present utility model: During the actual application of the walking mechanism of the intelligent service robot, first, when the moving wheels 8 are in use, the hydraulic cylinder 12 drives the telescopic rod 13 and the driving tooth plate 14 to move up and down, which is convenient for driving the rotating rod 4 and the threaded rod 5 to rotate through the meshing connection between the driving tooth plate 14 and the driving gear 11;

[0031] During the process of the rotating rod 4 driving the threaded rod 5 to rotate, the threaded rod 5 drives the driving seat 6 to displace. By using the connecting short brackets 7 and the connecting long brackets 9, during the displacement of the driving seat 6, the moving wheels 8 can be synchronously driven to move in position, so that when the connecting short brackets 7 are perpendicular to the driving seat 6, the moving wheels 8 can be stably supported for use, which is convenient for the walking of the walking chassis 1. At the same time, after the connecting short brackets 7 are deflected by a certain angle with the driving seat 6, it is convenient to drive the moving wheels 8 to deflect and be stored inside the side baffle 2, so as to conveniently fold and store the moving wheels 8;

[0032] By using the hydraulic cylinder 12 as a support for the moving wheel 8 and the starting condition for folding and storing, when the hydraulic cylinder 12 and the telescopic rod 13 extend, it is convenient to store the moving wheel 8 inside the side baffle 2, so that after the stable support 15 at the end of the telescopic rod 13 extends and touches the ground, and when the stable support 15 extends to be flush with the bottom of the side baffle 2, it cooperates with the side baffle 2 to further improve the stability of the bottom support of the walking chassis 1, thereby replacing the moving wheel 8 to support the walking chassis 1 and ensuring the stability of the walking chassis 1 during the robot service operation, solving the problem that the robot cannot maintain stability effectively for a long time when performing long-term service work at a designated position;

[0033] In addition, during the process of the walking chassis 1 walking through the moving wheels 8 at its bottom, through the fan box 16, the negative pressure hose 18, the horizontal dust collection box 21 and the collection branch pipe 22, it is convenient to quickly collect the dust overflowing from the bottom of the walking chassis 1 during walking through negative pressure attraction, so that the dust can be quickly collected into the collection box 17. Cooperating with the processing slide box 19 and the intercepting net 20 slidably arranged in the collection box 17, it is convenient to intercept and collect the dust, facilitating subsequent convenient cleaning of the dust. Thus, when the walking chassis 1 walks through the moving wheels 8, it avoids the dust from affecting the contact friction between the moving wheels 8 and the ground, thereby ensuring that the moving wheels 8 can walk more stably on the ground;

[0034] In addition, by using the end plate 23, the guide groove 24 and the limit bolt 25, it is convenient to adjust the operating position height of the horizontal dust collection box 21, so as to facilitate the free adjustment of the horizontal dust collection box 21 according to requirements and improve its actual dust suction effect.

[0035] Finally, it should be noted that the above are only preferred examples of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A walking mechanism of an intelligent service robot, comprising a walking chassis (1), characterized in that: L-shaped side baffles (2) are installed on both side ends of the bottom of the walking frame (1), and connecting seats (3) are connected at the four corners of the bottom of the walking frame (1). A rotating rod (4) is rotatably connected between the two connecting seats (3) located at the same side position of the bottom of the walking frame (1), and a threaded rod (5) is arranged at the end of the rotating rod (4) near the connecting seat (3). The outer side of the threaded rod (5) is connected to a driving seat (6) through a threaded fit, and the bottom of the driving seat (6) is rotatably connected to a connecting short bracket (7), and one side edge of the connecting short bracket (7) is rotatably connected to a moving wheel (8), and the other side edge of the connecting short bracket (7) is rotatably connected to a connecting long bracket (9), and the end of the connecting long bracket (9) away from the connecting short bracket (7) is rotatably connected to the edge of a support seat (10), and the support seat (10) is fixedly connected to the bottom of the walking frame (1), and the rotating rod (4) is rotatably connected to the inner side of the support seat (10); The edge of the rotating rod (4) is located at the middle position of the two supporting seats (10) and is fixedly connected to a driving gear (11); hydraulic cylinders (12) are installed on both sides of the top of the walking frame (1) corresponding to one side of the driving gear (11); a telescopic rod (13) is arranged at the end of the hydraulic cylinder (12); a driving tooth plate (14) is connected to the edge of the telescopic rod (13) corresponding to the driving gear (11); and a stabilizing support (15) is installed at the bottom of the telescopic rod (13).

2. The walking mechanism of an intelligent service robot according to claim 1, characterized in that: The rotating rod (4) drives the threaded rod (5) to rotate, and the threaded rod (5) drives the driving seat (6) to move, and the moving wheel (8) deflects under the drive of the connecting short bracket (7) and the connecting long bracket (9).

3. The walking mechanism of an intelligent service robot according to claim 1, characterized in that: A telescopic groove is provided inside the walking chassis (1) at a position corresponding to the telescopic rod (13), the telescopic rod (13) is connected to the telescopic groove, the telescopic rod (13) is meshedly connected with the driving gear (11) through a driving tooth plate (14) at its edge, and an anti-slip pad is provided at the bottom of the stabilizing support (15).

4. The walking mechanism of an intelligent service robot according to claim 1, characterized in that: The middle ends of both sides of the top of the walking chassis (1) are both equipped with fan boxes (16), the top of the fan box (16) is equipped with a collection box (17), the middle end of the top of the collection box (17) is connected to a negative pressure hose (18), the inner side of the collection box (17) is slidably connected to a processing slide box (19), and the bottom of the processing slide box (19) is provided with an interception net (20); The air inlet end of the negative pressure hose (18) is located at the bottom of the walking chassis (1) and is provided with a transverse dust collecting box (21). The bottom of the transverse dust collecting box (21) is equidistantly connected with collecting branch pipes (22). The bottom of the walking chassis (1) is provided with end plates (23) at both ends of the transverse dust collecting box (21). A guide groove (24) is provided inside the end plate (23). A limit bolt (25) is connected to the edge of the transverse dust collecting box (21) at a position corresponding to the guide groove (24).

5. The walking mechanism of an intelligent service robot according to claim 4, characterized in that: An air inlet is provided at the edge of the fan box (16), and a negative pressure dust suction fan is installed on the inner side of the fan box (16). The negative pressure hose (18) is a hose, and a slot is provided at the edge of the walking chassis (1) corresponding to the negative pressure hose (18).

6. The walking mechanism of an intelligent service robot according to claim 4, characterized in that: The edge of the transverse dust collecting box (21) is in close contact with the side of the end plate (23), and the limit bolt (25) slides along the guide groove (24), and the limit bolt (25) locks and fixes the transverse dust collecting box (21) and the end plate (23).

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