Rotary chassis of service robot

Abstract

The embodiment of the utility model provides a service robot rotary type chassis, and relates to the technical field of service robots, the service robot rotary type chassis comprises a robot base, side frames are fixedly mounted on the two sides of the robot base, moving tracks are movably mounted in the side frames, and a mounting disc is fixedly mounted at the top of the robot base. A first motor is started to drive a gear to rotate, the gear is meshed with a gear ring to drive an arc-shaped sliding block to slide in an annular rail, so that an anti-toppling mechanism rotates along the annular rail, the anti-toppling mechanism can be flexibly adjusted on the outer side of a base of the robot, auxiliary supporting can be achieved no matter where the robot is inclined, and the supporting flexibility and the adaptive capacity are improved; the four equidistant detection radars are adopted, the terrain can be detected in advance, if inclination exists, the robot drives the anti-toppling mechanism and the rotating mechanism in advance, the intelligent anti-toppling function is achieved, and use stability and convenience are improved.

Description

Technical Field

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

[0002] With the continuous development of science and technology, service robots are being used more and more widely in various fields. Service robots are designed to provide people with various convenient services and improve work efficiency and quality of life.

[0003] Currently, service robots are generally capable of stable movement on flat surfaces, enabling them to perform various tasks effectively. However, in practical applications, service robots often encounter sloped terrain. Existing service robots are primarily designed for movement on flat surfaces, but their adaptability to slopes is relatively limited.

[0004] When a service robot moves on an inclined surface, it is prone to falling. This is mainly due to the following reasons: First, the center of gravity design of the service robot may not be reasonable. On an inclined surface, the position of the center of gravity will change. If the center of gravity of the robot is too high or the center of gravity distribution is unreasonable, it is easy for the robot to lose balance and fall. Secondly, the robot's walking mechanism may not be able to adapt well to the slope and friction changes of the inclined surface. For example, some service robots use a wheeled walking mechanism. On an inclined surface, the friction between the wheels and the ground will change, which may cause the wheels to slip, causing the robot to lose control and fall. Thirdly, the service robot's sensor system may be insufficient in detecting the inclined surface. The sensor may not be able to accurately perceive the slope, flatness and other information of the inclined surface, and thus cannot adjust the robot's movement strategy in time, increasing the risk of falling.

[0005] In summary, the problem that existing service robots are prone to falling when moving on slopes needs to be solved urgently in order to improve the adaptability and reliability of service robots in complex terrains. Utility Model Content

[0006] An embodiment of the present application provides a rotating chassis for a service robot, which is used to solve the problem that the service robot is prone to tipping over when encountering an inclined surface during the current use of the service robot.

[0007] The present application provides a rotary chassis for a service robot, comprising: a robot base, side frames fixedly mounted on both sides of the robot base, movable tracks movably mounted inside the side frames, a mounting plate fixedly mounted on the top of the robot base, four detection radars fixedly connected to the top of the mounting plate in a circular arrangement at equal intervals, a fixing seat fixedly mounted on the top of the mounting plate, a rotating mechanism fixedly mounted on the top of the fixing seat, and an anti-dumping mechanism fixedly mounted on the outer side of the rotating mechanism;

[0008] The rotating mechanism includes an annular rail, which is fixedly connected to the top of the fixing seat. The interior of the annular rail is slidably connected to an arc-shaped slider, the bottom of the arc-shaped slider is fixedly connected to a driving assembly, and the outer side of the arc-shaped slider is fixedly connected to the anti-dumping mechanism.

[0009] In a feasible implementation, a mounting seat is fixedly connected to the inner side of the annular rail, and mounting brackets are fixedly mounted on the top of the mounting seat at equal intervals and arranged in an annular shape.

[0010] In a feasible implementation, a mounting hole is provided at the outer end of the mounting frame, the mounting hole is configured as a countersunk hole, and the side surface of the mounting frame is configured in an L-shape.

[0011] In a feasible implementation, anti-skid grooves are formed at equal intervals on the outer surface of the movable crawler, and a supporting frame is fixedly connected to the corner of the mounting frame.

[0012] In a feasible implementation, the drive assembly includes a gear ring and a base plate, the base plate is fixedly connected to the bottom of the arc-shaped slider, the gear ring is fixedly connected to the bottom of the mounting seat and is located on the inner side of the base plate, the bottom of the base plate is fixedly connected to a first motor, the output end of the first motor passes through the base plate and is fixedly connected to a gear, and the gear and the gear ring are meshed.

