Mobile chassis of service robot

Abstract

The embodiment of the utility model provides a mobile chassis of a service robot, and relates to the technical field of service robot chassis, the mobile chassis of the service robot comprises a robot base, mounting frames are fixedly mounted on the two sides of the robot base, mobile tracks are movably mounted in the mounting frames, and a mounting groove is formed in the top of the robot base; when the equipment is applied, the service robot body is installed at the top of the top disc, if the side faces of the robot are impacted when the robot moves, the side buffer springs and the side dampers can be linked through the outer hinge balls and the inner hinge balls, and the four sets of side buffer springs and the side dampers operate at the same time to improve the buffer protection performance of the robot body; the main buffer spring and the main damper in the shell are matched with the side buffer assembly to play a role, and in the buffer process, balls at the bottom of the base plate can reduce friction force and assist in improving the buffer effect of the side buffer spring, so that the overall service life of the robot is further prolonged, and the stability and reliability of the robot under various conditions are enhanced.

Description

Technical Field

[0001] The present application relates to the technical field of service robot chassis, and in particular to a mobile chassis of a service robot. Background Art

[0002] Service robots are automated devices that can provide various services to humans in non-industrial environments. They integrate multiple technologies, including mechanics, electronics, computers, and sensors. Functionally, there are many different types of service robots. For example, in the home, there are household service robots that can sweep and mop floors. With cleaning tools and intelligent path planning systems, they can autonomously navigate the room. There are also companion robots, equipped with voice interaction systems and emotion recognition modules, that can chat and interact with users, providing emotional companionship for people living alone or children. In the healthcare field, medical service robots can assist medical staff with simple tasks, such as transporting medicines and medical equipment. With precise navigation systems, they can accurately deliver items through the complex corridors and wards of hospitals. There are also rehabilitation robots, which use sophisticated robotic arms and specific programs to assist patients with rehabilitation training. In commercial settings, welcome robots can greet customers at the entrances of shopping malls, hotels, and other places, using facial recognition and voice prompts to provide warm hospitality. Service robots have greatly improved service efficiency and improved people's living and working experiences. In short, existing service robots are widely used.

[0003] At present, the service robot body is usually installed on the top of the robot's mobile base. In the existing technology, the multifunctional service robot chassis is composed of an upper plate and a lower plate, and a first hydraulic rod and eight sets of anti-seismic rings are connected between the two. These anti-seismic rings are semi-ring-shaped and made of chrome steel, which is a good buffering and shock-absorbing material. When the chassis is bumped and vibrated, the anti-seismic ring can play an excellent shock-absorbing and buffering role, and cooperate with the second hydraulic rod and spring to further improve the shock-absorbing performance. At the same time, the first hydraulic rod and the second hydraulic rod also play the role of hydraulic shock absorption, which makes the chassis's buffering and shock-absorbing performance extremely powerful. Such a design can significantly reduce the vibration transmitted to the top action mechanism of the robot and reduce the electronic components. The vibrations to which the devices are subjected effectively ensure the service life of the electronic components, making the service robot have a longer service life and more reliable. During installation, the moving mechanism is installed through the mounting holes and screw holes, and the action mechanism is installed on the top of the upper plate. However, the moving base in the existing technology can only perform vertical buffering up and down. During actual operation, the robot is usually subjected to vibrations from all directions. When the robot is subjected to side impact vibration, its longitudinally arranged buffer structure is obviously unable to effectively perform buffering and shock absorption. It can be seen that there are certain defects and deficiencies in its overall application period, and it is urgent to improve it to enhance the performance and stability of the service robot. Utility Model Content

[0004] The embodiments of the present application provide a mobile chassis for a service robot, which is used to solve the problem that the current mobile chassis of service robots lacks lateral buffering capability and has poor overall buffering capability.

[0005] The present application provides a mobile chassis for a service robot, comprising: a robot base, mounting frames fixedly mounted on both sides of the robot base, movable tracks movably mounted within the mounting frames, a mounting slot defined at the top of the robot base, buffer mechanisms movably mounted within the mounting slots, a top plate mounted on the top of the buffer mechanisms via bolts, and a mounting mechanism integrated into the top of the top plate;

[0006] The buffer mechanism includes a side buffer assembly, which is movably installed at the four corners of the installation groove. The inner side of the side buffer assembly is hinged with a shell, and the main buffer assembly is installed inside the shell. The top of the shell is connected to the bottom of the top plate by bolts.

