A constant driving force distribution robot for different slope road surfaces

Abstract

The utility model discloses a different slope road surface constant driving force distribution robot relates to distribution robot field, including setting in the distribution robot bottom robot bottom plate, the robot bottom plate bottom is equipped with the support boss, and the support boss end fixed mounting has linear bearing, and linear bearing end rotationally installed link, link end is equipped with the drive motor, and drive motor output fixed mounting has the drive wheel, link end is equipped with the adjustment tension spring. This different slope road surface constant driving force distribution robot, through the rotation cooperation of support boss, linear bearing and link, the elastic pulling structure of collocation adjustment tension spring makes drive wheel always keep the adhesion with ground, effectively avoids the drive wheel suspension, the skidding problem of the grade change or small -size step, realizes the constant driving force transmission under the different slope road surface, guarantees the continuity and stability of distribution process.

Description

Technical Field

[0001] This utility model relates to the field of delivery robot technology, specifically a delivery robot with constant driving force on roads with different slopes. Background Technology

[0002] Delivery robots are intelligent mobile devices that integrate technologies such as autonomous navigation, environmental perception, and intelligent decision-making. They can complete the delivery of items such as packages, meals, and medical supplies under unmanned operation or remote monitoring. They have advantages such as 24-hour operation, reduced labor costs, and contactless delivery, and are widely used in various scenarios such as community and school delivery, warehousing and logistics, medical care, and manufacturing.

[0003] In the prior art, Chinese Patent No. CN218504530U discloses a delivery robot. In this robot, a drive device is provided at the bottom of the self-moving chassis. The housing is detachably installed on the top surface of the self-moving chassis away from the drive device. A first laser radar for obstacle avoidance during movement is protruding from the top surface of the housing away from the self-moving chassis. By protruding the first laser radar on the top of the housing, the detection range of the radar is not blocked by the delivery robot body, thereby enabling it to sense obstacles within a 360° range around the delivery robot and achieve 360° all-round obstacle avoidance, thus improving the working efficiency and user experience of the delivery robot.

[0004] Based on the above information, the drive wheels of existing delivery robots are mostly rigidly connected to the chassis. When encountering changes in slope or small steps, the drive wheels are prone to suspension or slippage, resulting in interruption of drive force transmission and affecting delivery efficiency. Therefore, we propose a delivery robot with constant drive force on roads with different slopes. Utility Model Content

[0005] The purpose of this invention is to provide a delivery robot with constant driving force on roads with different slopes, in order to solve the problem mentioned in the background art that the drive wheels and chassis of the existing delivery robots are mostly rigidly connected. When encountering changes in slope or small steps, the drive wheels are prone to being suspended or slipping, resulting in interruption of driving force transmission and affecting delivery efficiency.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a delivery robot with constant driving force on roads with different slopes, including a robot base plate set at the bottom of the delivery robot, a support boss at the bottom of the robot base plate, a linear bearing fixedly installed at the end of the support boss, a connecting rod rotatably installed at the end of the linear bearing, a drive motor at the end of the connecting rod, a drive wheel fixedly installed at the output end of the drive motor, and an adjusting tension spring at the end of the connecting rod.

[0007] Furthermore, two sets of support bosses are symmetrically arranged at the bottom of the robot base plate, the length of the linear bearing is adapted to the width of the robot base plate, and the linear bearing is located at the front end of the robot base plate in the direction of travel.

[0008] Furthermore, the connecting rod is symmetrically arranged at both ends of the linear bearing, and the connecting rod is perpendicular to the linear bearing, with the middle part of the connecting rod connected to the end of the linear bearing.

[0009] Furthermore, the end of the connecting rod with the drive wheel is located in the middle section of the robot base plate, and the end of the connecting rod away from the drive wheel and the end of the robot base plate are both equipped with casters. The casters correspond one-to-one with the four corners of the robot base plate, and the casters at the end of the connecting rod are symmetrically arranged with the drive wheel centered on the linear bearing.

[0010] Furthermore, the adjusting spring is located at the top of the end of the connecting rod where the universal wheel is located, and the end of the adjusting spring away from the connecting rod is connected to the top of the robot's base plate.

[0011] Furthermore, the bottom of the robot base plate is provided with an adjustment mechanism for adjusting the distance between the robot base plate and the ground. The adjustment mechanism includes a lifting seat that is slidably installed on the bottom of the robot base plate, a lifting helical gear that is rotatably installed on the top of the robot base plate, and a lifting column that is threadedly installed at the center of the lifting helical gear and fixedly connected to the lifting seat at the bottom.

