CN106004514B - A kind of intelligent robot travelling aided bicycle - Google Patents

Abstract

A kind of intelligent robot travelling aided bicycle, the present invention relates to a kind of travelling aided bicycle.The travelling aided bicycle includes manual speed governor motion, body chassis, loading framework, support frame and electric cabinet, manual speed governor motion includes manual governing mechanism and manual steering mechanism, the lower end of support frame is arranged on the integral solder skeleton on body chassis, manual steering mechanism on manual speed governor motion is arranged on the upper end of support frame, loading framework is arranged on the front end of support frame, and electric cabinet is arranged on below the lower luggage carrier on body chassis.The present invention is used for manned and loading.

Description

An intelligent robot walker

technical field

The invention relates to a rollator, in particular to an intelligent robot rollator.

Background technique

With the in-depth research of robot-type intelligent vehicles and the rapid growth of various demands, the application fields of robot-type intelligent walkers are constantly expanding, and they have received widespread attention, and have become one of the most active hot spots in the field of intelligent robots. The maneuverability, versatility and reliability of driving have become the primary tasks of the intelligent realization of the robot-type smart moped. Whether the robot-type smart car can be recognized and accepted by people depends to a certain extent on whether the movement of the robot smart car is flexible and how it cooperates with people. It is determined by comfort, which is the premise to ensure the plasticity of the robot smart car and communicate with people. Therefore, whether the robot smart car has a compact structure, whether the appearance is beautiful, and whether the carrying capacity is good are the main factors considered in the design of the robot smart car. Also do not see robot rollator on the market at present, and the present invention really belongs to the first.

Contents of the invention

The purpose of the present invention is to provide a mechanical structure with simple structure, compact structure and strong bearing capacity. The required functions of the robot smart car can be completed through a simple mechanical structure. In the design process of the present invention, the main goal is to have a simple and compact structure and good mechanical performance.

An intelligent robot rollator, which consists of a manual speed regulating mechanism, a chassis mechanism, a loading frame, a support frame and an electric control box, and the manual speed regulating mechanism includes a manual speed regulating mechanism and a manual steering mechanism;

Manual speed control mechanism includes support plate, synchronization frame, locking ring, left shaft of handlebar, right shaft of handlebar, left bearing seat, right bearing seat, left handlebar, right handlebar, spring shell, spring pressure plate, handlebar Angle sensor, two spring guide columns and two clamping springs, the synchronization frame is located at the center of the end face of one side of the support plate, the synchronization frame connects the left shaft of the handlebar and the right shaft of the handlebar fixedly, the left shaft of the handlebar and the handlebar There is no mutual rotation between the right shaft and the synchronization frame, the locking ring is installed at the center of the end face on the other side of the support plate, the left shaft of the handlebar and the right shaft of the handlebar are symmetrically arranged on the left and right sides of the synchronization frame, and the left shaft of the handlebar is supported In the left bearing seat, the right shaft of the handlebar is supported in the right bearing seat, the left handlebar is connected with the flange of the left shaft of the handlebar, the right handlebar is connected with the flange of the right shaft of the handlebar, and the spring housing is arranged between the synchronization frame and the right shaft. Between the bearing seats and fixed on the support plate, two spring guide posts are arranged in the spring housing, and the two spring guide posts are symmetrically arranged on both sides of the right shaft of the handlebar, and a clamp is set on each spring guide post position spring, the spring pressing plate is arranged on the upper ends of the two spring guide posts and is fixedly connected with the right shaft of the handlebar, and the handlebar angle sensor is arranged in the synchronous frame and is fixedly mounted on the right shaft of the handlebar;

The manual steering mechanism includes a steering shaft, two steering bearings, a steering bearing seat, a steering fork, a steering spring seat, a handlebar steering sensor, two spring shafts and two compression springs;

The lower end of the steering shaft is installed in the steering bearing seat through the steering bearing. One end of the steering fork is located between the two steering bearings and is sleeved on the steering shaft. The other end of the steering fork is located between the two spring shafts. The suit has a compression spring, the outer end of the spring shaft is supported in the steering spring seat, the handlebar steering sensor is fixed under the steering bearing seat, and the upper end of the steering shaft is set in the locking ring;

The chassis mechanism includes an integral welding frame, a supporting frame, a follower universal wheel and two driving wheel mechanisms. In the middle, the two driving wheel mechanisms are symmetrical to both sides of the follower universal wheel and installed on the overall welded skeleton;

The lower end of the support frame is installed on the integral welding frame, the manual steering mechanism on the manual speed regulating mechanism is installed on the upper end of the support frame, the loading frame is installed on the front end of the support frame, and the electric control box is installed below the downloading object frame.