[0007] In a feasible implementation, the side buffer assembly includes an external hinged ball, which is rotatably connected to the four corners of the mounting groove. The inner side of the external hinged ball is fixedly connected to a side buffer spring, and the inner side of the side buffer spring is integrally connected to a circular plate. The inner side of the circular plate is rotatably connected to an inner hinged ball, and the inner side of the inner hinged ball is connected to the outer side of the shell.

[0008] In a feasible implementation, side dampers are welded to the outer sides of the circular plates, and the outer sides of the side dampers are fixedly connected to the inner sides of the outer hinge balls.

[0009] In a feasible implementation, the main buffer assembly includes a main buffer spring, which is welded and installed in the middle part of the shell. A base plate is welded to the bottom of the main buffer spring, and balls are rotatably connected to the bottom of the base plate at equal intervals. The bottom of the ball is fit-fittingly connected to the bottom of the installation groove.

[0010] In a feasible implementation, a main damper is fixedly connected to the interior of the shell, the main buffer spring is sleeved on the outside of the main damper, and the bottom of the main damper is fixedly connected to the middle of the top of the base plate.

[0011] In a feasible implementation, the mounting mechanism includes a slide groove, which is opened in the middle of the top of the top plate. The inside of the slide groove is rotatably connected to a screw rod, and the threads at both ends of the screw rod rotate in opposite directions. Both ends of the screw rod are threadedly connected to a movable block, and the top of the movable block is fixedly connected to a clamping frame. The outer end of the screw rod passes through the top plate and is fixedly connected to an adjusting button handle.

[0012] In a feasible implementation, the inner side of the adjusting button handle is cross-shaped, the upper end of the adjusting button handle is threadedly connected to a limiting screw, the end of the limiting screw passes through the adjusting button handle, and the limiting screw is configured as a hand-tightening screw.

[0013] The present application provides a mobile chassis for a service robot. This device is equipped with a buffer mechanism. When in use, the service robot body is mounted on top of the top plate. If the robot is hit from the side while moving, the side buffer springs and side dampers will work together through the outer hinge ball and the inner hinge ball. The four groups work simultaneously to improve the buffering and protection performance of the robot body. When the robot is vibrated longitudinally, the main buffer springs and main dampers in the shell work in conjunction with the side buffer components. During the buffering process, the balls at the bottom of the base plate can reduce friction and help improve the buffering effect of the side buffer springs, thereby further extending the overall service life of the robot and enhancing the stability and reliability of the robot in various situations.

[0014] The installation mechanism of this device brings great convenience. Place the robot body on the top plate, twist the adjusting knob handle to make the screw rotate in the slide groove, drive the movable block and the clamping frame to slide to clamp the body. After installation, fix the adjusting knob handle with a limiting screw, and power on the moving track. When removing, unplug the plug, loosen the limiting screw, and make the screw drive the movable block to move outward. This design makes the installation and disassembly of the robot body very convenient, improves the efficiency and flexibility of the equipment, meets the use requirements of the robot in different scenarios, and brings a better use experience to users. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present application and do not constitute an improper limitation on the present invention.

[0016] In the attached figure:

[0017] Figure 1 This is a schematic diagram of the overall structure provided by an embodiment of the present application;

[0018] Figure 2 This is a schematic diagram of a top view structure provided by an embodiment of the present application;

[0019] Figure 3 This is a schematic diagram of a top view of the structure in a disassembled state provided by an embodiment of the present application;

[0020] Figure 4 This is a schematic structural diagram of a main buffer component provided in one embodiment of the present application.

