Walking chassis of mobile robot

Abstract

The utility model relates to the technical field of mobile robots, and discloses a mobile robot walking chassis which comprises a walking chassis body, a buffering and damping walking part and an electric telescopic supporting and positioning part, telescopic rods are symmetrically and fixedly installed on the outer wall of the top of the walking chassis body, and the telescopic ends of the telescopic rods movably penetrate through the top of the walking chassis body. And extends to the bottom of the walking chassis. The telescopic length can be adjusted through the electric telescopic supporting and positioning part, and the robot can be in a stable posture quickly according to operation requirements or ground conditions. When high-precision operation such as assembling and welding tasks is executed, the supporting and positioning part extends out to be in stable contact with the ground, the contact area of the chassis and the ground is increased, a multi-fulcrum supporting structure is formed, the shaking amplitude of the robot is greatly reduced, the operation precision and stability are guaranteed, the shaking possibility of the robot is effectively reduced, and the operation accuracy and reliability are guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to mobile robot technical field, concretely is mobile robot walking chassis. BACKGROUND

[0002] At present, mobile robots are widely used in industrial automation, logistics transportation, intelligent service and other fields, and the walking chassis as a core component directly affects the mobile performance, working stability and applicable scenarios of the robot.

[0003] The existing mobile robot walking chassis generally has the following technical problems: on the one hand, there are deficiencies in walking stability and damping performance. Most chassis adopt simple rigid connection structure or single damping component, when the robot moves in uneven ground such as potholed pavement, gravel ground or environment with steps, the impact force generated by the ground cannot be effectively buffered and dispersed. This not only causes the robot to vibrate violently during walking, makes the internal precision electronic components and mechanical structure bear additional stress, accelerates the aging of equipment, reduces the service life, but also causes the robot to deviate from the driving track, is difficult to accurately position, and affects the operation accuracy and efficiency. For example, in a logistics warehouse, if the handling robot shakes due to poor damping of the chassis, it may cause the goods to fall or the storage position to deviate.

[0004] On the other hand, the positioning and supporting function is not flexible and stable enough. The supporting and positioning structure of the existing chassis is usually fixed, and it is difficult to quickly adjust according to different terrains and operation requirements. When the robot needs to perform operation tasks on complex terrains such as slopes and smooth ground, or needs to adjust the height, it cannot provide reliable support, and is prone to robot tipping, posture imbalance and other situations, for example, in an industrial detection scene, if the robot cannot be stably supported, it will affect the accuracy of the detection data. INVENTION CONTENTS

[0005] The utility model discloses a mobile robot walking chassis, solve the technical problem that the existing mobile robot walking chassis is poor in stability when walking in complex terrain, the damping effect is not good and the positioning and supporting are not stable enough, and the purpose of improving the walking stability of the robot in different terrains, effectively buffering and damping protection equipment, positioning and supporting is achieved.

[0006] To achieve the above purpose, the utility model provides the following technical scheme: a mobile robot walking chassis, comprising a walking chassis, a buffer damping walking part and an electric telescopic supporting and positioning part, the top outer wall of the walking chassis is fixedly installed with telescopic rods in symmetry, the telescopic end of the telescopic rod is movably penetrated through the top of the walking chassis and extends to the bottom of the walking chassis, the buffer damping walking part is arranged at the bottom of the walking chassis, and the electric telescopic supporting and positioning part is arranged at the top and bottom of the walking chassis respectively.

[0007] Preferably, the buffer shock-absorbing walking part specifically comprises: support fixing blocks, symmetrically fixedly installed on the two side outer walls of the walking chassis; limiting sliding blocks, symmetrically fixedly installed on the two side outer walls of the walking chassis; a buffer shock-absorbing bottom plate, arranged at the bottom of the walking chassis; and damping telescopic rods, symmetrically fixedly installed on the bottom outer walls of the walking chassis.

