Intelligent robot chassis stabilizing structure and composite intelligent robot thereof

Abstract

The utility model provides an intelligent robot chassis stabilizing structure and a composite type intelligent robot thereof, the chassis stabilizing structure comprises a seesaw rod mechanism and a locking device, the seesaw rod mechanism comprises a swing rod, a base and a main shaft, the main shaft is in shaft connection with the base, the swing rod is fixedly connected with the main shaft, the base is fixed on a vehicle frame, and the locking device is fixed on the vehicle frame. The locking device comprises a gear motor, a first brake, a main transmission mechanism and a connecting seat, the gear motor is fixed on the frame through the connecting seat, and an output shaft of the gear motor is connected with the first brake and a driving end of the main transmission mechanism respectively. And the linkage end of the main transmission mechanism is connected with the main shaft. Therefore, the Z-axis self-locking function of the chassis of the intelligent robot is achieved, and when the mechanical arm extends outwards, the vehicle body is kept stable.

Description

Technical Field

[0001] The utility model relates to the technology of intelligent robot chassis, in particular to a stable structure of an intelligent robot chassis with Z-axis self-locking ability and a composite intelligent robot made thereof. Background Art

[0002] A composite robot is a new type of robot integrating the functions of an intelligent robot and an industrial robot, with comprehensive capabilities of "hands, feet, eyes, and brain". Structurally, by integrating a mobile chassis and an industrial robot, it has the characteristics of high intelligence and multi-function, and can independently perform environmental perception, positioning and navigation, mobile operation, and human-machine collaboration. It can flexibly execute tasks such as grasping, handling, and operating in a complex working environment.

[0003] Currently, common forms of composite robots include "AGV / AMR + robotic arm". This form combines the flexible movement ability of existing relatively mature mobile platforms and the precise operation ability of robotic arms, and can independently perform tasks such as material handling, assembly, and quality inspection.

[0004] However, such a combined structure also has some drawbacks. Since the traditional AGV chassis structure is designed only considering that its own load center of gravity will not deviate from the vehicle body, in order to adapt to road bumps and keep the vehicle body stable, a set of drive wheels / auxiliary wheels are usually designed as a swingable shock-absorbing structure. However, when such an AGV chassis is installed as a composite robot chassis, when it travels to a station and extends the robotic arm to grab goods, the chassis will tilt under the action of the out-of-center gravity, resulting in problems such as the machine vision being unable to obtain a positioning reference, and the robotic arm gripper being unable to accurately position and grab or place items. Summary of the Utility Model

[0005] Therefore, the main purpose of the present utility model is to provide a stable structure of an intelligent robot chassis and a composite intelligent robot thereof, so as to realize the Z-axis self-locking function of the intelligent robot chassis and keep the vehicle body stable when the robotic arm extends, thereby solving the problems mentioned in the background art.

[0006] To achieve the above object, according to one aspect of the present utility model, a stable structure of an intelligent robot chassis is provided for connecting a vehicle frame and a roller device, which includes: a seesaw mechanism and a locking device. The seesaw mechanism includes: a swing rod, a base, and a main shaft. The main shaft is pivotally connected to the base, the swing rod is fixedly connected to the main shaft, the base is fixed on the vehicle frame, and a roller device is installed at each end of the swing rod. The locking device includes: a reduction motor, a first brake, a main transmission mechanism, and a connecting seat. The reduction motor is fixed on the vehicle frame through the connecting seat, the output shaft of the reduction motor is respectively connected to the driving end of the first brake and the main transmission mechanism, and the linkage end of the main transmission mechanism is connected to the main shaft.

[0007] Preferably, the main transmission mechanism includes: a transmission belt, a driving pulley, and a driven pulley. The driving pulley is connected to the output shaft of the reduction motor, the driven pulley is connected to the main shaft, and the transmission belt is sleeved on the driving pulley and the driven pulley for transmission.

[0008] Preferably, the main transmission mechanism includes: a main gear and a secondary gear. The main gear is connected to the output shaft of the reduction motor, the secondary gear is connected to the main shaft, and the main gear and the secondary gear are meshed for transmission.