[0013] In a feasible implementation, the anti-dumping mechanism includes a connecting arm, which is fixedly connected to the outer side of the arc-shaped slider, the top of the connecting arm is fixedly connected to a frame, the inner upper end of the frame is rotatably connected to a rotating shaft, the front upper end of the frame is fixedly connected to a second motor, the output end of the second motor passes through the frame and is fixedly connected to the front end of the rotating shaft, and a supporting component is fixedly installed at the bottom of the rotating shaft.

[0014] In a feasible implementation, the supporting assembly includes a rail frame, which is fixedly connected to the bottom of the rotating shaft, the inner side of the rail frame is rotatably connected to a screw rod, the top of the rail frame is fixedly connected to a third motor, the output end of the third motor passes through the rail frame and is fixedly connected to the top of the screw rod, the outer surface of the screw rod is threadedly connected to a movable block, the outer side of the movable block is fixedly connected to an extension frame, the extension frame is slidably connected to the outer side of the rail frame, and the bottom of the extension frame is rotatably connected to a universal ball.

[0015] The embodiment of the application provides a rotating chassis of a service robot, the device is provided with a mounting frame, the robot main body can be mounted on the top of the mounting seat, when the robot is running, the control system and the detection radar detect the surrounding environment, when moving to a slope, the second motor is started to make the bottom rail frame of the rotating shaft extend, the third motor is started to make the screw rotate, the movable block is driven to move downward to make the extension frame move downward, the universal ball contacts the inclined ground, when the robot is running, the universal ball rolls along the slope to assist in supporting the robot to prevent falling, the robot provided with the device can ensure stable movement at the wheelchair auxiliary table surface of a shopping mall or a restaurant;

[0016] The device is provided with a rotating mechanism, the first motor is started to drive the gear to rotate, the gear is meshed with the gear ring, the arc-shaped sliding block is driven to slide in the annular rail, so that the anti-falling mechanism rotates along the annular rail, the anti-falling mechanism can be flexibly adjusted outside the robot base, no matter where the robot inclines, the anti-falling mechanism can assist in supporting, the supporting flexibility and adaptability are improved, four equidistant detection radars are adopted, the terrain can be detected in advance, if there is inclination, the anti-falling mechanism and the rotating mechanism are driven in advance, the intelligent anti-falling function is achieved, and the use stability and convenience are improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are included to provide a further understanding of the application and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application.

[0018] In the drawings:

[0019] Figure 1 is a schematic diagram of the overall structure provided by an embodiment of the application;

[0020] Figure 2 is a schematic diagram of the bottom structure provided by an embodiment of the application;

[0021] Figure 3 is a schematic diagram of the overall structure of the anti-falling mechanism provided by an embodiment of the application;

[0022] Figure 4 is a schematic diagram of the anti-falling mechanism in a split state provided by an embodiment of the application;

[0023] Figure 5 is a schematic diagram of the anti-falling mechanism in a split state provided by an embodiment of the application; Figure 2 is a schematic diagram of the anti-falling mechanism in a split state provided by an embodiment of the application;

[0024] BRIEF DESCRIPTION OF DRAWINGS

[0025] 100-Robot base; 200-Side frame; 300-Mobile track; 400-Mounting plate; 500-Detection radar; 600-Fixed seat; 700-Rotation mechanism; 800-Anti-dump mechanism; 900-Mounting seat; 1000-Mounting frame; 1100-Mounting hole; 1200-Support frame;

[0026] 710-annular rail; 720-arc-shaped slider; 730-drive assembly;

[0027] 731-gear ring; 732-first motor; 733-gear; 734, bottom plate;

[0028] 810 - connecting arm; 820 - frame; 830 - rotating shaft; 840 - second motor; 850 - supporting assembly;

[0029] 851-rail frame; 852-screw rod; 853-third motor; 854-movable block; 855-extension frame; 856-universal ball. DETAILED DESCRIPTION

[0030] 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.

