CN113002655B

CN113002655B - Robot with adjustable chassis

Info

Publication number: CN113002655B
Application number: CN202110258615.4A
Authority: CN
Inventors: 张涛; 蔡阳春; 邓卓; 王远志; 郭璁; 陈鹏
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2017-10-10
Filing date: 2017-10-10
Publication date: 2022-08-16
Anticipated expiration: 2037-10-10
Also published as: CN107651036A; CN107651036B; CN113002655A

Abstract

The invention provides a robot with an adjustable chassis, which comprises a mechanical leg I module and a mechanical leg II module, wherein the mechanical leg I module and the mechanical leg II module are respectively provided with an upper joint, a middle joint and a bottom joint which are driven by independent motors, and the mechanical leg II module is of a symmetrical structure of the mechanical leg I module; the middle joint comprises a spring damper pin shaft, a spring damper mounting seat, a front shank shell, a rear shank shell, the rear shank shell and the front shank shell are fixedly mounted, the spring damper is respectively in rotating connection with the spring damper mounting seat, the rear shank shell and the front shank shell through the spring damper pin shaft, and the robot can adjust the supporting area, the gravity center height and the overall height of the whole robot chassis through the middle joint in the operation process.

Description

Robot with adjustable chassis

The application is a divisional application of an application with application date of 10 months and 10 days in 2017, application number of 201710935826.0 and invented name of 'a robot with adjustable chassis', which is submitted to the national intellectual property office.

Technical Field

The invention relates to the technical field of mobile robots, in particular to a robot with an adjustable chassis.

Background

In recent years, the mobile robot industry is rapidly developed, the environment of a running road surface faced by the robot is more and more complex, and the stability and the trafficability of the robot on the complex road surface need to be improved to ensure the normal running of the robot.

Disclosure of Invention

The invention aims to provide a robot with an adjustable chassis.

The technical scheme adopted by the invention is as follows:

1. the utility model provides a chassis adjustable robot, includes mechanical leg module (1), two modules of mechanical leg (2), mechanical leg module (1) and two modules of mechanical leg (2) all have independent motor drive's upper portion joint, middle part joint, the three rotary joint of bottom joint, and are equipped with wheel hub motor, two modules of mechanical leg (2) are the symmetrical structure of mechanical leg module (1), the robot is at the supporting area on operation in-process accessible middle part joint regulation whole robot chassis, focus height and overall height.

2. Furthermore, the middle joint comprises a thigh front shell (1-02), a joint end cover (1-03), a spring shock absorber pin shaft (1-04), a spring shock absorber (1-05), a thigh rear shell (1-11), a linear screw rod stepping motor (1-14), a spring shock absorber mounting seat (1-21), a middle bearing shaft (1-15), a rolling bearing (1-20), a shank front shell (1-06), a shank rear shell (1-10), the thigh rear shell (1-11) and the thigh front shell (1-02) are fixedly mounted, the shank rear shell (1-10) and the shank front shell (1-06) are fixedly mounted, and the spring shock absorber (1-05) rotates with the spring shock absorber mounting seat (1-21), the shank rear shell (1-10) and the shank front shell (1-06) through the spring shock absorber pin shaft respectively The thigh rear shell (1-11) is rotationally connected with the shank front shell (1-06).

3. Furthermore, a threaded hole is reserved on the spring shock absorber mounting seat (1-21) to form a screw rod nut mechanism together with the linear screw rod stepping motor (1-14), a guide groove is reserved on the spring shock absorber mounting seat (1-21), a guide rail is reserved on each of the thigh rear shell (1-11) and the thigh front shell (1-02), the spring shock absorber mounting seat (1-21) can slide on the guide rail in a linear mode, one end of the middle bearing shaft (1-15) is rotatably connected with the thigh rear shell (1-11) through a rolling bearing, the other end of the middle bearing shaft is fixedly mounted with the thigh front shell (1-02), the linear screw rod stepping motor (1-14) directly drives the spring shock absorber mounting seat (1-21), and the spring shock absorber mounting seat (1-21) drives the shank rear shell (1-10) and the shank front shell (1-06) through the spring shock absorber (1-05), thereby driving the whole middle joint and further adjusting the supporting area and the gravity center height of the whole robot chassis.

4. Further, the robot further comprises a body module (3), an interaction module (4), a manipulator module (5) and a box module (6), wherein the first mechanical leg module (1) and the second mechanical leg module (2) are installed on two sides of the body module (3), the interaction module (4) is installed at the front top end of the body module (3), the manipulator module (5) is installed at the rear top end of the body module (3), and the box module (6) is installed in the middle of the body module (3).

The invention has the beneficial effects that: the supporting area, the gravity center height and the whole height of the whole robot chassis are automatically adjusted, so that the running stability and the passing performance of the robot in various environments are improved.

Drawings

FIG. 1 is an isometric view of a robot;

FIG. 2 is an isometric view of the robot after lowering the center of gravity;

FIG. 3 is an isometric view of a module of the mechanical leg;

fig. 4 shows a block internal structure of the mechanical leg.

Detailed Description

In order to more clearly and completely explain the technical scheme of the invention, the invention is further explained by combining the attached drawings. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; for a better explanation of the embodiments of the present invention, some components in the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; the same or similar reference numerals correspond to the same or similar components.

1. As shown in fig. 1-2, a robot with an adjustable chassis comprises a first mechanical leg module (1) and a second mechanical leg module (2), wherein the first mechanical leg module (1) and the second mechanical leg module (2) are respectively provided with an upper joint, a middle joint and a bottom joint which are driven by independent motors, and are provided with hub motors, the second mechanical leg module (2) is a symmetrical structure of the first mechanical leg module (1), and the robot can adjust the supporting area, the gravity center height and the overall height of the chassis of the whole robot through the middle joint in the operation process.

