Moving device of robot

Abstract

The utility model relates to a moving device of a robot. The moving device comprises a supporting frame. The moving wheel unit comprises a driving wheel set arranged on the supporting frame, and the driving wheel set is used for driving the supporting frame to move; the driving wheel set comprises a supporting assembly installed on the supporting frame and a driving assembly installed on the supporting assembly. The supporting plate is movably connected with the supporting frame, at least one side of the supporting plate has the freedom degree of vertical movement, and the two ends of the elastic piece abut against the first baffle ring and the third support respectively. The driving assembly is arranged in the center of the bottom of the supporting plate. The height of the driving wheel set can be reduced, and the structural design of the movable chassis is facilitated. In addition, the moving device can provide large driving force for the robot, the driving performance of the moving device can be effectively improved, the adaptability of the moving device to the bottom face in the working process can be further improved, and therefore the moving device is suitable for various scenes.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a moving device of a robot. Background Art

[0002] The robot moving device serves as the main structure that carries the robot and can provide it with stable support. The moving function of the robot can be realized through the driving device of the moving device, so that the robot has good maneuverability and flexibility. Combined with various sensors on the moving device, the robot can move freely and safely. In the prior art, considering the differences in ground flatness, in order to make the moving device have better ground adaptability, the driving wheel group of the moving device is usually designed to have the freedom to float up and down, so that the driving wheel group can always be in contact with the ground and provide continuous driving force. Generally, a rocker arm structure is used, the driving wheel group is arranged in the middle of the rocker arm, and an elastic member is hingedly arranged at the end of the rocker arm. The elastic member is used to keep the driving wheel group under pressure with the ground.

[0003] However, the disadvantage of the existing technology is that the existing chassis structure greatly increases the height of the mobile device due to the combination of the height of the driving wheel group and the height of the elastic member, thereby occupying more installation space and being detrimental to the miniaturization of the mobile device. Utility Model Content

[0004] To this end, the technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide a robot mobile device that can reduce the height of the driving wheel group and facilitate the structural design of the mobile device. In addition, it can effectively improve the driving performance of the mobile device and further improve the adaptability of the mobile device to the bottom surface during operation, so that it is suitable for various scenarios.

[0005] In order to solve the above technical problems, the utility model provides a robot moving device, comprising:

[0006] Support frame;

[0007] The movable wheel unit includes a driving wheel group arranged on the supporting frame, and the driving wheel group is used to drive the supporting frame to move; the driving wheel group includes a supporting assembly installed on the supporting frame and a driving assembly installed on the supporting assembly; the supporting assembly includes a support plate, a guide rod, an elastic member and a first baffle ring; the support plate is movably connected to the supporting frame and enables at least one side of the support plate to have the freedom to move up and down; a third support is provided at the bottom of the side of the support plate that can move up and down; the bottom of the guide rod is fixedly connected to the supporting frame, and the top of the guide rod passes through the third support upward; the first baffle ring is provided at the top of the guide rod; the elastic member is sleeved on the guide rod, and the two ends of the elastic member respectively abut the first baffle ring and the third support; the driving assembly is provided at the bottom center of the support plate.

[0008] In one embodiment of the present invention, a first support is hingedly provided on one side of the support plate, and the first support is fixed to the support frame; the other opposite side of the support plate has the freedom to swing up and down.

[0009] In one embodiment of the present invention, the support assembly also includes a second support fixedly connected to the support frame, the second support is lower than the first support, and is close to the side of the support plate that swings up and down; the bottom end of the guide rod is connected to the second support.

[0010] In one embodiment of the present invention, the support assembly further includes a second retaining ring slidably connected to the guide rod, and the second retaining ring is provided at the bottom end of the elastic member.

[0011] In one embodiment of the present invention, the drive assembly comprises:

[0012] The shaft support is installed at the bottom of the support plate for horizontal rotation;

[0013] The rotating shaft is arranged horizontally; both ends of the rotating shaft are connected to the rotating shaft support;

[0014] A driving body connected to the rotating shaft; the driving body has the freedom to rotate around the rotating shaft;

[0015] The driving wheel is rotatably mounted on the driving body; the driving wheel has a power input.