[0031] Example

[0032] refer to Figures 1 to 5 The rotary chassis of a service robot according to this embodiment includes a robot base 100, with side frames 200 fixedly mounted on both sides of the robot base 100. Mobile tracks 300 are movably mounted within the side frames 200. A mounting plate 400 is fixedly mounted on the top of the robot base 100. Four detection radars 500 are fixedly connected to the top of the mounting plate 400 in a circular arrangement at equal intervals. A fixing seat 600 is fixedly mounted on the top of the mounting plate 400. A rotating mechanism 700 is fixedly mounted on the top of the fixing seat 600. An anti-dump mechanism 800 is fixedly mounted on the outside of the rotating mechanism 700. The detection radars 500 are electrically connected to the controller of the service robot.

[0033] The rotating mechanism 700 includes a circular rail 710, which is fixedly connected to the top of the fixed base 600. An arc-shaped slider 720 is slidably connected to the interior of the circular rail 710. A drive assembly 730 is fixedly connected to the bottom of the arc-shaped slider 720. The outer side of the arc-shaped slider 720 is fixedly connected to the anti-dump mechanism 800. The mounting brackets 1000 on both sides of the robot base 100 are equipped with mobile tracks 300, providing stable power for the robot's movement. Four detection radars 500, evenly spaced and arranged in a circular pattern at the top of the mounting plate 400, can scan and detect the surrounding environment in all directions, understanding the terrain conditions in advance and providing accurate information for the robot's movements. In the rotating mechanism 700 at the top of the fixed base 600, the circular rail 710 cooperates with the arc-shaped slider 720. The drive assembly 730 at the bottom of the arc-shaped slider 720 drives the arc-shaped slider 720 to slide within the circular rail 710, thereby allowing the outer anti-dump mechanism 800 to flexibly adjust its position. This design enables the anti-tipping mechanism 800 to quickly respond and provide support when the robot faces different tilt situations, thereby improving the robot's stability and adaptability in various complex terrains.

[0034] Mounting blocks 900 are fixedly attached to the inner side of the circular rail 710. Mounting brackets 1000 are fixedly mounted on the top of the mounting blocks 900 in a circular arrangement with equal spacing. Mounting holes 1100 are provided at the outer ends of the mounting brackets 1000, and these holes are countersunk. The side profile of the mounting brackets 1000 is L-shaped. Anti-slip grooves are provided at equal spacing on the outer surface of the mobile track 300. Support brackets 1200 are fixedly attached to the corners of the mounting brackets 1000. The mounting blocks 900 on the inner side of the circular rail 710 provide a stable support for the mounting brackets 1000, which are arranged in a circular arrangement with equal spacing at the top. The mounting holes 1100 at the outer ends of the mounting brackets 1000 are countersunk, allowing bolt heads to fully engage during installation, creating a smooth and aesthetically pleasing mounting surface while preventing potential collisions caused by protruding bolt heads. The L-shaped side profile of the mounting brackets 1000 enhances the structural stability and strength, effectively supporting the robot's weight.

[0035] The equally spaced anti-slip grooves on the outer surface of the mobile track 300 increase friction with the ground, ensuring the robot's stability and preventing slippage during movement. Support brackets 1200 at the corners of the mounting frame 1000 further enhance the structural stability of the mounting frame 1000 and improve the reliability of the entire chassis, ensuring stable operation of the robot in a variety of complex environments.

[0036] The driving assembly 730 comprises a gear ring 731 and a bottom plate 734 fixedly connected to the bottom of the arc-shaped sliding block 720, and the gear ring 731 is fixedly connected to the bottom of the mounting seat 900 and located on the inner side of the bottom plate 734. The bottom of the bottom plate 734 is fixedly connected with the first motor 732, and the output end of the first motor 732 penetrates through the bottom plate 734 and is fixedly connected with the gear 733. The gear 733 is in meshing connection with the gear ring 731. The bottom plate 734 is fixed at the bottom of the arc-shaped sliding block 720, thereby providing a stable mounting position for the first motor 732 and the like. The gear ring 731 is fixed at the bottom of the mounting seat 900 and located on the inner side of the bottom plate 734. The gear ring 731 is in meshing connection with the gear 733 connected with the output end of the first motor 732 penetrating through the bottom plate 734. This design enables the first motor 732 to accurately drive the rotation of the gear 733, and through the meshing transmission of the gear 733 and the gear ring 731, the arc-shaped sliding block 720 is driven to slide in the annular rail 710. This mechanical transmission mode is stable and reliable, and can realize accurate control of the position of the arc-shaped sliding block 720. During the operation of the robot, when it is necessary to adjust the position of the anti-toppling mechanism 800, the driving assembly 730 can quickly respond and timely adjust the anti-toppling mechanism 800 to the appropriate position to cope with different inclination conditions, thereby improving the stability and adaptability of the robot. At the same time, this design has compact structure and small space occupation, and does not affect the overall appearance and movement performance of the chassis device.

