Rotatable chassis structure of vehicle guiding robot

Abstract

The utility model discloses a rotatable chassis structure of a vehicle guiding robot. The rotatable chassis structure comprises a guiding robot bottom shell and a synchronous steering mechanism. The right end of the upper side of the guiding robot bottom shell is rotationally connected with symmetrically-distributed rotating shafts I through bearings I, and steering shafts are arranged on the outer sides of the rotating shafts I; the synchronous steering mechanism comprises connecting seats, rotating cylinders, rotating seats and telescopic rods, the connecting seats are arranged at the opposite inner side ends of the two steering shafts, the rotating cylinders are rotationally connected to the interiors of the connecting seats through second rotating shafts, and the rotating seats are rotationally connected to the bottom wall of the guiding robot bottom shell through third rotating shafts; according to the rotatable chassis structure of the vehicle guiding robot, synchronous steering operation of the steering part of the device can be achieved through the transmission element under the driving of one electric appliance element, and the production cost of the device is effectively reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to vehicle guiding robot technical field, concretely is a kind of vehicle guiding robot's rotatable chassis structure. BACKGROUND

[0002] In densely populated metropolitan areas, parking spaces are scarce and expensive, usually, the narrow strip between buildings is converted into high-rise parking garage with parking space inside, vehicle guiding robot is used in these garages to facilitate parking, vehicle guiding robot moves and turns through chassis steering mechanism, part of vehicle guiding robot rotatable chassis includes: chassis, first steering swing arm, first rotation shaft, right wheel, electric push rod;Chassis is irregular plate structure;First steering swing arm is arranged on the upper side of chassis, and first steering swing arm is connected with chassis by first rotation shaft;Wheel is arranged on the side of first steering swing arm, and the other end of first steering swing arm is fixedly connected with chassis by electric push rod, when vehicle guiding robot moves and turns, corresponding electric push rod is made to extend by control element, first steering swing arm is rotated around the axis of corresponding first rotation shaft by electric push rod extension end, so that corresponding wheel is turned and controlled, the utility model discloses through the improvement on structure, has the advantages such as action sensitive, chassis simple structure, however, the device moves and turns, and each wheel is corresponding to an electric push rod, so that there are more electric elements inside the device, improve device production cost, and there is room for improvement. SUMMARY

[0003] The utility model wants to overcome the technical problem of the prior art, provide a kind of vehicle guiding robot's rotatable chassis structure, the device is driven under one electric element by transmission element, can realize the synchronous steering operation of the steering part of device, effectively reduce device production cost, can effectively solve the problems in the background art.

[0004] To achieve the above object, the utility model provides the following technical scheme: a kind of vehicle guiding robot's rotatable chassis structure, including guiding robot bottom shell and synchronous steering mechanism;

[0005] Guiding robot bottom shell: its upper side right end is rotatably connected with the rotation shaft one of symmetrical distribution by bearing one, the outer side of rotation shaft one is equipped with steering shaft;

[0006] Synchronous steering mechanism: it includes connecting seat, rotating cylinder, rotating seat and telescopic rod, the connecting seat is arranged on the opposite inner side of two steering shafts, the inside of connecting seat is rotatably connected with rotating cylinder through shaft two, the bottom wall of guiding robot bottom shell is rotatably connected with rotating seat through shaft three, the outer side of rotating seat is equipped with symmetrically distributed telescopic rod, the telescopic end of telescopic rod is fixedly connected with adjacent rotating cylinder, the device can realize synchronous steering operation of steering part under the drive of one electric element through transmission element, effectively reduce the production cost of device.

[0007] Further, the bottom wall of the guiding robot bottom shell is respectively provided with a single-chip microcomputer and a storage battery, the input end of the single-chip microcomputer is electrically connected with the output end of the storage battery, and the control electric element is convenient.

[0008] Further, the synchronous steering mechanism further comprises a gear, a rack plate, a fixed seat and an electro-hydraulic push rod, the gear is arranged at the lower end of the shaft three, the bottom wall of the guiding robot bottom shell is provided with the fixed seat, the left side of the fixed seat is provided with the electro-hydraulic push rod, the input end of the electro-hydraulic push rod is electrically connected with the output end of the single-chip microcomputer, the telescopic end of the electro-hydraulic push rod is provided with the rack plate, and the rack plate is meshed with the gear, so as to provide power for the synchronous steering adjustment of the steering chassis of the vehicle guiding robot.

[0009] Further, the bottom wall of the guiding robot bottom shell is provided with an angle sensor, the angle sensor is bidirectionally electrically connected with the single-chip microcomputer, and the angle sensor is cooperatively installed with the front shaft one, so as to detect and upload the steering angle of the steering chassis of the vehicle guiding robot.