[0012] Furthermore, the lifting seat is fixedly connected to omnidirectional wheels and support bosses at both ends, the lifting helical gears are provided in four sets, and the lifting column is perpendicular to the robot base plate. The lifting seat is in contact with the robot base plate in the initial state.

[0013] Furthermore, a servo motor is fixedly installed on the top of the robot base plate, and a drive helical gear is provided at the output end of the servo motor. A drive shaft is rotatably installed on the bottom of the robot base plate, and active bevel gears are symmetrically distributed at both ends of the drive shaft. A driven bevel gear that meshes with the drive helical gear is provided on the outer wall of the drive shaft. A linkage shaft that is perpendicular to the drive shaft is rotatably installed on the top of the robot base plate, and a linkage helical gear that meshes with the lifting helical gear is provided at the end of the linkage shaft. A driven bevel gear that meshes with the active bevel gear is provided on the outer wall of the linkage shaft.

[0014] Compared with the prior art, the beneficial effects of this utility model are: 1. This delivery robot with constant driving force on different slopes uses the rotational cooperation of support bosses, linear bearings and connecting rods, combined with the elastic tension structure of adjustable tension springs, to keep the drive wheels in contact with the ground at all times. This effectively avoids the problem of the drive wheels being suspended or slipping due to changes in slope or small steps, and achieves constant driving force transmission on different slopes, ensuring the continuity and stability of the delivery process.

[0015] 2. The robot adopts a symmetrically distributed support boss, connecting rod and universal wheel structure, combined with a rigid transmission and elastic traction design. While ensuring constant transmission of driving force, it improves the stability of the robot during movement. The overall structure has efficient transmission and precise adjustment, and can adapt to changes in the road surface without human intervention, reducing maintenance costs and further enhancing the automated operation advantages of the delivery robot.

[0016] 3. By setting an adjustment mechanism, four sets of lifting columns can be driven simultaneously to raise and lower the lifting seat, flexibly adjusting the distance between the robot's base plate and the ground. This not only improves the robot's ability to pass through steps of different heights and uneven surfaces, but also allows it to adapt to different slopes of the road surface through height adjustment, thus broadening the scope of application for delivery scenarios. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the bottom structure of the robot's base plate according to this utility model; Figure 3 This is a schematic diagram of the linear bearing, connecting rod, and adjusting tension spring structure of this utility model; Figure 4 This is a schematic diagram of the lifting column and lifting helical gear of this utility model; Figure 5 This is a schematic diagram of the lifting seat structure of this utility model; Figure 6 This is a schematic diagram of the adjustment mechanism of this utility model.

[0018] In the diagram: 1. Robot base plate; 2. Casters; 3. Support boss; 301. Linear bearing; 302. Linkage rod; 303. Adjusting tension spring; 4. Drive wheel; 401. Drive motor; 5. Lifting seat; 501. Lifting column; 6. Lifting helical gear; 7. Servo motor; 701. Drive helical gear; 8. Drive shaft; 801. Driven helical gear; 802. Driven bevel gear; 9. Linkage shaft; 901. Driven bevel gear; 902. Linkage helical gear. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Example 1: Please refer to Figures 1-3The present invention provides the following technical solution: a delivery robot with constant driving force on roads with different slopes, including a robot base plate 1 set at the bottom of the delivery robot, a support boss 3 at the bottom of the robot base plate 1, a linear bearing 301 fixedly installed at the end of the support boss 3, a connecting rod 302 rotatably installed at the end of the linear bearing 301, a drive motor 401 at the end of the connecting rod 302, a drive wheel 4 fixedly installed at the output end of the drive motor 401, and an adjusting tension spring 303 at the end of the connecting rod 302.

[0021] like Figure 2 and Figure 3 As shown, two sets of support bosses 3 are symmetrically arranged at the bottom of the robot base plate 1. The length of the linear bearing 301 is adapted to the width of the robot base plate 1, and the linear bearing 301 is located at the front end of the robot base plate 1 in the direction of travel.

[0022] like Figures 1-3 As shown, the connecting rod 302 is symmetrically arranged at both ends of the linear bearing 301, and the connecting rod 302 is perpendicular to the linear bearing 301. The middle part of the connecting rod 302 is connected to the end of the linear bearing 301. The end of the connecting rod 302 with the drive wheel 4 is located in the middle section of the robot base plate 1. The end of the connecting rod 302 away from the drive wheel 4 and the end of the robot base plate 1 are both equipped with casters 2. The casters 2 correspond one-to-one with the four corners of the robot base plate 1. The casters 2 at the end of the connecting rod 302 are symmetrically arranged with the drive wheel 4 with the linear bearing 301 as the center. The adjusting spring 303 is located at the top of the end of the connecting rod 302 with the caster 2, and the end of the adjusting spring 303 away from the connecting rod 302 is connected to the top of the robot base plate 1.

