CN113815018B - Robot driving chassis - Google Patents

Abstract

The invention belongs to the field of driving chassis, in particular to a robot driving chassis, which comprises a chassis main body, a motor, a wheel hub and a tire; the tire is arranged on the outer side of the hub, the two sides of the chassis main body are provided with shielding mechanisms, and the top end of the chassis main body is provided with a storage mechanism; play through the cooperation between each mechanism and restrain driving chassis produced vibration when removing, shelter from raise dust or sewage that the area was played when removing, conveniently change the tire that the wearing and tearing are excessive, be convenient for fix power battery and carry out the effect of protection to power battery.

Description

Robot driving chassis

Technical Field

The invention relates to the field of driving chassis, in particular to a robot driving chassis.

Background

The robot is an intelligent machine with semi-autonomous or fully-autonomous working capacity, can replace and assist people to complete complex, dangerous and heavy work, and improves the working efficiency.

The driving chassis is an important component for driving the robot to move, and the current driving chassis can better drive the robot to move along with the development of science and technology.

Most of the existing driving chassis cannot inhibit vibration generated during movement, cannot shield raised dust or sewage brought up during movement, is inconvenient to replace a driving wheel, cannot well fix a power battery, and causes abnormal phenomena such as instability or movement stopping of a robot in the movement process; accordingly, a robot driving chassis is proposed to address the above problems.

Disclosure of Invention

The invention provides a robot driving chassis, which aims to solve the problems that the existing driving chassis cannot restrain vibration generated during movement, cannot shield raised dust or sewage brought up during movement, is inconvenient to replace a driving wheel and cannot well fix a power battery, and the defects of the prior art are overcome.

The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a robot driving chassis, which comprises a chassis main body, a motor, a hub and a tire; the both sides of chassis main part bottom all are provided with buffer gear, the motor sets up the inside at buffer gear, wheel hub sets up the both sides in chassis main part bottom, and is provided with coupling mechanism between wheel hub and the buffer gear, the tire sets up the outside at wheel hub, the both sides of chassis main part are provided with shelters from the mechanism, the top of chassis main part is provided with deposits the mechanism, plays through the cooperation between each mechanism and suppresses the produced vibration of drive chassis when removing, shelters from raise dust or sewage that play when removing, conveniently changes the tire that the wearing and tearing are excessive, is convenient for fix power battery and carry out the effect protected to power battery.

Preferably, buffer gear includes main buffer spring, extrusion piece, hinge bar, ejector pad, guided way and assists buffer spring, the dashpot has all been seted up to the both sides of chassis main part bottom, main buffer spring sets up in the inside at the dashpot, the extrusion piece sets up the bottom at main buffer spring, one side that the hinge bar is close to the extrusion piece passes through pivot swing joint with the extrusion piece, the ejector pad is kept away from the one end of extrusion piece with the hinge bar through pivot swing joint, and ejector pad sliding connection is in the inside of cushion chamber, the cushion chamber is seted up in chassis main part bottom and is close to central point department of putting, guided way fixed connection is in the inside of cushion chamber, and the guided way runs through the ejector pad and makes the ejector pad cover establish the outside at the guided way, assist buffer spring winding in the outside of guided way, play through buffer gear's effect and carry out the suppression effect to the vibration that drive chassis produced when removing, improved the stability of drive chassis when carrying out the removal.

Preferably, one side fixedly connected with first slider on extrusion piece top, and first slider sliding connection is in the inside of first spout, first spout is seted up in the inside one side of dashpot, plays the effect that prevents extrusion piece and deviate from the dashpot through the effect of first slider and the combination of first spout, makes extrusion piece only can remove from top to bottom in the dashpot is inside.

Preferably, one side of the auxiliary buffer spring, which is close to the push block, is fixedly connected with the push block, one side of the auxiliary buffer spring, which is far away from the push block, is fixedly connected inside the buffer cavity, and the effect of the restoring force of the auxiliary buffer spring is used for further inhibiting and buffering the jolt generated by the device when the device moves.

Preferably, coupling mechanism includes connecting axle, connecting block, spread groove, rack, gear, connecting rod, knob and torsional spring, the motor sets up the inside at main buffer spring, one side and the motor fixed connection that the connecting axle is close to the motor, the connecting chamber has all been seted up at the both ends that motor one side was kept away from to the connecting axle, the inside cover in connected chamber is equipped with the connecting block, connecting block and spread groove block, the inboard at wheel hub is seted up to the spread groove, the one end fixedly connected with rack of spread groove is kept away from to the connecting block, and the rack cover is established in the inside of accomodating the chamber, accomodate the chamber and set up the one end of keeping away from the connecting block in the connected chamber, wheel and rack toothing, connecting rod and gear fixed connection, and the connecting rod is kept away from one side through the connecting axle of gear and is extended to the outside of connecting axle, knob and connecting rod fixed connection, the torsional spring winding is in the outside of connecting axle, plays the effect that the convenience was changed excessive tire through coupling mechanism.