[0009] Preferably, the roller device includes: a fixed seat, a roller assembly, a steering gear, an interlocking gear, a driving gear, and a steering motor. The fixed seat is connected to one end of the swing rod. The steering gear and the interlocking gear are respectively pivotally connected to the fixed seat and are meshed in sequence. The roller assembly is connected to the steering gear. The steering motor is connected to the fixed seat. The driving gear is connected to the driving end of the steering motor and is meshed with the interlocking gear.

[0010] Preferably, the roller assembly includes: a wheel frame, a roller, a driving motor, and a second brake. The roller is pivotally connected to the wheel frame. The wheel frame is connected to the steering gear. The driving motor is fixed on the wheel frame, and its driving end is respectively connected to the roller and the second brake.

[0011] Preferably, the roller assembly includes: a wheel frame, a roller, and a second brake. The roller is pivotally connected to the wheel frame. The wheel frame is connected to the steering gear. The second brake is fixed on the wheel frame, and its braking end is connected to the roller.

[0012] Preferably, the intelligent robot chassis stability structure further includes: a limiting assembly, which includes: a limiting block and a limiting frame. The limiting block is fixed on at least one roller device. The limiting frame is fixed on the vehicle frame. A limiting groove is provided on the limiting frame. When the roller device swings with the swing rod, the limiting frame restricts the movement of the limiting block within the limiting groove.

[0013] To achieve the above object, according to another aspect of the present invention, there is also provided a composite intelligent robot, which includes: a mobile chassis and a robotic arm. The mobile chassis includes the intelligent robot chassis stability structure as described in any one of the above.

[0014] Through the intelligent robot chassis stability structure and the composite intelligent robot provided by the present utility model, a seesaw rod structure with a rotating shaft locking function is ingeniously designed to support timely locking of the swinging position between the roller device and the vehicle frame, thereby realizing the Z-axis locking function of the roller device. By this means, when the robotic arm of the composite robot extends outward, the problem of vehicle body tilt caused by the outward shift of the center of gravity is solved, enabling the robot to maintain the chassis posture after parking to support the machine vision to obtain the positioning reference, thus solving the problem that the robotic arm gripper cannot accurately position and grasp or place items during operation.

[0015] In addition, in the corresponding implementation manner, through the design of the limiting component, the front-back shaking caused by the loosening of the main shaft and the swing rod after long-term operation can be prevented, and the lateral force on the main shaft can be reduced, thereby ensuring the long-term stable operation of the seesaw rod mechanism and the locking device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings forming a part of this application are used to provide a further understanding of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model. In the drawings:

[0017] Figures 1 to 2 is the overall structural schematic diagram of the intelligent robot chassis stability structure of the present utility model;

[0018] Figure 3 is the top-view structural schematic diagram of the intelligent robot chassis stability structure of the present utility model assembled on the intelligent robot chassis;

[0019] Figure 4 is the partial bottom-view structural schematic diagram of the intelligent robot chassis stability structure of the present utility model assembled on the intelligent robot chassis.

[0020] Description of the reference numerals: seesaw rod mechanism 1, locking device 2, roller device 3, vehicle frame 4, limiting component 5, swing rod 11, base 12, main shaft 13, reduction motor 21, first brake 22, main transmission mechanism 23, connecting seat 24, fixed seat 31, roller assembly 32, steering gear 33, linkage gear 34, driving gear 35, steering motor 36, limiting block 51, limiting frame 52, limiting groove 53, transmission belt 231, driving pulley 232, driven pulley 233, wheel frame 321, roller 322, second brake 323, driving motor 324. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some but not all of the embodiments of the present utility model. Components of the embodiments of the present utility model usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0022] Therefore, the detailed description of the embodiments of the present utility model provided in the accompanying drawings below is not intended to limit the scope of the claimed present utility model, but merely represents selected embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts fall within the scope of protection of the present utility model.