[0008] The buffer shock-absorbing bottom plate is connected with the walking chassis by means of the damping telescopic rods and the buffer springs, when the mobile robot walks on uneven ground, the vibration generated by the ground is first transmitted to the buffer shock-absorbing bottom plate, due to the buffering effect of the damping telescopic rods and the buffer springs, the amplitude and energy of the vibration can be effectively reduced, and then the vibration transmitted to the walking chassis and the internal equipment of the robot is reduced, in complex terrain, such as sand, grass or ground with obstacles, the buffer shock-absorbing bottom plate can effectively buffer the impact of the terrain on the robot, when the robot encounters a larger obstacle, the buffer shock-absorbing bottom plate can absorb and disperse the impact force under the action of the spring and the damping, so that the robot can smoothly pass through the obstacle without being damaged too much.

[0009] Preferably, the top outer wall of the buffer shock-absorbing bottom plate is fixedly connected with the telescopic end of the telescopic rod, the outer wall of the damping telescopic rod movably sheathes the buffer spring, the telescopic end of the damping telescopic rod is fixedly connected with the top outer wall of the buffer shock-absorbing bottom plate, and one end of the buffer spring is fixedly connected with the bottom outer wall of the walking chassis.

[0010] Preferably, the other end of the buffer spring is fixedly connected with the top outer wall of the buffer shock-absorbing bottom plate, the two side outer walls of the buffer shock-absorbing bottom plate are fixedly connected with connecting fixing rods, the other end of each connecting fixing rod is fixedly installed with a mounting positioning sleeve, and the inside of each mounting positioning sleeve is rotatably connected with a rotating rod.

[0011] Preferably, the other end of each rotating rod is fixedly connected with an auxiliary universal wheel, the two side outer walls of the buffer shock-absorbing bottom plate are fixedly installed with fixing blocks, the outer wall of each fixing block is respectively provided with a limiting sliding groove and a mounting groove, the limiting sliding groove is matched with a limiting sliding block, the inside of the mounting groove is fixedly installed with a driving motor, and the output end of the driving motor is fixedly connected with a walking wheel.

[0012] The auxiliary universal wheel is provided, the auxiliary universal wheel and the driving wheel jointly support the weight of the robot, and the gravity of the robot is dispersed to multiple support points, which helps to reduce the pressure of a single driving wheel, reduces the wear of the driving wheel, prolongs the service life of the driving wheel, and simultaneously, the dispersed support points also make the robot more stable during walking, and reduce the risk of falling due to the deviation of the gravity center.

[0013] Preferably, the electric telescopic support positioning part specifically comprises: a hexagonal positioning sleeve fixedly installed on the top outer wall of the walking chassis; a support fixed pad arranged on the bottom of the walking chassis; and a through opening formed on the buffer damping bottom plate.

[0014] Preferably, the inner wall of the hexagonal positioning sleeve is fixedly installed with an electric telescopic rod, the telescopic end of the electric telescopic rod is movably penetrated through the top outer wall of the walking chassis and extends to the bottom outer wall of the walking chassis, and the telescopic end of the electric telescopic rod is fixedly installed with a fixed shell, and the inside of the fixed shell is fixedly installed with a rotating motor.

[0015] The electric telescopic rod is arranged, and when the robot is stationary for work, the electric telescopic rod cooperates with components such as the support pad to provide strong support force, for example, when the robot performs high-precision detection or operation tasks, the electric telescopic rod is extended and contacts the ground, the contact area and the support point of the robot and the ground are increased, the possibility of shaking of the robot is effectively reduced, and the accuracy and reliability of work are ensured.

[0016] Preferably, the output end of the rotating motor is movably penetrated through the inner wall of the fixed shell and extends to the bottom outer wall of the fixed shell, the top outer wall of the support fixed pad is formed with a connecting fixed groove, the output end of the rotating motor is fixedly connected with a rotating rod, the other end of the rotating rod is fixedly connected with the inner wall of the connecting fixed groove, the bottom outer wall of the support fixed pad is fixedly connected with support positioning pads at equal intervals in the circumferential direction, and the support fixed pad is matched with the through opening.