[0016] In one embodiment of the present invention, the driving assembly further includes a transmission mechanism installed on the driving body and a first motor installed on the transmission mechanism; the first motor drives the driving wheel to rotate through the transmission mechanism.

[0017] In one embodiment of the present invention, the drive assembly further comprises:

[0018] Inner ring mounting plate, fixed to the top of the shaft support;

[0019] The inner ring of the bearing is fixed to the top of the inner ring mounting plate;

[0020] The outer ring of the gear is coaxially sleeved on the inner ring of the bearing, and the outer ring of the gear is fixed to the support frame; the inner ring of the bearing and the outer ring of the gear are rotatably matched;

[0021] A driving gear is rotatably mounted on the inner ring mounting plate, the driving gear is meshed with the outer ring gear, and the driving gear has power input to drive the inner ring mounting plate to rotate horizontally.

[0022] In one embodiment of the present invention, the drive assembly further comprises:

[0023] A reducer is installed at the bottom of the inner ring mounting plate, and the output end of the reducer passes through the inner ring mounting plate from bottom to top and is coaxially fixed with the driving gear;

[0024] The second motor is fixedly mounted on the reducer, and the output end of the second motor is connected to the input end of the reducer.

[0025] In one embodiment of the present invention, there are two driving wheel groups, and the two driving wheel groups are arranged along the diagonal direction of the support frame.

[0026] In one embodiment of the present invention, the moving wheel unit further includes a plurality of driven wheel groups arranged at the bottom of the supporting frame.

[0027] The above technical solution of the utility model has the following advantages compared with the prior art:

[0028] The present invention discloses a robot mobile device, comprising a support frame and a mobile wheel unit. The mobile wheel unit comprises a support assembly mounted on the support frame and a drive assembly mounted on the support assembly. The support assembly comprises a support plate, a guide rod, an elastic member, and a first retaining ring. At the same time, at least one side of the support plate has the freedom to move up and down, and a third support is provided at the bottom of the side of the support plate that can move up and down. The bottom of the guide rod is fixedly connected to the support frame, and the top of the guide rod extends upward through the third support. The elastic member is sleeved on the guide rod, and the two ends of the elastic member respectively abut against the first retaining ring and the third support.

[0029] With this arrangement, on the one hand, the deformation of the elastic member allows the support plate to maintain downward pressure on the drive assembly, so that the drive assembly maintains sufficient static friction with the ground, thereby improving the drive performance while improving the adaptability of the drive assembly to the ground.

[0030] On the other hand, the height space of the elastic part is effectively limited between the third support and the first retaining ring, so that the space downward of the support plate can be effectively utilized, avoiding the additional occupation of the height space by the elastic part, that is, avoiding the driving wheel group from occupying a large installation space in the height direction, facilitating the miniaturization design of the mobile device, especially miniaturization in the height direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to make the content of the utility model easier to understand, the utility model is further described in detail below based on the specific embodiments of the utility model and in conjunction with the accompanying drawings, wherein

[0032] Figure 1 It is a schematic diagram of the overall structure of the mobile device of the preferred embodiment of the present utility model.

[0033] Figure 2 It is a schematic diagram of the overall structure of the driving wheel group of the preferred embodiment of the present utility model.

[0034] Figure 3 It is a partial structural schematic diagram of a driving wheel assembly according to a preferred embodiment of the present utility model.

[0035] Figure 4 It is a partial structural schematic diagram of a driving wheel assembly according to a preferred embodiment of the present utility model.

[0036] Figure 5 yes Figure 4 Schematic diagram of the cross-section structure.