[0023] It should be noted that: like reference numerals and letters denote like items in the following accompanying drawings. Therefore, once an item is defined in one of the accompanying drawings, it does not need to be further defined and explained in the subsequent accompanying drawings.

[0024] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship when the product of the present utility model is normally placed. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present utility model. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be construed as indicating or implying relative importance. The terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0025] In addition, the terms "horizontal", "vertical", "overhanging", etc. do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0026] In the description of the present utility model, it should also be noted that unless otherwise clearly specified and defined, the terms "arrangement", "layout", "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances in combination with the prior art. In addition, without conflict, the embodiments and the features in the embodiments in the present utility model can be combined with each other. And one or more of the components in the illustration can be necessary or unnecessary, and the relative positional relationship between the above-mentioned illustrated components can be adjusted according to actual needs.

[0027] To achieve the Z-axis self-locking function of the intelligent robot chassis, so as to keep the vehicle body stable when the robotic arm extends, as Figures 1 to 4 shown, the present utility model provides a stable structure for an intelligent robot chassis, which is used to connect the vehicle frame 4 and the roller device 3, and its examples include: a rocker mechanism 1 and a locking device 2.

[0028] Specifically, as Figures 1 to 4 shown, in this example, the rocker mechanism 1 includes: a swing rod 11, a base 12, and a main shaft 13. Wherein, a bearing hole is provided on the base 12 for shaft connection with the main shaft 13, the base 12 is fixed on the vehicle frame 4, the swing rod 11 is fixedly connected with the main shaft 13. Through this arrangement, the swing rod 11 can swing at both ends as the main shaft 13 rotates. A roller device 3 is installed at each end of the swing rod 11. The locking device 2 in this example includes: a reduction motor 21, a first brake 22, a main transmission mechanism 23, and a connecting seat 24. Wherein, the reduction motor 21 is fixed on the vehicle frame 4 through the connecting seat 24, the output shaft of the reduction motor 21 is respectively connected with the driving ends of the first brake 22 and the main transmission mechanism 23, and the linkage end of the main transmission mechanism 23 is connected with the main shaft 13.

[0029] Among them, as Figures 1 to 4 shown, in the preferred embodiment, the main transmission mechanism 23 can be a belt pulley transmission mechanism. For example, the examples include: a transmission belt 231, a driving belt pulley 232, and a driven belt pulley 233. The driving belt pulley 232 is connected with the output shaft of the reduction motor 21, the driven belt pulley 233 is connected with the main shaft 13, and the transmission belt 231 is sleeved on the driving belt pulley 232 and the driven belt pulley 233 for transmission. Thus, the swinging direction and angle of the swing rod 11 are controlled by the reduction motor 21, and braking is given by the first brake 22 to lock the Z-axis direction of the main shaft 13, thereby fixing the position of the current roller device 3 and locking the vehicle body posture.

[0030] In addition, in other alternative embodiments, the main drive mechanism 23 may alternatively be a gear meshing drive mechanism. For example, it includes a main gear and a secondary gear. The main gear is connected to the output shaft of the reduction motor 21, and the secondary gear is connected to the main shaft 13. The main gear and the secondary gear are in meshing drive. Similarly, rotation can be transmitted through gear meshing, and the rotation of the main shaft 13 can also be locked by the first brake 22, thereby locking the body posture.

[0031] Furthermore, in an alternative embodiment, in order to support wheel steering in the intelligent robot chassis stable structure and improve the chassis control freedom, in this example, the wheel device 3 includes: a fixed seat 31, a wheel assembly 32, a steering gear 33, an interlocking gear 34, a drive gear 35, and a steering motor 36. The fixed seat 31 is connected to one end of the swing rod 11. The steering gear 33 and the interlocking gear 34 are respectively pivotally connected to the fixed seat 31 and are meshed in sequence. The wheel assembly 32 is connected to the steering gear 33 and rotates and moves with the steering gear 33. The steering motor 36 is connected to the fixed seat 31. The drive gear 35 is connected to the drive end of the steering motor 36 and is meshed with the interlocking gear 34. With this arrangement, by controlling the forward / reverse rotation of the steering motor 36, the meshing of each gear can be controlled to drive the wheel assembly 32 to rotate, thereby controlling the wheel steering.