[0023] When the delivery robot travels on roads with different inclines, the contact state between its drive wheels 4 and the ground is adaptively adjusted through an elastic tension and rotational cooperation structure. First, symmetrically arranged support bosses 3 at the bottom of the robot's base plate 1 provide fixed support for the linear bearing 301. The end of the linear bearing 301 forms a rotational connection point with the middle of the connecting rod 302, allowing the connecting rod 302 to rotate flexibly around this connection point. The drive motor 401 is fixed to one end of the connecting rod 302 and drives the drive wheels 4 to rotate, providing propulsion for the robot. A universal wheel 2 is installed at the other end of the connecting rod 302, forming an auxiliary support structure together with the universal wheels 2 at the corners of the robot's base plate 1. When encountering uphill, downhill, or small step surfaces, changes in road height will exert upward or downward forces on the drive wheels 4. At this time, the connecting... The adjusting spring 303 between the top of the universal wheel 2 end of the connecting rod 302 and the top of the robot base plate 1 will generate corresponding elastic deformation according to the changes in the road surface. If the drive wheel 4 tends to be suspended, the pulling force of the adjusting spring 303 will pull the connecting rod 302 to rotate downward around the end of the linear bearing 301, ensuring that the drive wheel 4 is always in close contact with the ground. If the road surface is raised, causing the drive wheel 4 to be subjected to upward pressure, the connecting rod 302 can rotate upward and stretch the adjusting spring 303, using the elastic restoring force of the spring to maintain the contact pressure between the drive wheel 4 and the ground. Through the dynamic adjustment process of elastic pulling and rotation, the contact state between the drive wheel 4 and the ground is always stable, effectively avoiding slippage or interruption of driving force, realizing constant driving force transmission under different slopes, and ensuring the continuity of delivery.

[0024] Example 2: Please refer to Figures 4-6 Based on Embodiment 1, an adjustment mechanism is also disclosed, the specific structure of which is as follows: The bottom of the robot base plate 1 is provided with an adjustment mechanism for adjusting the distance between the robot base plate 1 and the ground. The adjustment mechanism includes a lifting seat 5 that is slidably installed on the bottom of the robot base plate 1, a lifting helical gear 6 that is rotatably installed on the top of the robot base plate 1, and a lifting column 501 that is threadedly installed at the center of the lifting helical gear 6 and fixedly connected to the lifting seat 5 at the bottom.

[0025] like Figures 4-6As shown, the lifting seat 5 is fixedly connected to two ends with universal wheels 2 and support bosses 3 respectively. There are four sets of lifting helical gears 6, and the lifting column 501 is perpendicular to the robot base plate 1. The lifting seat 5 is in contact with the robot base plate 1 in the initial state. A servo motor 7 is fixedly installed on the top of the robot base plate 1, and the output end of the servo motor 7 is provided with a driving helical gear 701. A drive shaft 8 is rotatably installed on the bottom of the robot base plate 1, and the two ends of the drive shaft 8 are provided with symmetrically distributed active bevel gears 802. The outer wall of the drive shaft 8 is provided with a driven helical gear 801 that meshes with the driving helical gear 701. A linkage shaft 9 is rotatably installed on the top of the robot base plate 1 and is perpendicular to the drive shaft 8. The end of the linkage shaft 9 is provided with a linkage helical gear 902 that meshes with the lifting helical gear 6, and the outer wall of the linkage shaft 9 is provided with a driven bevel gear 901 that meshes with the active bevel gear 802.

