A mobile wheel buffer structure of an intelligent service robot

Abstract

The utility model relates to a kind of mobile wheel buffer structure of intelligent service robot, including: circular bottom plate, the outer peripheral wall of bottom plate is evenly provided with four radial outward extending axle stem, the included angle between adjacent axle stem is 90 degrees;The end of axle stem away from bottom plate is fixedly provided with frame plate, connecting shaft is rotatably connected in frame plate by bearing, the axial direction of connecting shaft is perpendicular to the axial direction of axle stem.The utility model relates to the technical field of intelligent service robot.The mobile wheel buffer structure of a kind of intelligent service robot, four radial distribution axle stem and its end outer guide wheel, wherein outer guide wheel provides a degree of freedom of up-down swing by the hinging of axle stem and frame plate, when encountering obstacle, impact force forces outer guide wheel to deflect around axle stem hinging point and compress torsional spring, absorbs kinetic energy by mechanical type buffer, torsional spring is automatically reset after impact disappears, to realize flexible omnidirectional movement and effective collision protection simultaneously.

Description

Technical Field

[0001] This utility model relates to the technical field of intelligent service robots, and in particular to a moving wheel buffer structure for an intelligent service robot. Background Technology

[0002] Intelligent service robots generally use fixed hub structures or independent suspension drive wheel sets. They perform well on flat ground, but when passing through thresholds, ditches, or in the event of an accidental collision, rigid impacts can easily cause wheel damage, motor overload, or even damage to the vehicle body structure.

[0003] In the existing technology, the Mecanum wheel or omnidirectional wheel scheme used to achieve omnidirectional movement is flexible, but its prominent roller structure has weak impact resistance and is easily damaged in complex ground environments. In addition, it lacks an effective passive buffering mechanism, making it difficult to balance high mobility and high reliability. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a moving wheel buffer structure for an intelligent service robot, so as to solve the technical problems mentioned in the background art.

[0005] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0006] A motion wheel buffer structure for an intelligent service robot includes:

[0007] A circular base plate with four radially outwardly extending shafts evenly arranged on its outer circumference, the included angle between adjacent shafts being 90 degrees;

[0008] A frame plate is fixedly installed at the end of the shaft away from the base plate. A connecting shaft is rotatably connected inside the frame plate via a bearing. The axial direction of the connecting shaft is perpendicular to the axial direction of the shaft.

[0009] An outer guide wheel is fixedly installed on the outer peripheral wall of the connecting shaft, and several sets of guide wheel assemblies are evenly arranged on the outer peripheral wall of the outer guide wheel.

[0010] Furthermore, the guide wheel assembly includes:

[0011] Two side plates fixed to the outer guide wheel and a transverse rod connecting the pair of side plates, with opposite-direction rollers rotatably mounted on the transverse rod.

[0012] Furthermore, the rotation axis of the opposite-direction roller is perpendicular to the rotation axis of the outer guide roller.

[0013] Furthermore, a torsion spring is provided at the hinge joint between the shaft and the frame plate. The torsion spring is used to provide a reset torque to keep the frame plate perpendicular to the shaft.

[0014] Furthermore, the frame plate is a U-shaped plate with its opening facing the side, the connecting shaft is rotatably set at the opening, and the outer guide wheel has an avoidance groove inside for avoiding the frame plate.

[0015] Furthermore, the outer guide wheel is made of rubber.

[0016] In summary, this utility model has at least one of the following beneficial technical effects:

[0017] 1. The mobile wheel buffer structure of this intelligent service robot consists of four axles radially distributed at 90 degrees and their ends with outer guide wheels. The outer guide wheels are provided with a degree of freedom to swing up and down through the hinges between the axles and the frame plate. When an obstacle is encountered, the impact force forces the outer guide wheels to deflect around the hinge point of the axle and compress the torsion spring. The kinetic energy is absorbed through mechanical buffering. After the impact disappears, the torsion spring automatically resets, thereby achieving both flexible omnidirectional movement and effective collision protection.

[0018] 2. In the mobile wheel buffer structure of this intelligent service robot, when the outer guide wheel hits an obstacle, the impact torque overcomes the torque of the torsion spring, forcing the frame assembly to deflect around the hinge point. The torsion spring is tightened, absorbing the impact kinetic energy. When the obstacle is passed or the impact force disappears, the elastic potential energy stored in the torsion spring is immediately released, generating a reverse torque, which automatically pulls the mobile wheel assembly back and stabilizes it in the original vertical position. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the moving wheel buffer structure of an intelligent service robot according to the present invention.

[0021] Figure 2 This is a schematic diagram of the base and outer guide wheel of the moving wheel buffer structure of an intelligent service robot according to the present invention.