2. As shown in figures 3-4, the middle joint comprises a thigh front shell (1-02), a joint end cover (1-03), a spring shock absorber pin shaft (1-04), a spring shock absorber (1-05), a thigh rear shell (1-11), a linear screw rod stepping motor (1-14), a spring shock absorber mounting seat (1-21), a middle bearing shaft (1-15), a rolling bearing (1-20), a shank front shell (1-06) and a shank rear shell (1-10), wherein the thigh rear shell (1-11) and the thigh front shell (1-02) are fixedly mounted, the shank rear shell (1-10) and the shank front shell (1-06) are fixedly mounted, and the spring shock absorber (1-05) is respectively fixedly mounted with the shank spring shock absorber mounting seat (1-21), the shank rear shell (1-10) and the shank front shell (1-06) through the spring shock absorber pin shaft ) The thigh rear shell (1-11) is rotationally connected with the shank front shell (1-06).

3. As shown in fig. 3 to 4, the spring damper mounting seat (1-21) is provided with a threaded hole to form a screw rod nut mechanism together with the linear screw rod stepping motor (1-14), the spring damper mounting seat (1-21) is provided with a guide groove, the thigh rear shell (1-11) and the thigh front shell (1-02) are respectively provided with a guide rail, the spring damper mounting seat (1-21) can slide linearly on the guide rail, one end of the middle bearing shaft (1-15) is rotatably connected with the thigh rear shell (1-11) through a rolling bearing, the other end of the middle bearing shaft is fixedly mounted with the thigh front shell (1-02), the linear screw rod stepping motor (1-14) directly drives the spring damper mounting seat (1-21), and the spring damper mounting seat (1-21) drives the shank rear shell (1-10) and the shank front shell (1-05) through the spring damper (1-05) 06) Thereby driving the whole middle joint and further adjusting the supporting area and the gravity center height of the whole robot chassis.

4. As shown in fig. 1-2, the robot further comprises a body module (3), an interaction module (4), a manipulator module (5) and a box module (6), wherein the first mechanical leg module (1) and the second mechanical leg module (2) are installed on two sides of the body module (3), the interaction module (4) is installed at the front top end of the body module (3), the manipulator module (5) is installed at the rear top end of the body module (3), and the box module (6) is installed in the middle of the body module (3).

Claims

1. A robot with an adjustable chassis is characterized by comprising a first mechanical leg module (1) and a second mechanical leg module (2), wherein the first mechanical leg module (1) and the second mechanical leg module (2) are respectively provided with an upper joint, a middle joint and a bottom joint which are driven by independent motors, and the second mechanical leg module (2) is of a symmetrical structure of the first mechanical leg module (1);

the middle joint comprises a spring shock absorber pin shaft (1-04), a spring shock absorber (1-05), a spring shock absorber mounting seat (1-21), a front shank shell (1-06), a rear shank shell (1-10), the rear shank shell (1-10) and the front shank shell (1-06) are fixedly mounted, the spring shock absorber (1-05) is respectively in rotating connection with the spring shock absorber mounting seat (1-21), the rear shank shell (1-10) and the front shank shell (1-06) through the spring shock absorber pin shaft (1-04), and the robot can adjust the supporting area, the gravity center height and the overall height of the whole robot chassis through the middle joint in the operation process;

the middle joint further comprises linear lead screw stepping motors (1-14), the spring shock absorber mounting seats (1-21) are provided with threaded holes, and a lead screw nut mechanism is formed by the spring shock absorber mounting seats and the linear lead screw stepping motors (1-14);

the linear screw rod stepping motor (1-14) directly drives the spring shock absorber mounting seat (1-21), and the spring shock absorber mounting seat (1-21) drives the lower leg rear shell (1-10) and the lower leg front shell (1-06) through the spring shock absorber (1-05), so that the whole middle joint is driven, and the supporting area and the gravity center height of the whole robot chassis are adjusted.

2. The chassis-adjustable robot of claim 1, wherein: the middle joint also comprises a front thigh shell (1-02) and a rear thigh shell (1-11), and the rear thigh shell (1-11) and the front thigh shell (1-02) are fixedly arranged;

the spring shock absorber mounting seats (1-21) are provided with guide grooves, the thigh rear shells (1-11) and the thigh front shells (1-02) are respectively provided with guide rails, and the spring shock absorber mounting seats (1-21) can slide on the guide rails in a straight line.

3. The chassis-adjustable robot of claim 2, wherein: the middle joint further comprises a middle bearing shaft (1-15) and a rolling bearing (1-20), one end of the middle bearing shaft (1-15) is rotatably connected with the thigh rear shell (1-11) through the rolling bearing, and the other end of the middle bearing shaft is fixedly installed with the thigh front shell (1-02).

4. A chassis-adjustable robot as claimed in any one of claims 1 to 3, wherein: the robot further comprises a body module (3), wherein the mechanical leg first module (1) and the mechanical leg second module (2) are installed on two sides of the body module (3) and used for supporting the body module (3).

5. The chassis-adjustable robot of claim 4, wherein: the robot further comprises an interaction module (4), the interaction module (4) is arranged on the upper side of the two mechanical leg modules (2), and the interaction module (4) is arranged at the front end of the top of the body module (3) at an inclined angle with the vertical direction.

6. The chassis-adjustable robot of claim 5, wherein: the robot further comprises a manipulator module (5), wherein the manipulator module (5) is arranged on the upper side of the first mechanical leg module (1), and the manipulator module (5) is arranged at the rear end of the top of the body module (3) relative to the interaction module (4).

7. The chassis-adjustable robot of claim 4, wherein: the robot further comprises a box body module (6), the body module (3) is arranged in a hollow mode, and the box body module (6) is installed in the middle of the body module (3).