The present invention has the following beneficial effects:

1. The vehicle speed regulating mechanism of the intelligent robot rollator of the present invention adopts an integrated U-shaped handlebar structure. The U-shaped handlebar drives the synchronous frame to pitch and rotate relative to the handlebar bearing seat, and the coaxial angle sensor measures the relative rotation angle. The structure is simple, compact, and the rotation is stable. You can directly use the U-shaped handlebar to pitch and rotate, and control the speed of the smart moped according to the downward pressure of the hand, which meets the requirements of ergonomics. In the steering mechanism of the present invention, the steering shaft and the steering bearing seat form a rotating pair for vehicle body steering. The coaxial angle sensor measures the relative rotation angle. The steering structure of the present invention adopts the steering fork structure, the steering shaft drives the steering fork to rotate the axis, the steering fork toggles the left and right compression springs, the common stiffness and damping effect of the left compression spring and the right compression spring keep the U-shaped handlebar steering in a balanced position .

2. The vehicle speed adjustment part of the present invention can not only control the start and stop of the smart car through the U-shaped handlebar by using a simple angle measuring mechanism, but also adjust the smart car according to the rotation angle of the manual speed regulating mechanism relative to the handlebar support seat The driving speed is high, and the structure is simple, compact, and has good mechanical performance, and can complete various functions required by the intelligent rollator.

3. The present invention can realize the forward, straight forward, turning and backward movement of the whole intelligent moped.

4. The present invention has the mobile function of completing the integration of manned and loaded objects, and can be used as an intelligent manned mobile tool for supermarkets, airports, and large shopping malls.

Description of drawings

Fig. 1 is the perspective view of the overall structure of the intelligent robot walker;

Fig. 2 is a perspective view of the manual speed regulating mechanism A, and the marks 1-15 in the figure are support plate button covers);

Fig. 3 is a perspective view of the manual speed regulating mechanism 1;

Fig. 4 is the front view of the manual speed regulating mechanism 1;

Fig. 5 is a top view of the manual speed regulating mechanism 1;

Fig. 6 is a schematic diagram of the positional relationship between the two spring guide columns 1-11 of the left bearing seat 1-6 and the right bearing seat 1-7 on the support plate 1-1;

Fig. 7 is that handlebar right shaft 1-5, right bearing seat 1-7, spring housing 1-10, spring pressing plate 1-13, two spring guide posts 1-11 and two clamping springs 1-12 support Schematic diagram of the positional relationship on board 1-1;

Fig. 8 is a perspective view of the manual steering mechanism 2;

Fig. 9 is a front view of the manual steering mechanism 2;

Fig. 10 is the M-M sectional view of Fig. 9;

Fig. 11 is the N-N sectional view of Fig. 9;

Figure 12 is a perspective view of the chassis mechanism B;

Fig. 13 is the front view of driving wheel mechanism 6;

FIG. 14 is a perspective view of the drive wheel mechanism 6 .

Detailed ways

Specific implementation mode 1: This implementation mode is described in conjunction with Figures 1 to 12. This implementation mode includes a manual speed adjustment mechanism A, a chassis mechanism B, a loading frame C, a support frame D, and an electric control box E. The manual speed adjustment mechanism A includes a manual speed regulating mechanism 1 and a manual steering mechanism 2;