[0010] Further, the bottom wall of the guiding robot bottom shell is provided with symmetrically distributed mounting seats at the left end, the middle parts of the mounting seats are rotatably connected with driving shafts through bearings three, the opposite ends of the two driving shafts are provided with rear wheels, and the opposite ends of the two steering shafts are rotatably connected with front wheels through bearings two, so that the steering chassis of the vehicle guiding robot can move.

[0011] Further, the bottom wall of the guiding robot bottom shell is provided with a double-shaft motor, the input end of the double-shaft motor is electrically connected with the output end of the single-chip microcomputer, and the output shafts of the double-shaft motor are fixedly connected with adjacent driving shafts, so as to provide power for the movement of the steering chassis of the vehicle guiding robot.

[0012] Further, the outer sides of the front wheels and the rear wheels are provided with uniformly distributed anti-skid lines, so as to avoid the movement slipping phenomenon between the steering chassis of the vehicle guiding robot and the ground.

[0013] Compared with the prior art, the vehicle guiding robot steering chassis structure has the following advantages:

[0014] When the vehicle guiding robot chassis moves and turns, the two front wheels can realize synchronous turning operation under the driving of one electric element through the connecting seat, rotating cylinder, rotating seat, telescopic rod, gear, rack plate and electro-hydraulic push rod, thereby effectively reducing the production cost of the device. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The figure is a structural schematic diagram of the utility model.

[0016] In the figure: 1 guiding robot bottom shell, 2 single-chip microcomputer, 3 battery pack, 4 rotating shaft one, 5 steering shaft, 6 front wheel, 7 synchronous turning mechanism, 71 connecting seat, 72 rotating cylinder, 73 rotating seat, 74 telescopic rod, 75 gear, 76 rack plate, 77 fixed seat, 78 electro-hydraulic push rod, 8 angle sensor, 9 mounting seat, 10 driving shaft, 11 rear wheel, 12 double-shaft motor, 13 anti-skid pattern. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the utility model will be clearly 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 the other embodiments obtained by the ordinary skilled in the art without creative labor fall within the protection scope of the utility model.

[0018] Please refer to Figure 1 The embodiment provides a technical solution: a rotatable chassis structure of a vehicle guiding robot, which comprises a guiding robot bottom shell 1 and a synchronous turning mechanism 7.

[0019] The guide robot bottom shell 1: the right end of its upper side is rotatably connected with symmetrical distributed rotating shafts 4 through bearings, the outer sides of the rotating shafts 4 are provided with steering shafts 5, the bottom wall of the guide robot bottom shell 1 is respectively provided with a single-chip microcomputer 2 and a storage battery group 3, the input end of the single-chip microcomputer 2 is electrically connected with the output end of the storage battery group 3, the bottom wall left end of the guide robot bottom shell 1 is provided with symmetrical distributed mounting seats 9, the middle parts of the mounting seats 9 are rotatably connected with driving shafts 10 through bearings, the ends of the two driving shafts 10 away from each other are provided with rear wheels 11, the ends of the two steering shafts 5 away from each other are rotatably connected with front wheels 6 through bearings, the bottom wall of the guide robot bottom shell 1 is provided with a double-shaft motor 12, the input end of the double-shaft motor 12 is electrically connected with the output end of the single-chip microcomputer 2, the output shafts of the double-shaft motor 12 are fixedly connected with the adjacent driving shafts 10, the outer sides of the front wheels 6 and the rear wheels 11 are provided with evenly distributed anti-skid lines 13, when the vehicle guide robot moves, the single-chip microcomputer 2 starts the double-shaft motor 10 to drive the driving shafts 10 to rotate, the driving shafts 10 drive the rear wheels 11 to rotate, thereby providing power for the vehicle guide robot to walk, through the anti-skid lines 13, the contact friction between the wheels and the ground is increased, and the storage battery group 3 provides power support for the single-chip microcomputer 2 to operate;