[0017] The mobile robot walking chassis has the following beneficial effects:

[0018] (1) In the walking process of the mobile robot, the uneven ground such as protrusions, depressions or gaps will cause the walking wheel to be subjected to vibration impact, and the damping telescopic rod and the buffer spring in the buffer damping walking part can effectively absorb and disperse the impact force, so that the excessive vibration is avoided from being directly transmitted to the robot body, and the walking part with the buffer damping function enables the robot to adapt to more types of terrains, whether indoor ceramic tile ground, wooden floor, or outdoor grassland, sandy ground and the like, the robot can adjust its state through the buffer damping structure and smoothly pass through.

[0019] (2) The electric telescopic support positioning part can adjust the telescopic length, and according to the work requirement or the ground condition, the robot can quickly be in a stable posture. When high-precision operations such as assembly and welding tasks are performed, the support positioning part is extended to stably contact the ground, the contact area of the chassis and the ground is increased, a multi-support-point support structure is formed, the shaking amplitude of the robot is greatly reduced, the work precision and stability are ensured, the possibility of shaking of the robot is effectively reduced, and the accuracy and reliability of work are ensured. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is the overall structure front perspective view of the utility model;

[0021] Figure 2 It is the local view of the buffer shock-absorbing walking part of the utility model;

[0022] Figure 3 It is the utility model Figure 2 The structure enlarged schematic view of A in the middle;

[0023] Figure 4 It is the local view of the electric telescopic support positioning part of the utility model.

[0024] In the drawing: 1 walking chassis, 2 telescopic rod, 3 buffer shock-absorbing walking part, 311 support fixing block, 312 limit sliding block, 313 buffer shock-absorbing bottom plate, 314 buffer spring, 315 damping telescopic rod, 316 connecting fixed rod, 317 installation positioning sleeve, 318 fixed block, 319 limit sliding groove, 3111 rotating rod, 3112 auxiliary universal wheel, 3113 installation groove, 3114 drive motor, 3115 walking wheel, 4 electric telescopic support positioning part, 411 hexagonal positioning sleeve, 412 electric telescopic rod, 413 fixed shell, 414 support fixing cushion block, 415 connecting fixed groove, 416 support positioning cushion, 417 through port, 418 rotating motor. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the utility model will be apparently and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0026] Examples of the described embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the utility model, and cannot be understood as limiting the utility model.

[0027] Embodiment one:

[0028] Based on the problems of poor stability, poor shock-absorbing effect and unstable positioning support when walking on complex terrain at present, the preferred embodiment of the walking chassis of the mobile robot provided by the utility model is as follows: Figures 1-4As shown: mobile robot chassis, including chassis 1, buffer shock walking part 3, electric telescopic support positioning part 4, the top outer wall of the chassis 1 is fixedly installed with telescopic rod 2 symmetrically, the telescopic end of the telescopic rod 2 is movably penetrated through the top of the chassis 1 and extends to the bottom of the chassis 1; the buffer shock walking part 3 is arranged at the bottom of the chassis 1; the electric telescopic support positioning part 4 is arranged at the top and bottom of the chassis 1 respectively.

[0029] The buffer shock walking part 3 specifically comprises: support fixed block 311, which is fixedly installed symmetrically on the outer walls of both sides of the chassis 1; limiting sliding block 312, which is fixedly installed symmetrically on the outer walls of both sides of the chassis 1; buffer shock bottom plate 313, which is arranged at the bottom of the chassis 1; damping telescopic rod 315, which is fixedly installed symmetrically on the outer walls of the bottom of the chassis 1.

[0030] The top outer wall of the buffer shock bottom plate 313 is fixedly connected with the telescopic end of the telescopic rod 2, the outer wall of the damping telescopic rod 315 movably sleeved with buffer spring 314, the telescopic end of the damping telescopic rod 315 is fixedly connected with the top outer wall of the buffer shock bottom plate 313, one end of the buffer spring 314 is fixedly connected with the bottom outer wall of the chassis 1.