Preferably, anti-skidding line has been seted up in the outside of knob, one side and the knob fixed connection that the torsional spring is close to the knob, and the torsional spring keeps away from one side and connecting axle fixed connection of knob, and the effect through the anti-skidding line that the knob outside was seted up plays the effect that increases the frictional force between finger and the knob, prevents the slippage when rotating the knob, plays the effect that makes knob automatic re-setting and drive other part antiport and removal through the effect of the reducing force of torsional spring.

Preferably, the connecting block is close to one side fixedly connected with movable block of connecting chamber one end, and movable block sliding connection is in the inside of activity groove, the activity groove is seted up in the one side of connecting intracavity portion, plays the effect that reduces the connecting block and be connected frictional force between the intracavity wall through the effect of movable block and activity groove combination, makes the connecting block more smooth and easy when removing, prevents that the connecting block from because of and being connected the frictional force between the intracavity wall too big and the card is died when removing.

Preferably, shelter from mechanism and include guard plate, first inserted block, spacing spring, stopper, dog, spliced pole, first spring and arm-tie, the guard plate sets up the both sides in the chassis main part, first inserted block and guard plate fixed connection, and first inserted block insert the inside of establishing at first slot, first slot is seted up in the both sides of chassis main part, spacing chamber has been seted up on the top of first inserted block, spacing spring sets up the inside in spacing chamber, the stopper cover is established in the inside in spacing chamber, and stopper and spacing groove block, the bottom at the dog is seted up to the spacing groove, the dog sets up the inside in the activity chamber, the top at first slot is seted up to the activity chamber, spliced pole and dog fixed connection, first spring winding is in the outside of spliced pole, arm-tie fixed connection is in the one side that the dog is kept away from to the spliced pole, plays through sheltering from the mechanism and blocks the dirt that the device has been brought when moving, prevents the effect that the dirt splashes everywhere.

Preferably, the storage mechanism comprises a storage cavity, a power battery, a clamping block, a moving block, a tension spring, a first baffle, a second baffle, a pulling block, a second inserting block, a second spring and a clamping block, the storage cavity is arranged at the top end of the chassis main body, the power battery is arranged in the storage cavity, the clamping block is abutted against two sides of the bottom end of the power battery, the moving block is fixedly connected at the bottom end of the clamping block and is slidably connected in a moving groove, the moving groove is arranged at two sides of the bottom end of the inner part of the storage cavity, the tension spring is arranged in the moving groove, the first baffle is arranged at one side of the top end of the storage cavity, the second baffle is arranged at the other side of the top end of the storage cavity, the pull block is respectively arranged at the top ends of the first baffle and the second baffle, the first baffle and the second baffle are all sleeved in the accommodating groove, the accommodating groove is formed in two sides of the top end of the chassis main body, the second insertion block is fixedly connected to one side, close to the first baffle, of the second baffle, the second insertion block is inserted in the second insertion groove, the second insertion groove is formed in one side, close to the second baffle, of the first baffle, clamping cavities are formed in two ends of the second insertion block, the second spring is arranged in the clamping cavities, the clamping blocks are sleeved in the clamping cavities, the clamping blocks are clamped with the clamping grooves, the clamping grooves are formed in two ends of the second insertion groove, and the effect of fixing and protecting the power battery is achieved through the storage mechanism.

Preferably, the one end that the fixture block is close to the draw-in groove is the arc design, and the fixture block cooperatees with the draw-in groove, through the effect of fixture block and draw-in groove combination, plays the effect of being connected between second baffle and the first baffle.