[0032] Furthermore, to prevent the wheels from rolling backward, as Figure 4 shown, in an alternative embodiment, the wheel assembly 32 includes: a wheel frame 321, a wheel 322, and a second brake 323. The wheel 322 is pivotally connected to the wheel frame 321. The wheel frame 321 is connected to the steering gear 33. The second brake 323 is fixed on the wheel frame 321, and its braking end is connected to the wheel 322. With this arrangement, when parking, the wheel 322 can be braked to prevent rolling backward, thereby further adapting to stabilizing the body posture on an uneven site.

[0033] Furthermore, to enable the wheels to have self - driving ability, as Figure 4 shown, in an alternative embodiment, the wheel assembly 32 includes: a wheel frame 321, a wheel 322, a drive motor 324, and a second brake 323. The wheel 322 is pivotally connected to the wheel frame 321. The wheel frame 321 is connected to the steering gear 33. The drive motor 324 is fixed on the wheel frame 321, and its drive end is respectively connected to the wheel 322 and the second brake 323. With this arrangement, not only can self - driving force be provided for the wheel 322 to improve the overall driving force of the chassis and strengthen the steering power, but also with the intervention of the second brake 323, the wheel 322 can be braked to prevent rolling backward, thereby further adapting to stabilizing the body posture on an uneven site.

[0034] Furthermore, considering that the main shaft 13 and the rocker arm 11 may loosen after the rocker mechanism 1 is operated for a long time, causing the rocker arm 13 to rock forward and backward, thereby aggravating the structural deformation and affecting the control accuracy of the vehicle body posture, in an optional embodiment, as Figure 3 As shown, the intelligent robot chassis stabilizing structure may also include: a limiting assembly 5, which includes: a limiting block 51 and a limiting frame 52, wherein the limiting block 51 is fixed on at least one roller device 3, the limiting frame 52 is fixed on the frame 4, and a limiting groove 53 is provided on the limiting frame 52. When the roller device 3 swings with the swing rod 11, the limiting frame 52 limits the limiting block 51 to move in the limiting groove 53. In this way, the lateral force of the main shaft 13 is reduced, thereby ensuring the long-term stable operation of the rocker mechanism 1 and the locking device 2.

[0035] The following example illustrates the basic working process of the above intelligent robot chassis stabilization structure:

[0036] During the normal movement of the vehicle body, in the non-active intervention mode, the rocker mechanism 1 is linked to the roller device 3 and rocked with the road conditions to adapt to the bumpy road surface. In the active intervention mode, the reduction motor 21 of the locking device 2 can actively adjust the swing angle of the rocker mechanism 1, and even lock the angle through the first brake 22, so as to adapt to special road conditions, such as sloped roads, to stabilize the operation of the vehicle body. When the vehicle body is parked, the rocker mechanism 1 is linked to the roller device 3 and is in the initial swing angle position. At this time, the first brake 22 intervenes to stop the rocker mechanism 1 and locks the main shaft 13 to maintain the current vehicle body posture. If the current posture is not ideal, the rocker mechanism 1 can be further adjusted through the reduction motor 21. The swing angle is locked by the first brake 22 to adjust the vehicle body posture, thereby preventing the vehicle body tilting caused by the center of gravity moving outward when the composite robot arm is extended, so that the robot can maintain the chassis posture after parking, so as to support the machine vision to obtain the positioning reference, thereby solving the problem that the robot arm gripper cannot accurately locate the grasping or placing objects during work.

[0037] On the other hand, corresponding to the above examples, the utility model also provides a composite intelligent robot, which includes: a mobile chassis, a mechanical arm, wherein the mobile chassis includes any of the intelligent robot chassis stabilizing structures described above.