[0031] The other end of the buffer spring 314 is fixedly connected with the top outer wall of the buffer shock bottom plate 313, the two outer walls of the buffer shock bottom plate 313 are fixedly connected with connecting fixed rod 316, the other end of the connecting fixed rod 316 is fixedly installed with installation positioning sleeve 317, the inside of the installation positioning sleeve 317 is rotatably connected with rotating rod 3111.

[0032] The other end of the rotating rod 3111 is fixedly connected with auxiliary universal wheel 3112, the two outer walls of the buffer shock bottom plate 313 are fixedly installed with fixed block 318, the outer wall of the fixed block 318 is respectively provided with limiting sliding groove 319 and installation groove 4113, the limiting sliding groove 319 is matched with the limiting sliding block 312, the inside of the installation groove 4113 is fixedly installed with driving motor 3114, the output end of the driving motor 3114 is fixedly connected with walking wheel 3115.

[0033] During the movement process, when the uneven ground or vibration is encountered, the buffer and damping bottom plate 313 will move up and down, at this time, the limiting sliding block 312 fixed on the outer wall of the walking chassis 1 will slide in the limiting sliding groove 319 opened on the outer wall of the fixed block 318, and the limiting effect is achieved, which ensures the stable movement direction of the buffer and damping bottom plate 313, and the buffer spring 314 and the damping telescopic rod 315 will absorb and buffer the vibration, reduce the influence of the vibration on the walking chassis 1, effectively absorb and disperse the impact force, avoid the direct transmission of the excessive vibration to the robot body, and the walking part with the buffer and damping function enables the robot to adapt to more types of terrains, whether it is indoor ceramic tile ground, wooden floor, or outdoor grassland, sandy ground, etc. The robot can adjust its state through the buffer and damping structure and smoothly pass through.

[0034] Embodiment two:

[0035] Please refer to Figures 1-4 And on the basis of embodiment one, it is further obtained that the electric telescopic support positioning part 4 specifically comprises: a hexagonal positioning sleeve 411 fixedly installed on the top outer wall of the walking chassis 1; a support fixed pad 414 arranged on the bottom of the walking chassis 1; and a through port 417 opened on the buffer and damping bottom plate 313.

[0036] The inner wall of the hexagonal positioning sleeve 411 is fixedly installed with an electric telescopic rod 412, the telescopic end of the electric telescopic rod 412 is movably penetrated through the top outer wall of the walking chassis 1 and extends to the bottom outer wall of the walking chassis 1, and the telescopic end of the electric telescopic rod 412 is fixedly installed with a fixed shell 413, and the inside of the fixed shell 413 is fixedly installed with a rotating motor 418.

[0037] The output end of the rotating motor 418 is movably penetrated through the inner wall of the fixed shell 413 and extends to the bottom outer wall of the fixed shell 413, the top outer wall of the support fixed pad 414 is provided with a connecting fixed groove 415, the output end of the rotating motor 418 is fixedly connected with a rotating rod, the other end of the rotating rod is fixedly connected with the inner wall of the connecting fixed groove 415, and the bottom outer wall of the support fixed pad 414 is fixedly connected with support positioning pads 416 at equal intervals in the circumference, and the support fixed pad 414 is matched with the through port 417.

[0038] In the process of the embodiment, when the mobile robot needs to be positioned or adjusted, the electric telescopic rod 412 fixed on the inner wall of the hexagonal positioning sleeve 411 starts to work. The telescopic end of the electric telescopic rod 412 penetrates through the top and bottom outer walls of the walking chassis 1 and can be extended or shortened as needed. The fixed shell 413 at the telescopic end of the electric telescopic rod 412 moves with the telescopic rod. When the electric telescopic rod 412 is extended to a certain extent, the rotating rod connected to the output end of the rotating motor 418 in the fixed shell 413 will drive the supporting and fixing pad 414 downward through the connecting and fixing groove 415. The supporting and fixing pad 414 penetrates through the through hole 417 on the buffer and damping bottom plate 313 and contacts the ground. The supporting and positioning pads 416 fixed on the bottom circumference of the supporting and fixing pad 414 at equal intervals can increase the friction with the ground, play a role in stabilizing and supporting, increase the contact area between the chassis and the ground, form a multi-point supporting structure, greatly reduce the shaking amplitude of the robot, and guarantee the working accuracy and stability. The possibility of robot shaking is effectively reduced, and the accuracy and reliability of the work are ensured.