[0037] The anti-toppling mechanism 800 comprises a connecting arm 810 fixedly connected to the outer side of the arc-shaped sliding block 720. The top of the connecting arm 810 is fixedly connected with a frame 820. The inner side upper end of the frame 820 is rotatably connected with a rotating shaft 830. The front surface upper end of the frame 820 is fixedly connected with a second motor 840. The output end of the second motor 840 penetrates through the frame 820 and the front end of the rotating shaft 830 and is fixedly connected. The bottom of the rotating shaft 830 is fixedly installed with a supporting assembly 850. The supporting assembly 850 comprises a rail frame 851 fixedly connected to the bottom of the rotating shaft 830. The inner side of the rail frame 851 is rotatably connected with a lead screw 852. The top inside of the rail frame 851 is fixedly connected with a third motor 853. The output end of the third motor 853 penetrates through the top of the rail frame 851 and the lead screw 852 and is fixedly connected. The outer surface of the lead screw 852 is threadedly connected with a movable block 854. The outer side of the movable block 854 is fixedly connected with an extension frame 855. The extension frame 855 is slidably connected to the outer side of the rail frame 851. The bottom of the extension frame 855 is rotatably connected with a universal ball 856. The connecting arm 810 connects the anti-toppling mechanism 800 with the outer side of the arc-shaped sliding block 720, thereby ensuring the integrity of the structure. The frame 820 at the top of the connecting arm 810 provides a mounting space for the internal components.

[0038] The rotating shaft 830 at the upper inner end of the frame 820 can be flexibly rotated under the drive of the second motor 840 at the upper front end to adjust the direction of the support assembly 850. The rail frame 851 in the support assembly 850 is fixed to the bottom of the rotating shaft 830, and the structure is stable. The screw rod 852 on the inner side of the rail frame 851 rotates under the drive of the third motor 853, driving the threaded movable block 854 to move up and down, thereby driving the outer extension frame 855 to slide on the outside of the rail frame 851. The universal ball 856 rotatably connected at the bottom of the extension frame 855 can contact the ground when the robot encounters an inclined ground, playing an auxiliary support role. This design allows the robot to automatically adjust the position and angle of the support assembly 850 when facing a tilt situation, and maintain the stability of the robot through the support of the universal ball 856 to prevent it from tipping over. At the same time, the synergistic effect between the various components makes the anti-tipping mechanism 800 respond quickly and adjust accurately, improving the robot's adaptability in complex terrain.

[0039] The operating principle and advantages are as follows: The robot's main body is bolted to the top of the mounting bracket 1000, thereby firmly securing the entire robot to the top of the mounting base 900. During robot movement, the robot's control system works in conjunction with the detection radar 500 to comprehensively monitor its surroundings. When the robot's main body moves onto an inclined surface, the second motor 840 is activated to rotate the rotating shaft 830. This rotation of the rotating shaft 830 causes the rail 851 at its bottom to extend from the interior of the frame 820. The third motor 853 is then activated to rotate the screw rod 852 within the rail 851. This rotation drives the movable block 854 to move up and down within the rail 851. The movable block 854, in turn, drives the extension bracket 855 downward, forcing the universal ball 856 to contact the inclined surface of the ground. During the robot's movement, the universal ball 856 rolls in close contact with the inclined surface of the ground, ensuring smooth movement of the entire robot while also providing support and effectively preventing the robot from tipping over when moving on inclined surfaces. For example, on some inclined stepped surfaces, such as those used for the movement of wheelchairs and other assistive devices in shopping malls and hotels, a robot using this device can ensure stable movement, greatly improving the robot's adaptability in complex terrain.