[0022] Figure 3 This is a schematic diagram of the outer guide wheel of the moving wheel buffer structure of an intelligent service robot according to the present invention, when it deflects.

[0023] Figure 4 This is a schematic diagram of the guide wheel assembly of the moving wheel buffer structure of an intelligent service robot according to the present invention.

[0024] In the diagram, 1 is the base plate; 2 is the shaft; 3 is the frame plate; 4 is the connecting shaft; 5 is the outer guide wheel; 6 is the guide wheel assembly; 61 is the side plate; 62 is the transverse rod; 63 is the opposite-direction roller; and 7 is the clearance groove. Detailed Implementation

[0025] The present invention will be further described in detail below with reference to the accompanying drawings.

[0026] Example:

[0027] Reference Figure 1 - Figure 4 The present invention discloses a moving wheel buffer structure for an intelligent service robot, comprising:

[0028] A circular base plate 1 has four radially outwardly extending shafts 2 evenly arranged on its outer peripheral wall, with an included angle of 90 degrees between adjacent shafts 2.

[0029] A frame plate 3 is fixedly installed at the end of the shaft 2 away from the base plate 1. A connecting shaft 4 is rotatably connected inside the frame plate 3 through a bearing. The axial direction of the connecting shaft 4 is perpendicular to the axial direction of the shaft 2.

[0030] An outer guide wheel 5 is fixedly installed on the outer peripheral wall of the connecting shaft 4, and several sets of guide wheel assemblies 6 are evenly arranged on the outer peripheral wall of the outer guide wheel 5.

[0031] In this embodiment, four radially distributed shafts 2 at 90 degrees and their ends are connected to outer guide wheels 5. The outer guide wheels 5 are provided with a degree of freedom to swing up and down through the hinge of the shafts 2 and the frame plate 3. When the service robot moves and the outer guide wheels 5 hit the threshold, the rotational connection between the connecting shaft 4 and the frame plate 3 provides the degree of freedom for the wheel to rotate, realizing driving and auxiliary buffering. The swinging degree of freedom of the outer guide wheels 5 plays the main buffering role to protect the outer guide wheels 5.

[0032] During operation, the servo motor drives the shaft 2 and the frame plate 3 to rotate, which in turn drives the two outer guide wheels 5, which are parallel to the service robot's movement trajectory, to rotate, thereby providing the device with active forward / backward power.

[0033] Meanwhile, the circumferentially mounted anti-directional rollers 63 on the outer guide wheel 5 generate lateral rolling when in contact with the ground, reducing the friction between the outer guide wheel 5, which is perpendicular to the robot's movement trajectory, and the ground.

[0034] When the robot encounters a threshold collision, the impact force will force the outer guide wheel 5 to deflect through the connecting shaft 4 and twist the torsion spring to achieve the purpose of unloading the force. The robot can effectively protect the wheel body and the servo motor used to drive the wheel body, realizing the dual functions of movement and protection.

[0035] In a further preferred embodiment of this utility model, such as Figure 4 As shown, the guide wheel assembly 6 includes:

[0036] Two side plates 61 fixed to the outer guide wheel 5 and a transverse rod 62 connected between the pair of side plates 61, with opposite-direction rollers 63 rotatably mounted on the transverse rod 62.

[0037] In this embodiment, the guide wheel assembly 6 consists of two side plates 61 fixed to the outer wall of the outer guide wheel 5 and a transverse rod 62, forming an installation frame. The opposite-direction rollers 63 installed on the transverse rod 62 can rotate freely. When the outer guide wheel 5 rotates actively under the drive of the motor, the robot body moves along the direction of the main wheel.

[0038] At this point, if lateral movement is required, the lateral friction force generated by the ground on the opposite-direction roller 63 will be converted into the power to drive it to rotate around its own axis, thus allowing the robot as a whole to easily achieve lateral sliding or diagonal movement, eliminating the huge sliding friction resistance of traditional tires when moving laterally.

[0039] In a further preferred embodiment of this utility model, such as Figure 4 As shown, the rotation axis of the opposite-direction roller 63 is perpendicular to the rotation axis of the outer guide wheel 5.

[0040] In this embodiment, the rotation axis of the eccentric roller 63 is set to be perpendicular to the rotation axis of the outer guide roller 5. Since its axis direction is parallel to the forward direction of the main wheel, it does not generate any resistance to the forward / backward movement of the main wheel.

[0041] In a further preferred embodiment of this utility model, such as Figure 4 As shown, a torsion spring is provided at the hinge joint between the shaft 2 and the frame plate 3. The torsion spring is used to provide a reset torque to keep the frame plate 3 perpendicular to the shaft 2.