[0039] Working principle: in use;

[0040] Step one: turn on the power of the mobile robot. At this time, the whole walking chassis 1 starts to be powered on and run. The telescopic rod 2 is in the initial state, and its telescopic end can be in a certain telescopic length according to the preset initial position.

[0041] Step two: buffer and damping structure preparation: the buffer and damping bottom plate 313 is connected with the walking chassis 1 through the telescopic end of the telescopic rod 2. The damping telescopic rod 315 and the buffer spring 314 outside the sleeve are in the preparation state. One end of the buffer spring 314 is fixed with the outer wall of the bottom of the walking chassis 1, and the other end is fixed with the outer wall of the top of the buffer and damping bottom plate 313. The telescopic end of the damping telescopic rod 315 is also fixed with the outer wall of the top of the buffer and damping bottom plate 313. Walking wheel driving: the driving motor 3114 installed in the fixed block 318 installation groove 3113 starts to work. The output end of the driving motor 3114 drives the walking wheel 3115 to rotate, so that the whole mobile robot starts to move. Auxiliary universal wheel cooperation: the auxiliary universal wheel 3112 connected by the connecting fixed rod 316, the installation positioning sleeve 317 and the rotating rod 3111 on both sides of the buffer and damping bottom plate 313 rotates with the movement of the walking wheel 3115. The auxiliary universal wheel 3112 can turn flexibly and help the robot change the direction of movement better. Limiting and buffering: during the movement, when encountering uneven ground or vibration, the buffer and damping bottom plate 313 will move up and down. At this time, the limiting slide block 312 fixed on the outer wall of both sides of the walking chassis 1 will slide in the limiting slide groove 319 opened on the outer wall of the fixed block 318, play a limiting role, and guarantee the stable movement direction of the buffer and damping bottom plate 313. At the same time, the buffer spring 314 and the damping telescopic rod 315 will absorb and buffer the vibration, reduce the influence of vibration on the walking chassis 1.

[0042] Step three: telescopic adjustment: when the mobile robot needs to be positioned or adjusted, the electric telescopic rod 412 fixed in the inner wall of the hexagonal positioning sleeve 411 starts to work, the telescopic end of the electric telescopic rod 412 penetrates through the top and bottom outer walls of the walking chassis 1, and can be extended or shortened according to the needs, and is supported and fixed: the fixed shell 413 at the telescopic end of the electric telescopic rod 412 moves with the telescopic rod, when the electric telescopic rod 412 is extended to a certain extent, the rotating rod connected to the output end of the rotating motor 418 in the fixed shell 413 will drive the supporting and fixing pad 414 to move downward through the connecting fixed groove 415, the supporting and fixing pad 414 penetrates through the through hole 417 on the buffer and damping bottom plate 313 and contacts the ground, and the supporting and positioning pad 416 fixed at the bottom circumference of the supporting and fixing pad 414 at equal intervals can increase the friction with the ground, and plays a role of stable support;

[0043] Step four: during the continuous movement of the robot, the buffer and damping walking part 3 will continuously adjust the buffer and damping according to the ground conditions, and the electric telescopic supporting and positioning part 4 can also be adjusted in length according to the actual needs, such as stopping when needed, to ensure the stable operation and accurate operation of the robot;

[0044] Step five: when the mobile robot completes the task, the power is turned off, the driving motor 3114 stops rotating, the walking wheel 3115 and the auxiliary universal wheel 3112 stop rolling, the electric telescopic rod 412 is retracted to the initial position, the supporting and fixing pad 414 leaves the ground, and the buffer and damping bottom plate 313 returns to the initial state under the action of the buffer spring 314 and the damping telescopic rod 315.