[0021] Description of reference numerals:

[0022] 100-Robot base; 200-Mounting frame; 300-Moving track; 400-Mounting slot; 600-Top plate; 500-Buffer mechanism; 700-Mounting mechanism;

[0023] 510-side buffer assembly; 520-housing; 530-main buffer assembly;

[0024] 511 - outer hinge ball; 512 - side buffer spring; 513 - circular plate; 514 - inner hinge ball; 515 - side damper;

[0025] 531-main damping spring; 532-base plate; 533-ball; 534-main damper;

[0026] 710-slideway; 720-screw rod; 730-movable block; 740-clamping frame; 750-adjusting knob handle; 760-limiting screw. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the technical solutions in this application, the following will provide a clear and complete description of the technical solutions in the embodiments of this application in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0028] Example

[0029] refer to Figures 1 to 4 The mobile chassis of a service robot of this embodiment includes: a robot base 100, with mounting frames 200 fixedly mounted on both sides of the robot base 100, and movable tracks 300 movably mounted inside the mounting frames 200; a mounting slot 400 is defined at the top of the robot base 100, and a buffer mechanism 500 is movably mounted inside the mounting slot 400; a top plate 600 is mounted on the top of the buffer mechanism 500 via bolts, and a mounting mechanism 700 is integrated on the top of the top plate 600;

[0030] The buffer mechanism 500 includes a side buffer assembly 510, which is movably installed at the four corners of the mounting groove 400. The inner side of the side buffer assembly 510 is hinged with a shell 520, and the main buffer assembly 530 is installed inside the shell 520. The top of the shell 520 is connected to the bottom of the top plate 600 by bolts. The movable tracks 300 in the mounting frames 200 on both sides facilitate the movement of the robot. The buffer mechanism 500 in the mounting groove 400 is composed of a side buffer assembly 510 and a main buffer assembly 530. The side buffer assembly 510 is located at the four corners of the mounting groove 400 and is hinged to the shell 520. It can provide buffering when the side of the robot is hit. The main buffer assembly 530 inside the shell 520 plays a role when the robot is vibrated longitudinally. The mounting mechanism 700 on the top of the top plate 600 facilitates the installation of the robot body. The overall design enables the robot to better cope with various vibrations and impacts during movement, improves the stability and reliability of the robot, and facilitates the installation and disassembly of the robot body.

[0031] The side buffer assembly 510 includes an outer hinge ball 511, which is rotatably connected to the four corners of the mounting groove 400. The inner side of the outer hinge ball 511 is fixedly connected to a side buffer spring 512. The inner side of the side buffer spring 512 is integrally connected to a circular plate 513. The inner side of the circular plate 513 is rotatably connected to an inner hinge ball 514. The inner side of the inner hinge ball 514 is connected to the outer side of the housing 520. The outer side of the circular plate 513 is welded with a side damper 515. The outer side of the side damper 515 is fixedly connected to the inner side of the outer hinge ball 511. The outer hinge ball 511 is rotatably connected to the four corners of the mounting slot 400, making the connection between the side buffer assembly 510 and the mounting slot 400 flexible and capable of functioning at different angles. The side buffer spring 512 connects the outer hinge ball 511 and the inner hinge ball 514. When the side of the robot is hit, the side buffer spring 512 can absorb the impact force by compressing and expanding, thereby providing a buffering effect. The provision of the circular plate 513 makes the connection of the side buffer spring 512 more stable and also provides a mounting position for the side damper 515. The inner hinge ball 514 connects the circular plate 513 and the housing 520, making the connection between the side buffer assembly 510 and the housing 520 flexible and capable of better adapting to impacts from different directions. The side damper 515 connects the outer hinge ball 511 and the circular plate 513. While the side buffer spring 512 provides buffering, the side damper 515 can further dissipate the impact force through damping, thereby improving the buffering effect. Overall, the side buffer assembly 510 can effectively absorb and consume the impact force when the robot is hit on the side, thereby protecting the robot chassis and internal structure.