The invention has the advantages that:

1. according to the invention, through the structural design of the buffer mechanism, the function of inhibiting vibration generated by potholes on the ground during movement is realized, the effect of buffering jolts is realized through the effect of the main buffer spring, the effect of further buffering jolts is realized through the combined effect of the main buffer spring, the hinged rod, the push block and the auxiliary buffer spring, the problem that the vibration generated during movement cannot be inhibited in most of the existing driving chassis is solved, and the stability of the driving chassis during movement is improved;

2. according to the invention, through the structural design of the shielding mechanism, the function of blocking raised dust, mud, sewage and the like brought by moving is realized, the dirt brought by moving is blocked through the effect of the protection plate, the splashing of the dirt is prevented, the effect of conveniently disassembling, cleaning and installing the protection plate is realized through the mutual matching effect of other components in the shielding mechanism, and the problem that the conventional driving chassis cannot block the raised dust or the sewage brought by moving is solved;

3. according to the invention, through the structural design of the connecting mechanism, the function of conveniently replacing the wheel hub and the tire is realized, the gear is driven to rotate by rotating the knob, the rack meshed with the gear moves to drive the connecting block to move, the clamping between the connecting block and the connecting groove is released, and the connection between the connecting block and the wheel hub is released, so that the problem that the driving wheel is inconvenient to replace by the conventional driving chassis is solved, and the tire with excessive wear is convenient to replace;

4. according to the invention, through the structural design of the storage mechanism, the function of conveniently fixing and replacing the power battery is realized, the power battery is fixed through the matching action of the clamping block, the moving block and the tension spring, the power battery is prevented from shaking in the storage cavity due to bumping during moving, the effect of protecting the storage cavity is realized through the matching action of the second baffle and the first baffle, the problem that the conventional driving chassis cannot well fix the power battery is solved, and the stability of the storage cavity is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic perspective view of a first embodiment;

FIG. 2 is a schematic cross-sectional front view illustrating a structure of the first embodiment;

FIG. 3 is an enlarged schematic view of a portion A of FIG. 2 according to the first embodiment;

FIG. 4 is an enlarged structural diagram of the first embodiment at B in FIG. 3;

FIG. 5 is an enlarged structural view of the first embodiment at C in FIG. 2;

FIG. 6 is an enlarged structural view of the first embodiment at D in FIG. 2;

FIG. 7 is an enlarged structural view of the first embodiment at E in FIG. 2;

FIG. 8 is a schematic structural diagram of a partial front cross-section according to a second embodiment;

fig. 9 is a schematic structural view of a partial front cross section in the third embodiment.

In the figure: 1. a chassis main body; 21. a buffer tank; 22. a main buffer spring; 23. extruding the block; 24. a hinged lever; 25. a push block; 26. a buffer chamber; 27. a guide rail; 28. an auxiliary buffer spring; 29. a first slider; 210. a first chute; 3. a motor; 41. a connecting shaft; 46. a connecting cavity; 47. connecting blocks; 48. connecting grooves; 49. a rack; 410. a receiving cavity; 411. a gear; 412. a connecting rod; 413. a knob; 414. a torsion spring; 415. a movable block; 416. a movable groove; 5. a hub; 6. a tire; 71. a protection plate; 72. a first insert block; 73. a first slot; 74. a limiting cavity; 75. a limiting spring; 76. a limiting block; 77. a limiting groove; 78. a stopper; 79. a movable cavity; 710. connecting columns; 711. a first spring; 712. pulling a plate; 713. a guide block; 714. a guide groove; 81. a storage chamber; 82. a power battery; 83. a clamping block; 84. a moving block; 85. a moving groove; 86. a tension spring; 87. a first baffle plate; 88. a second baffle; 89. pulling the block; 810. a receiving groove; 811. a second insert block; 812. a second slot; 813. a clamping cavity; 814. a second spring; 815. a clamping block; 816. a card slot; 817. a second slider; 818. a second runner.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 1 to 7, a robot driving chassis includes a chassis body 1, a motor 3, a hub 5, and a tire 6; the two sides of the bottom end of the chassis main body 1 are both provided with a buffer mechanism, the motor 3 is arranged inside the buffer mechanism, the wheel hubs 5 are arranged on the two sides of the bottom end of the chassis main body 1, a connecting mechanism is arranged between the wheel hubs 5 and the buffer mechanism, the tire 6 is arranged on the outer side of the wheel hubs 5, the two sides of the chassis main body 1 are provided with shielding mechanisms, and the top end of the chassis main body 1 is provided with a storage mechanism;

during operation plays through the cooperation between each mechanism and suppresses the produced vibration of drive chassis when removing, shelters from raise dust or sewage that bring when removing, conveniently changes the tire 6 that wearing and tearing are excessive, is convenient for fix power battery 82 and carry out the effect protected power battery 82.