The manual speed control mechanism 1 includes a support plate 1-1, a synchronization frame 1-2, a locking ring 1-3, a handlebar left shaft 1-4, a handlebar right shaft 1-5, a left bearing seat 1-6, and a right bearing Seat 1-7, left handlebar 1-8, right handlebar 1-9, spring housing 1-10, spring pressing plate 1-13, handlebar angle sensor 1-14, two spring guide posts 1-11 and two A clamping spring 1-12, the synchronous frame 1-2 is positioned at the center of the end face of one side of the support plate 1-1, and the synchronous frame 1-2 is fixedly connected to the handlebar left axle 1-4 and the handlebar right axle 1-5. Together, there is no mutual rotation between the handlebar left shaft 1-4 and the handlebar right shaft 1-5 and the synchronous frame 1-2, and the locking ring 1-3 is installed at the center of the other side end face of the support plate 1-1, The handlebar left shaft 1-4 and the handlebar right shaft 1-5 are symmetrically arranged on the left and right sides of the synchronous frame 1-2, the handlebar left shaft 1-4 is supported in the left bearing seat 1-6, the handlebar right shaft 1- 5 is supported in the right bearing seat 1-7, the left bearing seat 1-6 and the right bearing seat 1-7 are fixed on the support plate 1-1, the left handlebar 1-8 is connected with the handlebar left shaft 1-4 flange connection, the right handlebar 1-9 is flange-connected with the handlebar right shaft 1-5, and the spring housing 1-10 is arranged between the synchronization frame 1-2 and the right bearing seat 1-7 and is fixed on the support plate 1 -1, two spring guide posts 1-11 are arranged in the spring housing 1-10, and the two spring guide posts 1-11 are symmetrically arranged on both sides of the handlebar right shaft 1-5, each spring guide post A clamp spring 1-12 is set on the 1-11, and the spring pressing plate 1-13 is arranged on the upper ends of the two spring guide posts 1-11 and is fixedly connected with the handlebar right shaft 1-5 (the spring pressing plate 1-13 is not connected with the spring The guide post 1-11 is fixedly connected), the handlebar angle sensor 1-14 is arranged in the synchronization frame 1-2 and is fixed on the handlebar right shaft 1-5;

Manual steering mechanism 2 includes steering shaft 2-1, two steering bearings 2-2, steering bearing seat 2-3, steering fork 2-4, steering spring seat 2-7, handlebar steering sensor 2-8, two springs The shaft 2-5 and two compression springs 2-6, the lower end of the steering shaft 2-1 is installed in the steering bearing seat 2-3 through the steering bearing 2-2, and one end of the steering fork 2-4 is located on the two steering bearings 2- 2 and sleeved on the steering shaft 2-1, the other end of the steering fork 2-4 is located between the two spring shafts 2-5, each spring shaft 2-5 is sleeved with a compression spring 2-6, the spring The outer end of shaft 2-5 is supported in the steering spring seat 2-7, the handlebar steering sensor 2-8 is fixed below the steering bearing seat 2-3, and the upper end of the steering shaft 2-1 is arranged on the locking ring 1- 3 middle;

The steering shaft 2-1 drives the steering fork 2-4 to rotate around the axis of the steering bearing seat 2-3, and the left and right compression springs 2-6 are moved when the steering fork 2-4 rotates, the compression spring 2-6 on the left side and the compression spring 2-6 on the right side Compress the common stiffness and damping effect of the springs 2-6 to keep the U-shaped handlebar 101 steering in a balanced position;

The chassis mechanism B includes an integral welding frame 3, a loading frame 4, a follower universal wheel 5 and two driving wheel mechanisms 6, the loading frame 4 is arranged on the front end of the integral welding frame 3, and the follower universal wheel 5 is set Below the loading frame 4 and in the middle, two drive wheel mechanisms 6 are symmetrically mounted on both sides of the follower universal wheel 5 and are installed on the integral welding frame 3; the follower universal wheel 5) only plays the role of supporting the car body function without guidance;

The lower end of the support frame D is installed on the overall welding frame 3, the manual steering mechanism 2 on the manual speed adjustment mechanism A is installed on the upper end of the support frame D, the loading frame C is installed on the front end of the support frame D, and the electric control box E is installed Below the download object shelf 4. The loading frame C is used for placing box-shaped objects. The overall welding frame 3 can ensure the structural strength and stability of the intelligent rollator;

The synchronous frame 1-2 connects the handlebar left shaft 1-4, the handlebar right shaft 1-5, the left handlebar 1-8 and the right handlebar 1-9 into an integrated U-shaped handlebar 101 structure, and the U-shaped car The balance position of 101 is realized by two clamping springs 1-12 at the front and rear. The two clamping springs 1-12 at the front and rear of the 1 axis of the manual speed regulating mechanism, the function of the front clamping spring 1-12 is the clamping effect. Keep the U-shaped handlebar 101 in a balanced position), the effect of the rear clamp spring 1-12 is at first to provide damping and shock absorption when pressing the U-shaped handlebar 101 to adjust the speed, and the effect of the rear clamp spring 1-12 is secondly to The front clamping springs 1-12 are the same as the clamping action and promptly keep the U-shaped handlebar 101 in the equilibrium position.