[0038] In summary, through the intelligent robot chassis stabilization structure and the composite intelligent robot provided by the utility model, a rocker structure with a rotating shaft locking function is cleverly designed to support timely locking of the swing position between the roller device 3 and the frame 4, thereby realizing the Z-axis locking function of the roller device, thereby solving the problem of vehicle body tilting caused by the outward shift of the center of gravity when the composite robot's mechanical arm is extended, so that the robot can maintain the chassis posture after parking, so as to support the machine vision to obtain the positioning reference, thereby solving the problem that the mechanical arm gripper cannot accurately locate to grasp or place objects during work.

[0039] The preferred embodiments of the present utility model disclosed above are only used to help explain the present utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the present utility model to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principle and practical application of the present utility model, so that those skilled in the relevant technical field can well understand and utilize the present utility model. The present utility model is only limited by the claims and their full scope and equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

[0040] In addition, any combination can be made among various different embodiments of the embodiments of the present utility model, as long as it does not violate the idea of the embodiments of the present utility model, and it should also be regarded as the content disclosed in the embodiments of the present utility model.

Claims

1. An intelligent robot chassis stability structure for connecting a vehicle frame and a roller device, characterized in that Comprising: A rocker mechanism and a locking device, wherein the rocker mechanism includes a swing rod, a base, and a main shaft. The main shaft is pivotally connected to the base, the swing rod is fixedly connected to the main shaft, the base is fixed on the vehicle frame, and a roller device is installed at each end of the swing rod. The locking device includes a reduction motor, a first brake, a main transmission mechanism, and a connecting seat. The reduction motor is fixed on the vehicle frame via the connecting seat. The output shaft of the reduction motor is respectively connected to the driving end of the first brake and the main transmission mechanism. The linkage end of the main transmission mechanism is connected to the main shaft.

2. The stable structure of the intelligent robot chassis according to claim 1, characterized in that, The main transmission mechanism includes a transmission belt, a driving pulley, and a transmission pulley. The driving pulley is connected to the output shaft of the reduction motor, the transmission pulley is connected to the main shaft, and the transmission belt is sleeved on the driving pulley and the transmission pulley for transmission.

3. The stable structure of the intelligent robot chassis according to claim 1, wherein The main transmission mechanism includes a main gear and a sub-gear. The main gear is connected to the output shaft of the reduction motor, the sub-gear is connected to the main shaft, and the main gear and the sub-gear are engaged for transmission.

4. The intelligent robot chassis stability structure according to claim 1, characterized in that The roller device includes a fixed seat, a roller assembly, a steering gear, a linkage gear, a driving gear, and a steering motor. The fixed seat is connected to one end of the swing rod. The steering gear and the linkage gear are respectively pivotally connected to the fixed seat and are engaged in sequence. The roller assembly is connected to the steering gear. The steering motor is connected to the fixed seat. The driving gear is connected to the driving end of the steering motor and is engaged with the linkage gear.

5. The intelligent robot chassis stability structure according to claim 4, characterized in that, The roller assembly includes a wheel frame, a roller, a driving motor, and a second brake. The roller is pivotally connected to the wheel frame. The wheel frame is connected to the steering gear. The driving motor is fixed on the wheel frame, and its driving end is respectively connected to the roller and the second brake.

6. The stable structure of the intelligent robot chassis according to claim 4, characterized in that, The roller assembly includes a wheel frame, a roller, and a second brake. The roller is pivotally connected to the wheel frame. The wheel frame is connected to the steering gear. The second brake is fixed on the wheel frame, and its braking end is connected to the roller.

7. The intelligent robot chassis stability structure according to any one of claims 1 to 6, characterized in that, Further comprising: A limit component, which includes a limit block and a limit frame. The limit block is fixed on at least one roller device, the limit frame is fixed on the vehicle frame, and a limit groove is provided on the limit frame. When the roller device swings with the swing rod, the limit frame restricts the movement of the limit block within the limit groove.

8. A composite intelligent robot, comprising: A mobile chassis and a robotic arm, characterized in that the mobile chassis includes the intelligent robot chassis stability structure according to any one of claims 1 to 7.

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