[0020] Synchronous steering mechanism 7: it includes connecting seat 71, rotating cylinder 72, rotating seat 73 and telescopic rod 74, connecting seat 71 is arranged at the opposite inner side end of two steering shafts 5, the inside of connecting seat 71 is rotatably connected with rotating cylinder 72 through the second rotating shaft, the bottom wall of the robot bottom shell 1 is rotatably connected with rotating seat 73 through the third rotating shaft, the outer side of rotating seat 73 is provided with symmetrically distributed telescopic rods 74, the telescopic ends of telescopic rods 74 are fixedly connected with adjacent rotating cylinders 72, synchronous steering mechanism 7 further includes gear 75, rack plate 76, fixed seat 77 and electro-hydraulic push rod 78, gear 75 is arranged at the lower end of the third rotating shaft, the bottom wall of the robot bottom shell 1 is provided with fixed seat 77, the left side of fixed seat 77 is provided with electro-hydraulic push rod 78, the input end of electro-hydraulic push rod 78 is electrically connected with the output end of single-chip microcomputer 2, the telescopic end of electro-hydraulic push rod 78 is provided with rack plate 76, rack plate 76 is meshingly connected with gear 75, the bottom wall of the robot bottom shell 1 is provided with angle sensor 8, angle sensor 8 is bidirectionally electrically connected with single-chip microcomputer 2, angle sensor 8 is cooperatively installed with the front rotating shaft one 4, when steering during the movement of the vehicle guiding robot, single-chip microcomputer 2 starts electro-hydraulic push rod 78 to make its telescopic end drive rack plate 76 to move horizontally, rack plate 76 drives gear 75 to rotate through meshing connection, the third rotating shaft drives rotating seat 73 to rotate, rotating seat 73 rotates, and indirectly drives connecting seat 71 to drive steering shaft 5 to rotate around the axis of corresponding rotating shaft one 4 through telescopic rod 74, and the two front wheels 6 are horizontally and synchronously rotated for steering control through the synchronous rotation of rotating shaft one 4, thereby the synchronous steering control of the front wheels 6 of the vehicle guiding robot is realized, in this process, the telescopic end of telescopic rod 74 rotates adaptively with rotating cylinder 72, rotating cylinder 72 rotates adaptively around the axis of corresponding rotating shaft two, the center of rotating seat 73 and the axis of rotating shaft one 4 are located on the same longitudinal plane, and the distance from each connecting seat 71 to the adjacent rotating shaft one 4 is the same, thereby when the front rotating shaft one 4 rotates forward by a certain angle, the rear rotating shaft one 4 can synchronously rotate reversely by the angle, during the steering of the vehicle guiding robot, single-chip microcomputer 2 starts angle sensor 8, the detection end of angle sensor 8 is fixedly connected with the front rotating shaft one 4, angle sensor 8 adopts high-performance integrated magnetic sensitive element, utilizes the non-contact characteristics of magnetic signal sensing to measure the rotation angle of the detection shaft, and transmits the measurement result to single-chip microcomputer 2 in the form of electric signal, thereby single-chip microcomputer 2 obtains the rotation angle of rotating shaft one 4 through the detection result, and obtains the steering angle of the front wheels 6 of the vehicle guiding robot, single-chip microcomputer 2 controls electro-hydraulic push rod 78 according to the detection result, and can accurately control the steering angle of the vehicle guiding robot, the device can realize the synchronous steering operation of the steering part of the device under the driving of one electric element through the transmission element, and effectively reduces the production cost of the device.

[0021] The working principle of the rotatable chassis structure of the vehicle guiding robot is as follows: when the vehicle guiding robot is moved, the single-chip microcomputer 2 starts the double-shaft motor 10 to drive the driving shaft 10 to rotate, the driving shaft 10 drives the rear wheel 11 to rotate, thereby providing power for the vehicle guiding robot to move, the anti-skid pattern 13 is used to increase the contact friction force between the wheel and the ground, and the battery pack 3 provides power support for the operation of the single-chip microcomputer 2; when the vehicle guiding robot is turned during movement, the single-chip microcomputer 2 starts the electro-hydraulic push rod 78 to drive the telescopic end to drive the rack plate 76 to move horizontally, the rack plate 76 is connected in meshing to drive the gear 75 to drive the rotating shaft three to rotate, the rotating shaft three drives the rotating seat 73 to rotate, during the rotation of the rotating seat 73, the connecting seat 71 is indirectly driven by the extension rod 74 to drive the steering shaft 5 to rotate around the corresponding rotating shaft one 4, synchronous rotation of the rotating shaft one 4 is realized, so that the two front wheels 6 are horizontally and synchronously rotated to realize steering control, thereby realizing synchronous steering control of the front wheels 6 of the vehicle guiding robot; during the process, the telescopic end of the extension rod 74 is self-adaptively rotated with the rotating cylinder 72, the rotating cylinder 72 is self-adaptively rotated around the corresponding rotating shaft two axis, the center of the rotating seat 73 and the axis of the rotating shaft one 4 are located on the same longitudinal plane, the distance from each of the two connecting seats 71 to the adjacent rotating shaft one 4 is the same, so that when the front rotating shaft one 4 is positively rotated by a certain angle, the rear rotating shaft one 4 can be synchronously reversely rotated by the angle, during the steering of the vehicle guiding robot, the single-chip microcomputer 2 starts the angle sensor 8, the detection end of the angle sensor 8 is fixedly connected with the front rotating shaft one 4, the angle sensor 8 adopts a high-performance integrated magnetic sensitive element, uses the non-contact characteristic of the magnetic signal to measure the rotation angle of the detection shaft, and transmits the measurement result to the single-chip microcomputer 2 in the form of an electric signal, so that the single-chip microcomputer 2 obtains the rotation angle of the rotating shaft one 4 through the detection result, thereby obtaining the steering angle of the front wheels 6 of the vehicle guiding robot, and the single-chip microcomputer 2 controls the electro-hydraulic push rod 78 according to the detection result, so that the vehicle guiding robot can be precisely controlled to rotate by the angle.