[0040] When the first motor 732 is running, it drives the gear 733 to rotate. Since the gear 733 is meshed with the gear ring 731, the first motor 732 drives the gear 733 to rotate, thereby driving the arcuate slider 720 to slide flexibly within the annular rail 710. The sliding of the arcuate slider 720 within the annular rail 710 flexibly drives the anti-dump mechanism 800 on the outside of the arcuate slider 720 to rotate along the annular rail 710. At this point, the anti-dump mechanism 800 can be flexibly adjusted on the outside of the robot base 100, allowing the robot using this device to provide auxiliary support regardless of any tilt on its outer surface. This flexible adjustment design further enhances the overall support flexibility of the device during use, giving the device greater adaptability. Furthermore, during use, the design employs four equally spaced detection radars, enabling comprehensive scanning of the robot base 100, enabling early detection of terrain. If a tilting state occurs, the robot can drive the anti-dumping mechanism 800 and the rotating mechanism 700 in advance, so that the entire device has an intelligent anti-dumping function, which greatly improves the overall stability and convenience of use of the device.

[0041] 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.

[0042] 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 service robot rotary chassis, characterized in that: include: A robot base (100), side frames (200) are fixedly mounted on both sides of the robot base (100), a movable crawler (300) is movably mounted inside the side frames (200), a mounting plate (400) is fixedly mounted on the top of the robot base (100), four detection radars (500) are fixedly connected to the top of the mounting plate (400) in a circular arrangement at equal intervals, a fixing seat (600) is fixedly mounted on the top of the fixing seat (600), a rotating mechanism (700) is fixedly mounted on the top of the rotating mechanism (700), and an anti-dumping mechanism (800) is fixedly mounted on the outside of the rotating mechanism (700); The rotating mechanism (700) comprises an annular rail (710), the annular rail (710) is fixedly connected to the top of the fixing seat (600), an arc-shaped slider (720) is slidably connected inside the annular rail (710), a driving assembly (730) is fixedly connected to the bottom of the arc-shaped slider (720), and the outer side of the arc-shaped slider (720) is fixedly connected to the anti-dumping mechanism (800).

2. The service robot rotary chassis according to claim 1, characterized in that: The inner side of the annular rail (710) is fixedly connected to a mounting seat (900), and the top of the mounting seat (900) is fixedly mounted with mounting frames (1000) arranged in an annular shape at equal intervals.

3. The service robot rotary chassis according to claim 2, characterized in that: The outer end of the mounting frame (1000) is provided with a mounting hole (1100), the mounting hole (1100) is configured as a countersunk hole, and the side surface of the mounting frame (1000) is configured in an L-shape.

4. The service robot rotary chassis according to claim 3, characterized in that: The outer surface of the movable crawler (300) is provided with anti-slip grooves at equal intervals, and a supporting frame is fixedly connected to the corner of the mounting frame (1000).

5. The service robot rotary chassis according to claim 4, characterized in that: The driving assembly (730) includes a gear ring (731) and a base plate (734). The base plate (734) is fixedly connected to the bottom of the arc-shaped slider (720). The gear ring (731) is fixedly connected to the bottom of the mounting seat (900) and is located on the inner side of the base plate (734). The bottom of the base plate (734) is fixedly connected to a first motor (732). The output end of the first motor (732) passes through the base plate (734) and is fixedly connected to a gear (733). The gear (733) and the gear ring (731) are meshed and connected.

6. The service robot rotary chassis according to claim 1, characterized in that: The anti-dumping mechanism (800) comprises a connecting arm (810), wherein the connecting arm (810) is fixedly connected to the outer side of the arc-shaped slider (720), the top of the connecting arm (810) is fixedly connected to a frame (820), the inner upper end of the frame (820) is rotatably connected to a rotating shaft (830), the upper front end of the frame (820) is fixedly connected to a second motor (840), the output end of the second motor (840) passes through the frame (820) and is fixedly connected to the front end of the rotating shaft (830), and the bottom of the rotating shaft (830) is fixedly mounted with a supporting assembly (850).

7. The service robot rotary chassis according to claim 6, characterized in that: The supporting assembly (850) comprises a rail frame (851), wherein the rail frame (851) is fixedly connected to the bottom of the rotating shaft (830), the inner side of the rail frame (851) is rotatably connected to a screw rod (852), the top of the rail frame (851) is fixedly connected to a third motor (853), the output end of the third motor (853) passes through the rail frame (851) and is fixedly and movably connected to the top of the screw rod (852), the outer surface of the screw rod (852) is threadedly connected to a movable block (854), the outer side of the movable block (854) is fixedly connected to an extension frame (855), the extension frame (855) is slidably connected to the outer side of the rail frame (851), and the bottom of the extension frame (855) is rotatably connected to a universal ball (856).

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