The U-shaped handlebar 101 drives the steering shaft 2-1 to produce relative rotation relative to the steering bearing 2-2, and the steering angle is measured by the handlebar steering sensor 2-8. When the U-shaped handlebar 101 turns to the left, the right side drives the wheel mechanism 6 The rotation speed is greater than the rotation speed of the driving wheel mechanism 6 on the left side; if the U-shaped handlebar 101 turns to the right, the rotation speed of the driving wheel mechanism 6 on the left side is greater than the rotation speed of the driving wheel mechanism 6 on the right side, and the difference between the rotation speed of the left and right driving wheel mechanism 6 proportional to the rotation angle.

The steering fork 2-4 is fixedly connected on the steering shaft 2-1, and the steering shaft 2-1 drives the steering fork 2-4 to rotate around the axis of the steering bearing 2-2, and when the steering fork 2-4 rotates, the left and right compression springs 2- 6. The common stiffness and damping effect of the left compression spring 2-6 and the right compression spring 2-6 can keep the U-shaped handlebar 101 steering in a balanced position.

The manual speed regulating mechanism 1 controls the rotation speed of the driving wheel mechanism 6, and the manual steering mechanism 2 controls the differential steering of the left and right driving wheel mechanism 6 of the integral power-assisted vehicle.

The working principle of the manual speed regulating mechanism 1: the manual speed regulating mechanism 1 utilizes the synchronous frame 1-2, the left shaft of the handlebar 1-4, the right shaft of the handlebar 1-5, the spring pressure plate 1-13, etc. to realize winding around the left bearing seat 1- 6 and the axis of the right bearing seat 1-7 do rotary motion, due to the rotation of the right shaft 1-5 of the handlebar, the spring pressure plate 1-13 on it is driven to rotate around the axis of the right shaft 1-5 of the handlebar, and the spring pressure plate 1-13 compresses the spring guide post 1-11 elastically supported by the clamp spring 1-12 to move downward, and a relative rotation angle is generated between the U-shaped handlebar 101 and the axes of the left bearing seat 1-6 and the right bearing seat 1-7 . When both hands lightly press the left handlebar 1-8 and the right handlebar 1-9, the spring pressing plate 1-13 that is fixedly connected on the handlebar right shaft 1-5 is driven to move, and the pressure is elastically supported by the clamp spring 1-12. The spring guide post 1-11 moves downward and triggers the power supply of the whole rollator system. When the power of both hands is pressed down, the rotation angle of the U-shaped handlebar 101 becomes larger, and the rotation angle is measured by the handlebar angle sensor 1-14 coaxial with the synchronous frame 1-2 and fed back to the electric control box E. In the control circuit, the rotational speed of the wheel and the angle at which the U-shaped handlebar 101 turns around the axis of the handlebar bearing seat are in a corresponding proportional linear relationship. When both hands leave the U-shaped handlebar 101, the handlebar is stabilized in a balanced position by the clamping action of the clamp spring 1-12.

The working principle of the manual steering mechanism 2: the balance position of the manual steering mechanism 2 is realized by the left and right compression springs 2-6. The steering shaft 2-1 is driven and rotated by the U-shaped handlebar 101 under the support and constraint of the steering bearing 2-2, and the relative difference between the left and right rotation angles of the steering shaft 2-1 is measured by the coaxial handlebar steering sensor 2-8) output and feed back to the control circuit to control the left and right driving wheel mechanism 6 to realize differential motion. When both hands leave U-shaped handlebar 101, utilize compression spring 2-6, steering fork 2-4) U-shaped handlebar 101 is stabilized in a balanced position, and U-shaped handlebar 101 corresponds to the position of the vehicle when it can be properly adjusted at rest. The position of the body remains centered.

Specific Embodiment 2: This embodiment is described in conjunction with FIG. 1 . In this embodiment, a standard 24V lead-acid battery is used as the storage battery providing DC power for the electric control box E. 24V lead-acid batteries are safer and more stable than traditional lithium battery packs. Other components and connections are the same as those in the first embodiment.