[0042] In this embodiment, a torsion spring is installed at the hinge between the shaft 2 and the frame plate 3. Under normal conditions, the torque stored in the torsion spring keeps the frame plate 3 and the entire moving wheel assembly in a working posture perpendicular to the shaft 2, ensuring that the robot can move smoothly and carry heavy loads.

[0043] When the outer guide wheel 5 hits the obstacle, the impact torque overcomes the torque of the torsion spring, forcing the frame plate 3 assembly to deflect around the hinge point. The torsion spring is tightened, absorbing the impact kinetic energy. The obstacle is passed or the impact force disappears, and the elastic potential energy stored in the torsion spring is immediately released, generating a reverse torque, which automatically pulls the moving wheel assembly back and stabilizes it in the original vertical position.

[0044] In a further preferred embodiment of this utility model, such as Figure 3 As shown, the frame plate 3 is a U-shaped plate with its opening facing the side. The connecting shaft 4 is rotatably set at the opening, and the outer guide wheel 5 has an avoidance groove 7 inside for avoiding the frame plate 3.

[0045] In this embodiment, the clearance groove 7 is specifically reserved for the movement trajectory of the frame plate 3, ensuring that the buffer deflection process can proceed smoothly and without obstruction.

[0046] In a further preferred embodiment of this utility model, such as Figure 4 As shown, the outer guide wheel 5 is a rubber wheel or a polyurethane wheel.

[0047] In this embodiment, the rubber or polyurethane material has excellent elasticity, high coefficient of friction and damping characteristics, which can effectively improve the friction with the ground, so as to efficiently transmit the motor driving force, prevent slippage and ensure the accuracy of movement.

[0048] The implementation principle of the above embodiment is as follows: a two-degree-of-freedom buffer omnidirectional movement system is constructed by four shafts 2 radially distributed at 90 degrees and their end kinematic assemblies;

[0049] The servo motor drives the shaft 2 and the frame plate 3 to rotate, which drives the active wheel coaxial with the outer guide wheel 5 to provide forward / backward power. At the same time, the circumferentially distributed anti-directional rollers 63 achieve lateral rolling through their axis perpendicular to the main wheel, together completing omnidirectional movement.

[0050] When encountering an obstacle, the impact force forces the outer guide wheel 5 to deflect around the hinge point of the shaft rod 2 and compress the torsion spring. The kinetic energy is absorbed through mechanical buffering. After the impact disappears, the torsion spring automatically resets, thus achieving both flexible omnidirectional movement and effective collision protection.

[0051] The embodiments described herein are preferred embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Therefore, all equivalent changes made to the structure, shape, and principle of this utility model should be included within the scope of protection of this utility model.

Claims

1. A movement wheel buffer structure for an intelligent service robot, characterized in that, Including: A circular base plate (1) has four radially outwardly extending shafts (2) evenly arranged on its outer peripheral wall, with an included angle of 90 degrees between adjacent shafts (2). A frame plate (3) is fixedly installed at the end of the shaft (2) away from the base plate (1). A connecting shaft (4) is rotatably connected inside the frame plate (3) through a bearing. The axial direction of the connecting shaft (4) is perpendicular to the axial direction of the shaft (2). An outer guide wheel (5) is fixedly installed on the outer peripheral wall of the connecting shaft (4), and several sets of guide wheel assemblies (6) are evenly arranged on the outer peripheral wall of the outer guide wheel (5).

2. The moving wheel buffer structure of an intelligent service robot according to claim 1, characterized in that, The guide wheel assembly (6) includes: Two side plates (61) fixed to the outer guide wheel (5) and a transverse rod (62) connected between the pair of side plates (61), with opposite rollers (63) rotatably mounted on the transverse rod (62).

3. The moving wheel buffer structure of an intelligent service robot according to claim 2, characterized in that, The rotation axis of the opposite roller (63) is perpendicular to the rotation axis of the outer guide wheel (5).

4. The moving wheel buffer structure of an intelligent service robot according to claim 3, characterized in that, A torsion spring is provided at the hinge joint between the shaft (2) and the frame plate (3). The torsion spring is used to provide a reset torque to keep the frame plate (3) perpendicular to the shaft (2).

5. The moving wheel buffer structure of an intelligent service robot according to claim 4, characterized in that, The frame plate (3) is a U-shaped plate with its opening facing the side. The connecting shaft (4) is rotatably set at the opening, and the outer guide wheel (5) has an avoidance groove (7) inside for avoiding the frame plate (3).

6. The moving wheel buffer structure of an intelligent service robot according to claim 5, characterized in that, The outer guide wheel (5) is made of rubber.

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