[0037] Explanation of the reference numerals in the accompanying drawings in the specification: 1. Support frame; 2. Driving wheel assembly; 20. Support plate; 201. First support; 202. Second support; 21. Guide rod; 22. Elastic member; 23. First retaining ring; 24. Third support; 25. Second retaining ring; 30. Rotating shaft support; 31. Rotating shaft; 32. Driving body; 320. Transmission mechanism; 33. Driving wheel; 34. First motor; 35. Inner ring mounting plate; 36. Bearing inner ring; 37. Gear outer ring; 38. Driving gear; 39. Reducer; 40. Second motor; 50. Universal wheel; 61. Visual sensor; 62. Radar sensor. DETAILED DESCRIPTION

[0038] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0039] Reference Figures 1 to 5As shown, this embodiment provides a robot mobility device, comprising a support frame 1 and a mobility wheel unit. The support frame 1 serves as the primary load-bearing structure of the mobility device. The mobility unit is mounted on the support frame 1 and configured to allow for the free movement of the support frame 1. Specifically, the mobility wheel unit includes a drive wheel assembly 2 mounted on the support frame 1, which is configured to drive the support frame 1 in motion.

[0040] Furthermore, the driving wheel assembly 2 includes a supporting assembly mounted on the supporting frame 1 and a driving assembly mounted on the supporting assembly. Specifically, the supporting assembly includes a support plate 20, a guide rod 21, an elastic member 22, and a first retaining ring 23. The support plate 20 is movably connected to the supporting frame 1 and allows at least one side of the support plate 20 to have the freedom to move up and down. A third support 24 is provided downwardly at the bottom of the side of the support plate 20 that can move up and down. The bottom of the guide rod 21 is fixedly connected to the supporting frame 1. In addition, the top of the guide rod 21 extends upward through the third support 24. The first retaining ring 23 is provided on the top of the guide rod 21, and the elastic member 22 is sleeved on the guide rod 21, and the two ends of the elastic member 22 respectively abut against the first retaining ring 23 and the third support 24. The third support 24 includes an extension portion and a support portion. The top end of the extension portion is fixedly connected to the bottom of the support plate 20, the bottom end of the extension portion extends downwardly and is fixedly connected to the support portion, and the support portion extends horizontally to form a support platform. The guide rod 22 extends upward through the support portion, and the bottom end of the elastic member 22 abuts the top surface of the support portion. To ensure balanced force on the drive assembly, as a preferred embodiment, the drive assembly is located at the bottom center of the support plate 20. This arrangement, on the one hand, relies on the deformation of the elastic member to maintain downward pressure on the support plate 20 on the drive assembly, so that the drive assembly maintains sufficient static friction with the ground, improving the drive assembly's adaptability to the ground and enhancing driving performance. On the other hand, the height space of the elastic member is effectively limited between the third support 24 and the first retaining ring 23. This effectively utilizes the space below the support plate 20 and avoids the elastic member from occupying additional height space. In other words, it prevents the drive wheel assembly from occupying a large installation space in the height direction, facilitating the miniaturization of the mobile device, especially in the height direction. In a further embodiment, two sets of guide rods 21, elastic members 22, first retaining rings 23, and third supports 24 are provided on the side of the support plate 20 that can move up and down. This ensures balance while providing a large elastic pressure for the drive assembly, thereby maintaining sufficient static friction between the drive assembly and the ground and improving driving performance.

[0041] In a preferred embodiment, a first support 201 is hingedly provided on one side of the support plate 20, and the first support 201 is fixed to the support frame 1. The other opposite side of the support plate 20 has the freedom to swing up and down. That is, the side of the support plate 20 relative to the first support 201 can move up and down. Of course, in other embodiments, one side of the support plate 20 is slidably connected to the support frame 1. In this way, the other opposite side of the support plate 20 can also move up and down, thereby having the freedom to translate up and down.

[0042] The support assembly further includes a second retaining ring 25 slidably connected to the guide rod 21 . The second retaining ring 25 is disposed at the bottom end of the elastic member 22 .

[0043] The support assembly also includes a second support 202 fixedly connected to the support frame 1. The second support 202 is lower than the first support 201 and is located near the side of the support plate 20 that swings up and down. The bottom end of the guide rod 21 is connected to the second support 202. For example, the bottom end of the guide rod 21 is fixed vertically to the second support 202.

[0044] As a preferred embodiment, in order to provide the mobile device with a more stable driving force and to make the center of gravity of the mobile device more stable, two sets of driving wheel sets 2 are provided, and the two sets of driving wheel sets 2 are arranged in diagonal directions of the support frame 1. This arrangement can improve the steering performance of the mobile device and reduce the range of steering movement.