Specific embodiment three: This embodiment is described in conjunction with Fig. 13 and Fig. 14, and the driving wheel mechanism 6 of this embodiment includes a wheel 6-1, an in-wheel motor 6-2, a motor shaft 6-8, an inner upper block 6-3, The lower block 6-4 inside the wheel, the upper block 6-5 outside the wheel, the lower block 6-6 outside the wheel and the wheel frame plate 6-7, the wheel 6-1 is installed on the hub motor 6-2, and the motor shaft 6-8 is set In the hub motor 6-2, the upper block 6-5 outside the wheel and the lower block 6-6 outside the wheel are clamped up and down on the outer end of the motor shaft 6-8, and the upper block 6-3 in the wheel and the lower block 6-6 in the wheel -4 is clamped on the inner end of the motor shaft 6-8 up and down, and the lower block 6-4 in the wheel and the lower block 6-6 outside the wheel are all fixed on the wheel frame plate 6-7, and the wheel frame plate 6-7 is fixed Installed on the overall welding frame 3. The driving wheel adopts hub motor 6-2, which is fixed at both ends and bears a concentrated load in the middle, so as to improve the mechanical strength and stability. Other compositions and connections are the same as those in Embodiment 1 or 2.

Specific Embodiment 4: This embodiment is described with reference to FIG. 13 and FIG. 14 . In this embodiment, the tires of the wheels 6-1 are pneumatic tires to improve the shock absorption performance during overall walking. Other components and connections are the same as those in the third embodiment.

Embodiment 5: This embodiment is described with reference to FIG. 12 . In this embodiment, the chassis mechanism B also includes two anti-rollover wheels 7 , and the two anti-rollover wheels 7 are fixed on the rear end of the integral welding frame 3 . Two anti-rollover wheels 7 play a protective role when the center of gravity is unbalanced, so as to prevent the possibility of overturning accidentally when the bearing center is too far behind when manned. Other compositions and connections are the same as those in Embodiment 4.

Embodiment 6: This embodiment is described with reference to FIG. 1 . In this embodiment, the loading frame C adopts a concave skeleton structure. While ensuring the structural strength, the shape is simple and beautiful enough, suitable for carrying basket objects. Other compositions and connections are the same as those in Embodiment 1, 2 or 4.

Embodiment 7: This embodiment is described with reference to FIG. 12 . This embodiment is a frame structure in which the upper end surface of the loading rack 4 is smooth. This design can be used to place box-shaped objects. Other compositions and connections are the same as those in Embodiment 6.

Claims (7)

1. A kind of 1. intelligent robot travelling aided bicycle, it is characterised in that：The travelling aided bicycle includes manual speed governor motion (A), chassis Mechanism (B), loading framework (C), support frame (D) and electric cabinet (E), manual speed governor motion (A) include manual governing mechanism And manual steering mechanism (2) (1)；

   Manual governing mechanism (1) includes supporting plate (1-1), synchronizing frame (1-2), retaining ring (1-3), handlebar left axle (1-4), handlebar Right axle (1-5), left shaft holder (1-6), right axle bearing (1-7), left handlebar (1-8), right handlebar (1-9), spring housing (1-10), Spring bearer plate (1-13), handlebar angle sensor (1-14), two spring guide pillars (1-11) and two clamper springs (1-12), together Step frame (1-2) is located at the center of the side end face of supporting plate (1-1) one, and synchronizing frame (1-2) is by handlebar left axle (1-4) and handlebar right axle (1-5) is fixed together, and is not turned mutually between handlebar left axle (1-4) and handlebar right axle (1-5) and synchronizing frame (1-2) Dynamic, retaining ring (1-3) is arranged at the center of supporting plate (1-1) another side end face, handlebar left axle (1-4) and handlebar right axle (1- 5) synchronizing frame (1-2) left and right sides is symmetricly set on, handlebar left axle (1-4) is supported in left shaft holder (1-6), handlebar right axle (1-5) is supported in right axle bearing (1-7), and left handlebar (1-8) is connected with handlebar left axle (1-4) flange, right handlebar (1-9) and car Right axle (1-5) flange is connected, spring housing (1-10) is arranged between synchronizing frame (1-2) and right axle bearing (1-7) and is fixedly mounted with In supporting plate (1-1), two spring guide pillars (1-11) are arranged in spring housing (1-10), two spring guide pillars (1-11) Handlebar right axle (1-5) both sides are symmetricly set on, a clamper spring (1-12), spring are set with each spring guide pillar (1-11) Pressing plate (1-13) is arranged on the upper end of two spring guide pillars (1-11) and is connected with handlebar right axle (1-5), handlebar angle sensor (1-14) is arranged in synchronizing frame (1-2) and is packed in handlebar right axle (1-5)；