[0026] When the robot needs to handle higher steps or uneven surfaces, and the distance between the base plate and the ground needs to be adjusted, the adjustment mechanism achieves synchronous lifting and lowering adjustment through a rigid transmission system. After the servo motor 7 is started, the drive helical gear 701 at the output end of the servo motor 7 drives the driven helical gear 801 that meshes with it to rotate. The driven helical gear 801 is fixed to the outer wall of the drive shaft 8, thereby driving the drive shaft 8 to rotate as a whole. The driving bevel gears 802, which are symmetrically arranged at both ends of the drive shaft 8, rotate with the drive shaft 8 and mesh with the driven bevel gears 901 on the outer wall of the linkage shaft 9, respectively, transmitting power to the four sets of linkage shafts 9. The linkage helical gears 902 at the ends of the linkage shafts 9 are connected to the top of the robot base plate 1. The lifting helical gear 6 meshes, driving it to rotate synchronously. Since the lifting column 501 and the center of the lifting helical gear 6 are connected by threads, and the bottom of the lifting column 501 is fixed to the lifting seat 5, the rotation of the lifting helical gear 6 is converted into the linear lifting motion of the lifting column 501, which in turn drives the lifting seat 5 to lift as a whole. The two ends of the lifting seat 5 are respectively connected to the universal wheel 2 and the support boss 3. During its lifting process, the vertical distance between the robot base plate 1 and the ground can be adjusted synchronously. When the robot base plate 1 is raised, it improves the robot's passability and adapts to higher steps or raised surfaces; when the robot base plate 1 is lowered, it enhances the stability of the chassis and adapts to flat surfaces, meeting the needs of different road heights.

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A delivery robot with constant driving force on roads with different slopes, comprising a robot base plate (1) disposed at the bottom of the delivery robot, characterized in that: The robot base plate (1) has a support boss (3) at the bottom, and a linear bearing (301) is fixedly installed at the end of the support boss (3), and a connecting rod (302) is rotatably installed at the end of the linear bearing (301). A drive motor (401) is provided at the end of the connecting rod (302), and a drive wheel (4) is fixedly installed at the output end of the drive motor (401). An adjusting tension spring (303) is provided at the end of the connecting rod (302).

2. The delivery robot with constant driving force on roads with different slopes according to claim 1, characterized in that: The support boss (3) is symmetrically arranged in two sets at the bottom of the robot base plate (1). The length of the linear bearing (301) is adapted to the width of the robot base plate (1), and the linear bearing (301) is located at the front end of the robot base plate (1) in the direction of travel.

3. The delivery robot with constant driving force on roads with different slopes according to claim 1, characterized in that: The connecting rod (302) is symmetrically arranged at both ends of the linear bearing (301), and the connecting rod (302) is perpendicular to the linear bearing (301), and the middle part of the connecting rod (302) is connected to the end of the linear bearing (301).

4. A delivery robot with constant driving force on roads with different slopes according to claim 1, characterized in that: The link (302) is located in the middle section of the robot base plate (1) at one end with a drive wheel (4). The end of the link (302) away from the drive wheel (4) and the end of the robot base plate (1) are both equipped with casters (2). The casters (2) correspond one-to-one with the four corners of the robot base plate (1). The casters (2) at the end of the link (302) are symmetrically arranged with the drive wheel (4) centered on the linear bearing (301).

5. A delivery robot with constant driving force on roads with different slopes according to claim 1, characterized in that: The adjusting spring (303) is located at the top of the end of the connecting rod (302) where the universal wheel (2) is located, and the end of the adjusting spring (303) away from the connecting rod (302) is connected to the top of the robot base plate (1).

6. A delivery robot with constant driving force on roads with different slopes according to claim 1, characterized in that: The robot base plate (1) is provided with an adjustment mechanism at the bottom for adjusting the distance between the robot base plate (1) and the ground. The adjustment mechanism includes a lifting seat (5) that is slidably installed at the bottom of the robot base plate (1). A lifting helical gear (6) is rotatably installed on the top of the robot base plate (1), and a lifting column (501) that is threadedly installed at the center of the lifting helical gear (6) and fixedly connected to the lifting seat (5) at the bottom.

7. A delivery robot with constant driving force on roads with different slopes according to claim 6, characterized in that: The lifting seat (5) is fixedly connected to two ends of a universal wheel (2) and a support boss (3). The lifting helical gear (6) is provided in four sets, and the lifting column (501) is perpendicular to the robot base plate (1). The lifting seat (5) is in contact with the robot base plate (1) in the initial state.

8. A delivery robot with constant driving force on roads with different slopes according to claim 6, characterized in that: A servo motor (7) is fixedly installed on the top of the robot base plate (1), and a drive helical gear (701) is provided at the output end of the servo motor (7). A drive shaft (8) is rotatably installed on the bottom of the robot base plate (1), and active bevel gears (802) are symmetrically distributed at both ends of the drive shaft (8). A driven bevel gear (801) meshes with the drive helical gear (701) on the outer wall of the drive shaft (8). A linkage shaft (9) is rotatably installed on the top of the robot base plate (1) and is perpendicular to the drive shaft (8). A linkage helical gear (902) meshes with the lifting helical gear (6) at the end of the linkage shaft (9), and a driven bevel gear (901) meshes with the active bevel gear (802) on the outer wall of the linkage shaft (9).

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