[0045] To further improve its adaptability to ground flatness, as a preferred embodiment, the drive assembly includes a shaft support 30, a shaft 31, a drive body 32, and a drive wheel 33. The shaft support 30 is horizontally rotatably mounted on the bottom of the support plate 20. The shaft 31 is horizontally arranged; and the two ends of the shaft 31 are respectively connected to the shaft support 30. The drive body 32 is connected to the shaft 31; and the drive body 32 has the freedom to rotate about the shaft 31. The drive wheel 33 is rotatably mounted on the drive body 32. In addition, the drive wheel 33 has a power input, and the power input causes the drive wheel 33 to operate.

[0046] With this arrangement, when the ground has a slope in the axial direction of the driving wheel 33, the driving body 32 together with the driving wheel 33 will swing around the axial direction of the rotating shaft 31, thereby allowing the driving wheel 33 to maintain positive pressure with the ground, which can not only improve the driving performance but also reduce the risk of damage to the driving wheel 33.

[0047] Specifically, the drive assembly also includes a transmission mechanism 320 mounted on the drive body 32 and a first motor 34 mounted on the transmission mechanism 320. Furthermore, the first motor 34 drives the aforementioned drive wheel 33 through the transmission mechanism 320. In a preferred embodiment, the transmission mechanism 320 includes, but is not limited to, a gear set, pulleys, sprockets, and the like, such as a bevel gear set, to achieve power transmission between the transmission mechanism 320 and the drive shaft of the drive wheel 33. Numerous practical examples and solutions exist for the bevel gear set used to achieve this transmission, and will not be described in detail here. However, the transmission mechanism 320 should include a housing. The aforementioned gear set is housed within the housing. The housing is fixedly mounted to the drive body 32. The first motor 34 is fixedly mounted to the housing. Furthermore, the output of the first motor is connected to the transmission portion of the transmission mechanism 320, thereby providing power input to the drive wheel 33. In a preferred embodiment, the drive assembly also includes an inner ring mounting plate 35, a bearing inner ring 36, a gear outer ring 37, and a drive gear 38. The inner ring mounting plate 35 is fixed to the top of the rotating shaft support 30. The inner bearing ring 36 is fixedly mounted on the top of the inner ring mounting plate 35. The outer gear ring 37 is coaxially mounted on the inner bearing ring 36 and is also fixedly mounted to the support frame 1. The inner bearing ring 36 and the outer gear ring 37 are in rotational engagement. The outer circumference of the outer gear ring 37 is provided with gear teeth that mate with the drive gear 38. The drive gear 38 is rotatably mounted on the inner ring mounting plate 35 and meshes with the outer gear ring 37. The drive gear 38 receives power input to drive the horizontal rotation of the inner ring mounting plate 35. Specifically, the drive assembly also includes a reducer 39 and a second motor 40. Specifically, the reducer 39 is mounted on the bottom of the inner ring mounting plate 35. The output end of the reducer 39 extends from bottom to top through the inner ring mounting plate 35 and is coaxially fixedly connected to the drive gear 38. The second motor 40 is fixedly mounted to the reducer 39. It should be noted that the output end of the second motor 39 is connected to the input end of the reducer 39. Thus, the second motor 40 rotates the drive gear 38 through the reducer 39 , and the drive gear 38 is engaged with the gear outer ring 37 , thereby realizing the steering of the drive wheel 33 .

[0048] In this embodiment, the moving wheel unit further comprises a plurality of driven wheel assemblies provided at the bottom of the support frame 1. The driven wheel assemblies comprise at least four universal wheels 50, which are respectively provided at the ends of the support frame 1 along the diagonal direction.

[0049] As a preferred embodiment, the mobile device of the present invention also includes multiple sensor units for enabling autonomous movement of the mobile device. The sensor units include a visual sensor 61 and a radar sensor 62. The visual sensor 61 is disposed at an edge of the support frame 1, and the radar sensor 62 is disposed at one diagonal end of the support frame 1.