[0022] It is worth noting that the single-chip microcomputer 2 in the above embodiment can adopt NY8A050D, the electro-hydraulic push rod 78 can adopt DYZW integral straight micro electro-hydraulic push rod, the angle sensor 8 can adopt HSM22M multi-turn non-contact magnetic sensitive potentiometer, and the double-shaft motor 12 can adopt NEMA23.

[0023] The above is only an embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent structure or equivalent process transformation obtained by using the utility model specification and drawing contents, or direct or indirect application in other related technical fields, is also included in the patent protection range of the utility model.

Claims

1. A steerable chassis structure for a vehicle guidance robot, characterized by: The guide robot base (1) and the synchronous steering mechanism (7) are included. The guide robot base (1) is provided with the symmetrically distributed rotating shafts (4) at the upper right end thereof through bearings, and the rotating shafts (4) are provided with the steering shafts (5) at the outer sides thereof. The synchronous steering mechanism (7) comprises the connecting seats (71), the rotating cylinders (72), the rotating seats (73) and the telescopic rods (74), the connecting seats (71) are arranged at the opposite inner sides of the steering shafts (5), the rotating cylinders (72) are rotatably connected to the interiors of the connecting seats (71) through rotating shafts (2), the rotating seats (73) are rotatably connected to the bottom wall of the guide robot base (1) through rotating shafts (3), the rotating seats (73) are provided with the symmetrically distributed telescopic rods (74) at the outer sides thereof, and the telescopic rods (74) are fixedly connected to the adjacent rotating cylinders (72) at the telescopic ends thereof.

2. A steerable chassis structure for a vehicle guidance robot according to claim 1, characterized in that: The bottom wall of the guide robot base (1) is provided with the single-chip microcomputer (2) and the battery pack (3), and the input end of the single-chip microcomputer (2) is electrically connected to the output end of the battery pack (3).

3. A steerable chassis structure for a vehicle guidance robot according to claim 2, characterized in that: The synchronous steering mechanism (7) further comprises the gear (75), the rack plate (76), the fixing seat (77) and the electro-hydraulic push rod (78), the gear (75) is arranged at the lower end of the rotating shaft (3), the bottom wall of the guide robot base (1) is provided with the fixing seat (77), the electro-hydraulic push rod (78) is arranged at the left side of the fixing seat (77), the input end of the electro-hydraulic push rod (78) is electrically connected to the output end of the single-chip microcomputer (2), the telescopic end of the electro-hydraulic push rod (78) is provided with the rack plate (76), and the rack plate (76) is in meshing connection with the gear (75).

4. The steerable chassis structure of a vehicle guiding robot according to claim 2, characterized in that: The bottom wall of the guide robot base (1) is provided with the angle sensor (8), the angle sensor (8) is in bidirectional electrical connection with the single-chip microcomputer (2), and the angle sensor (8) is installed in cooperation with the rotating shaft (4) at the front side.

5. The steerable chassis structure of a vehicle guiding robot according to claim 2, characterized in that: The bottom wall of the guide robot base (1) is provided with the symmetrically distributed mounting seats (9) at the left end thereof, the driving shafts (10) are rotatably connected to the middle portions of the mounting seats (9) through bearings (3), the rear wheels (11) are arranged at the opposite ends of the two driving shafts (10), and the front wheels (6) are rotatably connected to the opposite ends of the two steering shafts (5) through bearings (2).

6. A steerable chassis structure for a vehicle guidance robot according to claim 5, characterized in that: The bottom wall of the guide robot base (1) is provided with the double-shaft motor (12), the input end of the double-shaft motor (12) is electrically connected to the output end of the single-chip microcomputer (2), and the output shafts of the double-shaft motor (12) are fixedly connected to the adjacent driving shafts (10).

7. A steerable chassis structure for a vehicle guidance robot according to claim 5, wherein: The outer sides of the front wheels (6) and the rear wheels (11) are provided with the uniformly distributed anti-skid lines (13).

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