[0032] The main buffer assembly 530 includes a main buffer spring 531, which is welded and installed in the middle of the shell 520. The bottom of the main buffer spring 531 is welded with a base plate 532, and the bottom of the base plate 532 is rotatably connected with balls 533 at equal intervals. The bottom of the ball 533 is fit-fittingly connected to the bottom of the mounting groove 400. The inside of the shell 520 is fixedly connected with a main damper 534. The main buffer spring 531 is sleeved on the outside of the main damper 534, and the bottom of the main damper 534 is fixedly connected to the middle of the top of the base plate 532. The main buffer spring 531 is welded in the middle of the shell 520. When the robot is vibrated longitudinally, the main buffer spring 531 can absorb the impact force by compression and extension, thereby playing a buffering role. The base plate 532 is located at the bottom of the main buffer spring 531, and the balls 533 at the bottom thereof are rotatably connected at equal intervals and are fitted and connected to the bottom of the mounting groove 400. When the robot moves or is vibrated, the balls 533 can reduce friction, making the buffering effect of the main buffer spring 531 smoother. The main damper 534 is fixed inside the shell 520, and the main buffer spring 531 is sleeved on the outside thereof. When the main buffer spring 531 is compressed or stretched, the main damper 534 can further consume the impact force through the damping effect, thereby improving the buffering effect. The main buffer assembly 530 can effectively absorb and consume the impact force when the robot is vibrated longitudinally, thereby protecting the robot chassis and internal structure.

[0033] The mounting mechanism 700 includes a slide groove 710, which is opened in the middle of the top of the top plate 600. The inside of the slide groove 710 is rotatably connected to a screw rod 720. The threads at both ends of the screw rod 720 rotate in opposite directions. Both ends of the screw rod 720 are threadedly connected to a movable block 730. The top of the movable block 730 is fixedly connected to a clamping frame 740. The outer end of the screw rod 720 passes through the top plate 600 and is fixedly connected to an adjusting button handle 750. The inner side of the adjusting button handle 750 is arranged in a cross shape. The upper end of the adjusting button handle 750 is threadedly connected to a limiting screw rod 760. The end of the limiting screw rod 760 passes through the adjusting button handle 750. The limiting screw rod 760 is set to a hand-tightening screw. The slide groove 710 is opened in the middle of the top of the top plate 600. The screw rod 720 and movable block 730 are provided with mounting locations. The threads at both ends of the screw rod 720 rotate in opposite directions, and when rotated, they can drive the movable blocks 730 at both ends to move in opposite directions simultaneously. The clamping frame 740 on the top of the movable block 730 moves with the movable block 730 to clamp and install the robot body. The adjustment knob handle 750 on the outer end of the screw rod 720 is convenient for manual operation. Its inner cross-shaped design facilitates the application of force to rotate the screw rod 720. The limiting screw 760 on the upper end of the adjustment knob handle 750 is a hand-tightened screw, which facilitates the fixing of the adjustment knob handle 750 after installation and ensures installation stability. The mounting mechanism 700 enables quick and stable installation and removal of the robot body, improving the convenience and efficiency of the device.

[0034] The principle of use and advantages are as follows: by setting up a buffer mechanism 500, the service robot main body can be installed on the top of the top plate 600 through the installation mechanism 700 during use. During use, the robot main body can control the movement of the mobile crawler 300 to assist the mobile robot. When the robot is hit or collided on the side during movement, the side buffer spring 512 and the side damper 515 will be triggered first. The side buffer spring 512 and the side damper 515 are linked through the outer hinge ball 511 and the inner hinge ball 514. When the robot main body is hit, it will obviously synchronize the four groups of side buffer springs 512 and the side damper 515 for damping and buffering. In this way, the four groups of side buffer springs can be used to The damping and buffering effect of the spring 512 and the side damper 515 is linked to the main body of the robot, which greatly improves the buffering and protection performance of the robot body. Moreover, when the robot is subjected to longitudinal vibration, it can be directly damped and buffered by the main buffer spring 531 and the main damper 534 inside the shell 520. Assisted by the side buffer assembly 510, the overall buffering and protection performance of the robot base 100 can be significantly improved. In addition, during the buffering process, balls 533 are evenly spaced at the bottom of the base plate 532. The bottom of the base plate 532 is in contact with the inner side of the mounting groove 400 and rolls, which can effectively reduce friction, thereby helping to improve the overall buffering effect of the side buffer spring 512, and further increasing the overall service life of the robot.