[0050] In summary, the mobile device of a robot to be protected by the present invention is provided with a support frame and a mobile wheel unit, wherein the mobile wheel unit includes a support assembly installed on the support frame and a drive assembly installed on the support assembly. The support assembly includes a support plate movably connected to the support frame, and the support plate can also move in the up and down directions through a connecting piece, so that it has the freedom of up and down translation. The drive assembly is accommodated in the bottom space of the support plate, and the length of the elastic member is designed to be adapted to the height range of the drive assembly, so as to avoid the elastic member from occupying additional height space, reduce the height of the drive wheel group, and facilitate the structural design of the mobile chassis. In addition, the mobile device of the present invention can also provide a larger driving force for the robot, can effectively improve the driving performance of the mobile device, and can further improve the adaptability of the mobile device to the bottom surface during operation, so that it is suitable for various scenarios.

[0051] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A robot moving device, characterized in that: include, Support frame; A moving wheel unit, comprising a driving wheel set provided on the supporting frame, wherein the driving wheel set is used to drive the supporting frame to move; The driving wheel assembly includes a supporting assembly mounted on a supporting frame and a driving assembly mounted on the supporting assembly; The support assembly includes a support plate, a guide rod, an elastic member and a first baffle; the support plate is movably connected to the support frame and enables at least one side of the support plate to have the freedom to move up and down; a third support is provided at the bottom of the side of the support plate that can move up and down; the bottom of the guide rod is fixedly connected to the support frame, and the top of the guide rod passes through the third support upward; the first baffle is provided at the top of the guide rod; the elastic member is sleeved on the guide rod, and the two ends of the elastic member respectively abut the first baffle and the third support; the driving assembly is provided at the bottom center of the support plate.

2. A robot moving device according to claim 1, characterized in that: A first support is hingedly provided on one side of the support plate, and the first support is fixed to the support frame; the other opposite side of the support plate has the freedom to swing up and down.

3. A robot moving device according to claim 2, characterized in that: The support assembly also includes a second support fixedly connected to the support frame, the second support is lower than the first support and close to the side of the support plate that swings up and down; the bottom end of the guide rod is connected to the second support.

4. The robot moving device according to claim 1, characterized in that: The support assembly further includes a second retaining ring slidably connected to the guide rod, and the second retaining ring is arranged at the bottom end of the elastic member.

5. The robot moving device according to claim 1, characterized in that: The drive assembly includes: The shaft support is installed at the bottom of the support plate for horizontal rotation; The rotating shaft is arranged horizontally; both ends of the rotating shaft are connected to the rotating shaft support; A driving body connected to the rotating shaft; the driving body has the freedom to rotate around the rotating shaft; The driving wheel is rotatably mounted on the driving body; the driving wheel has a power input.

6. The robot moving device according to claim 5, characterized in that: The driving assembly further includes a transmission mechanism installed on the driving body and a first motor installed on the transmission mechanism; the first motor drives the driving wheel to rotate through the transmission mechanism.

7. The robot moving device according to claim 5, characterized in that: The drive assembly further includes: Inner ring mounting plate, fixed to the top of the shaft support; The inner ring of the bearing is fixed to the top of the inner ring mounting plate; The outer ring of the gear is coaxially sleeved on the inner ring of the bearing, and the outer ring of the gear is fixed to the support frame; the inner ring of the bearing and the outer ring of the gear are rotatably matched; A driving gear is rotatably mounted on the inner ring mounting plate, the driving gear is meshed with the outer ring gear, and the driving gear has power input to drive the inner ring mounting plate to rotate horizontally.

8. The robot moving device according to claim 7, characterized in that: The drive assembly further includes: A reducer is installed at the bottom of the inner ring mounting plate, and the output end of the reducer passes through the inner ring mounting plate from bottom to top and is coaxially fixed with the driving gear; The second motor is fixedly mounted on the reducer, and the output end of the second motor is connected to the input end of the reducer.

9. A robot moving device according to any one of claims 1 to 8, characterized in that: There are two driving wheel groups, and the two driving wheel groups are arranged along the diagonal direction of the support frame.

10. The robot moving device according to claim 9, characterized in that: The moving wheel unit further comprises a plurality of driven wheel groups arranged at the bottom of the supporting frame.

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