[0045] Finally, it should be pointed out that the above only describes preferred embodiments of the present application and is not intended to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A mobile robot chassis, comprising a chassis (1), a shock-absorbing walking unit (3), and an electrically telescopic support and positioning unit (4), characterized in that: The top outer wall of the walking chassis (1) is symmetrically fixed with telescopic rods (2), the telescopic end of the telescopic rod (2) extends through the top of the walking chassis (1) and extends to the bottom of the walking chassis (1); the buffer shock absorption walking part (3) is set at the bottom of the walking chassis (1); the electric telescopic support positioning part (4) is set at the top and bottom of the walking chassis (1).

2. The mobile robot chassis according to claim 1, characterized in that: The buffer and shock-absorbing running part (3) specifically includes: Support blocks (311) are symmetrically fixed on the outer walls of both sides of the walking chassis (1); Limiting sliders (312) are symmetrically fixedly installed on the outer walls of both sides of the walking chassis (1); A shock-absorbing base plate (313) is installed at the bottom of the walking chassis (1); Damping telescopic rods (315) are symmetrically fixedly installed on the bottom outer wall of the walking chassis (1).

3. The mobile robot chassis according to claim 2, characterized in that: The top outer wall of the buffer and shock-absorbing base plate (313) is fixedly connected to the telescopic end of the telescopic rod (2). The outer wall of the damping telescopic rod (315) is movably fitted with a buffer spring (314). The telescopic end of the damping telescopic rod (315) is fixedly connected to the top outer wall of the buffer and shock-absorbing base plate (313). One end of the buffer spring (314) is fixedly connected to the bottom outer wall of the walking chassis (1).

4. The mobile robot chassis according to claim 3, characterized in that: The other end of the buffer spring (314) is fixedly connected to the top outer wall of the buffer damping base plate (313). The two outer walls of the buffer damping base plate (313) are fixedly connected to the connecting fixing rods (316). The other end of the connecting fixing rods (316) is fixedly installed with the mounting positioning sleeve (317). The mounting positioning sleeve (317) is rotatably connected to the rotating rod (3111).

5. The mobile robot chassis according to claim 4, characterized in that: The other end of the rotating rod (3111) is fixedly connected to an auxiliary universal wheel (3112). The outer walls of the buffer and shock-absorbing base plate (313) are fixedly installed with fixing blocks (318). The outer walls of the fixing blocks (318) are respectively provided with a limiting groove (319) and a mounting groove (3113). The limiting groove (319) is adapted to the limiting slider (312). The inside of the mounting groove (3113) is fixedly installed with a drive motor (3114). The output end of the drive motor (3114) is fixedly connected to a traveling wheel (3115).

6. The mobile robot chassis according to claim 1, characterized in that: The electrically telescopic support positioning part (4) specifically includes: A hexagonal positioning sleeve (411) is fixedly installed on the top outer wall of the walking chassis (1); A support fixing pad (414) is set at the bottom of the walking chassis (1); The opening (417) is located on the buffer and shock-absorbing base plate (313).

7. The mobile robot chassis according to claim 6, characterized in that: An electric telescopic rod (412) is fixedly installed on the inner wall of the hexagonal positioning sleeve (411). The telescopic end of the electric telescopic rod (412) extends through the top outer wall of the walking chassis (1) and extends to the bottom outer wall of the walking chassis (1). A fixed shell (413) is fixedly installed on the telescopic end of the electric telescopic rod (412). A rotating motor (418) is fixedly installed inside the fixed shell (413).

8. The mobile robot chassis according to claim 7, characterized in that: The output end of the rotating motor (418) movably penetrates the inner wall of the fixed shell (413) and extends to the bottom outer wall of the fixed shell (413). The top outer wall of the supporting fixing pad (414) is provided with a connecting fixing groove (415). The output end of the rotating motor (418) is fixedly connected to a rotating rod. The other end of the rotating rod is fixedly connected to the inner wall of the connecting fixing groove (415). The bottom outer wall of the supporting fixing pad (414) is circumferentially fixedly connected with supporting positioning pads (416). The supporting fixing pad (414) is adapted to the through-hole (417).

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