[0035] By setting up the mounting mechanism 700, the robot body can be placed on the top of the top plate 600 during use. At this time, by twisting the adjusting knob handle 750, the adjusting knob handle 750 can be rotated to drive the screw rod 720 located inside the slide groove 710 to rotate. The screw rod 720 rotates inside the slide groove 710, and then the two movable blocks 730 can be driven to move synchronously. Since the threads at both ends of the screw rod 720 rotate in opposite directions, as the adjusting knob handle 750 drives the screw rod 720 to rotate, it can assist in synchronously driving the two movable blocks 730 to move back and forth. The two movable blocks 730 move back and forth, and then drive The clamping frame 740 slides back and forth, and the clamping frame 740 slides back and forth to assist in clamping and installing the main structure of the robot. When the installation is completed, it is only necessary to twist the limiting screw 760 to fix the adjusting button handle 750. After the installation is completed, the moving track 300 can be powered by a wire. If it is necessary to remove the main part of the robot, unplug the plug on the wire, and then loosen the limiting screw 760 and move away from the adjusting button handle 750. By loosening the adjusting button handle 750, the screw rod 720 can be driven to drive the movable block 730 to move outward. At this time, the main part of the robot can be easily removed, which greatly facilitates the use of this equipment.

[0036] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application based on the several embodiments provided in the present application to obtain other embodiments, and these embodiments do not exceed the scope of protection of the present application.

[0037] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of protection of the embodiments of the present application.

Claims

1. A mobile chassis of a service robot, characterized in that: include: A robot base (100), wherein mounting frames (200) are fixedly mounted on both sides of the robot base (100), a movable crawler (300) is movably mounted inside the mounting frames (200), a mounting slot (400) is provided on the top of the robot base (100), a buffer mechanism (500) is movably mounted inside the mounting slot (400), a top plate (600) is mounted on the top of the buffer mechanism (500) via bolts, and a mounting mechanism (700) is integrated on the top of the top plate (600); The buffer mechanism (500) includes a side buffer assembly (510), which is movably installed at the four corners of the installation groove (400). The inner side of the side buffer assembly (510) is hinged with a shell (520), and the main buffer assembly (530) is installed inside the shell (520). The top of the shell (520) is connected to the bottom of the top plate (600) by bolts.

2. The mobile chassis of the service robot according to claim 1, characterized in that: The side buffer assembly (510) includes an outer hinge ball (511), which is rotatably connected to the four corners of the mounting groove (400), and the inner side of the outer hinge ball (511) is fixedly connected to a side buffer spring (512), and the inner side of the side buffer spring (512) is integrally connected to a circular plate (513), and the inner side of the circular plate (513) is rotatably connected to an inner hinge ball (514), and the inner side of the inner hinge ball (514) is connected to the outer side of the shell (520).

3. The mobile chassis of the service robot according to claim 2, characterized in that: The outer sides of the circular plates (513) are welded with side dampers (515), and the outer sides of the side dampers (515) are fixedly connected to the inner sides of the outer hinge balls (511).

4. The mobile chassis of the service robot according to claim 2, characterized in that: The main buffer assembly (530) includes a main buffer spring (531), which is welded and installed in the middle of the shell (520). The bottom of the main buffer spring (531) is welded with a base plate (532), and the bottom of the base plate (532) is rotatably connected with balls (533) at equal intervals. The bottom of the ball (533) is fitted and connected to the bottom of the installation groove (400).

5. The mobile chassis of the service robot according to claim 4, characterized in that: A main damper (534) is fixedly connected to the interior of the housing (520), the main buffer spring (531) is sleeved on the outside of the main damper (534), and the bottom of the main damper (534) and the top of the base plate (532) are fixedly connected in the middle.

6. The mobile chassis of the service robot according to claim 1, characterized in that: The mounting mechanism (700) includes a slide groove (710), which is opened in the middle of the top of the top plate (600). The interior of the slide groove (710) is rotatably connected to a screw rod (720), and the threads at both ends of the screw rod (720) are screwed in opposite directions. Both ends of the screw rod (720) are threadedly connected to a movable block (730), and the top of the movable block (730) is fixedly connected to a clamping frame (740). The outer end of the screw rod (720) passes through the top plate (600) and is fixedly connected to an adjusting button handle (750).

7. The mobile chassis of the service robot according to claim 6, characterized in that: The inner side of the adjusting button handle (750) is arranged in a cross shape, and the upper end of the adjusting button handle (750) is threadedly connected to a limiting screw (760), and the end of the limiting screw (760) passes through the adjusting button handle (750), and the limiting screw (760) is arranged as a hand-tightening screw.

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