   Manual steering mechanism (2) includes steering spindle (2-1), two steering bearings (2-2), steering spindle bearing (2-3), steering fork (2-4), steering spring seat (2-7), handlebar rotation direction sensor (2-8), two spring shafts (2-5) and two compression springs (2-6), The lower end of steering spindle (2-1) is arranged in steering spindle bearing (2-3) by steering bearing (2-2), one end position of steering fork (2-4) Between two steering bearings (2-2) and it is sleeved in steering spindle (2-1), the other end of steering fork (2-4) is located at two springs Between axle (2-5), a compression spring (2-6) is set with each spring shaft (2-5), steering fork (2-4) is connected in steering spindle On (2-1), steering spindle (2-1) drives steering fork (2-4) to be rotated around the axis of steering bearing (2-2), when steering fork (2-4) rotates Left and right compression spring (2-6) is stirred, the outer end of spring shaft (2-5) is supported in steering spring seat (2-7), handlebar rotation direction sensor (2-8) is packed in below steering spindle bearing (2-3), and the upper end of steering spindle (2-1) is arranged in retaining ring (1-3)；

   The body chassis (B) includes integral solder skeleton (3), lower luggage carrier (4), servo-actuated universal wheel (5) and two driving cars Mechanism (6) is taken turns, lower luggage carrier (4) is arranged on the front end of integral solder skeleton (3), and servo-actuated universal wheel (5) is arranged on lower luggage carrier (4) below and positioned at centre, Liang Ge driving moments mechanism (6) is symmetrically servo-actuated the both sides of universal wheel (5) and installed in overall weldering On synthetism frame (3)；

   The lower end of support frame (D) is arranged on integral solder skeleton (3), the manual steering machine on manual speed governor motion (A) Structure (2) is arranged on the upper end of support frame (D), and loading framework (C) is arranged on the front end of support frame (D), and electric cabinet (E) is arranged on down Below luggage carrier (4).
2. A kind of 2. intelligent robot travelling aided bicycle according to claim 1, it is characterised in that：Direct current is provided for electric cabinet (E) The battery of power supply uses the 24V lead-acid accumulators of standard.
3. A kind of 3. intelligent robot travelling aided bicycle according to claim 1 or 2, it is characterised in that：The driving moment mechanism (6) wheel (6-1), wheel hub motor (6-2) are included, motor shaft (6-8), upper block (6-3) in wheel, lower block (6-4), wheel are outside upper in wheel The outer lower block (6-6) of block (6-5), wheel and wheel frame plate (6-7), wheel (6-1) are arranged on wheel hub motor (6-2), motor shaft (6-8) It is arranged in wheel hub motor (6-2), takes turns the outer end that outside upper piece (6-5) is clamped in motor shaft (6-8) with the outer lower block (6-6) of wheel up and down On, upper block (6-3) is clamped on motor shaft (6-8) the inner up and down with lower block (6-4) in wheel in wheel, in wheel lower block (6-4) and The outer lower block (6-6) of wheel is packed on wheel frame plate (6-7).
4. A kind of 4. intelligent robot travelling aided bicycle according to claim 3, it is characterised in that：The tire of the wheel (6-1) For pneumatic tire.
5. A kind of 5. intelligent robot travelling aided bicycle according to claim 3, it is characterised in that：The body chassis (B) is also wrapped Two an l o anti-tip wheel (7) are included, two an l o anti-tip wheel (7) are packed in the rear end of integral solder skeleton (3).
6. A kind of 6. intelligent robot travelling aided bicycle according to claim 1,2 or 4, it is characterised in that：The loading framework (C) Using concave skeleton structure.
7. A kind of 7. intelligent robot travelling aided bicycle according to claim 6, it is characterised in that：The lower luggage carrier (4) it is upper End face is smooth frame structure.