The buffer mechanism comprises a main buffer spring 22, an extrusion block 23, a hinged rod 24, a push block 25, a guide rail 27 and an auxiliary buffer spring 28, buffer grooves 21 are formed in two sides of the bottom end of the chassis main body 1, the main buffer spring 22 is arranged in the buffer grooves 21, the extrusion block 23 is arranged at the bottom end of the main buffer spring 22, one side, close to the extrusion block 23, of the hinged rod 24 is movably connected with the extrusion block 23 through a rotating shaft, the push block 25 is movably connected with one end, far away from the extrusion block 23, of the hinged rod 24 through the rotating shaft, the push block 25 is connected in the buffer cavity 26 in a sliding mode, the buffer cavity 26 is formed in the position, close to the center, of the bottom end of the chassis main body 1, the guide rail 27 is fixedly connected in the buffer cavity 26, the guide rail 27 penetrates through the push block 25 to enable the push block 25 to be sleeved on the outer side of the guide rail 27, and the auxiliary buffer spring 28 is wound on the outer side of the guide rail 27;

during operation, when the device jolts in the in-process that removes, wheel hub 5 drives through connecting axle 41 and extrudes piece 23 and produces and remove under the effect of hole, make extrusion piece 23 produce the extrusion to main buffer spring 22, make main buffer spring 22 produce elastic deformation, restrain jolting through the effect of main buffer spring's 22 reducing force, make chassis drive remain stable, drive articulated rod 24 and promote ejector pad 25 when extrusion piece 23 produces and removes simultaneously, make ejector pad 25 slide and produce the extrusion to assisting buffer spring 28 in the inside of cushion chamber 26, make and assist buffer spring 28 and produce elastic deformation, further restrain vibration and jolt through the effect of assisting buffer spring's 28 reducing force.

One side of the top end of the extrusion block 23 is fixedly connected with a first sliding block 29, the first sliding block 29 is connected inside a first sliding groove 210 in a sliding manner, and the first sliding groove 210 is formed in one side inside the buffer groove 21;

during operation, the first sliding block 29 and the first sliding groove 210 are combined to prevent the extrusion block 23 from falling out of the buffer groove 21, so that the extrusion block 23 can only move up and down in the buffer groove 21.

One side of the auxiliary buffer spring 28 close to the push block 25 is fixedly connected with the push block 25, and one side of the auxiliary buffer spring 28 far away from the push block 25 is fixedly connected inside the buffer cavity 26;

during operation, the restoring force of the auxiliary buffer spring 28 acts to further suppress and buffer the pitching generated during the movement of the device.

The connecting mechanism comprises a connecting shaft 41, a connecting block 47, a connecting groove 48, a rack 49, a gear 411, a connecting rod 412, a knob 413 and a torsion spring 414, the motor 3 is arranged inside the main buffer spring 22, one side of the connecting shaft 41, which is close to the motor 3, is fixedly connected with the motor 3, two ends of one side of the connecting shaft 41, which is far away from the motor 3, are provided with connecting cavities 46, the connecting block 47 is sleeved inside the connecting cavities 46, the connecting block 47 is clamped with the connecting groove 48, the connecting groove 48 is arranged inside the hub 5, one end of the connecting block 47, which is far away from the connecting groove 48, is fixedly connected with the rack 49, the rack 49 is sleeved inside the accommodating cavity 410, the accommodating cavity 410 is arranged at one end of the connecting cavity 46, which is far away from the connecting block 47, the gear 411 is meshed with the rack 49, the connecting rod 412 is fixedly connected with the gear 411, one side of the connecting rod 412, which is far away from the gear 411, penetrates through the connecting shaft 41 and extends to the outer side of the connecting shaft 41, the knob 413 is fixedly connected with the connecting rod 412, and the torsion spring 414 is wound outside the connecting rod 412;

in operation, when a tire 6 is to be replaced, firstly, the rotary knob 413 is rotated to drive the gear 411 to rotate through the connecting rod 412, the gear 411 rotates to drive the meshed rack 49 to move, so that the rack 49 drives the connecting block 47 to move, the connecting block 47 is disengaged from the connecting groove 48, at this time, the connection between the connecting shaft 41 and the hub 5 is disengaged, the hub 5 can be taken down to replace the tire 6, when the hub 5 and the tire 6 are to be installed, the reverse operation is performed, the torsion spring 414 is driven to generate elastic deformation when the rotary knob 413 is rotated, the rotary knob 413 drives the gear 411 to rotate reversely under the reducing force of the torsion spring 414 after the rotary knob 413 is loosened, so that the rack 49 drives the connecting block 47 to restore to be engaged with the connecting groove 48, the effect of connecting between the connecting shaft 41 and the hub 5 is achieved, and the tire 6 is installed.

The outer side of the knob 413 is provided with anti-skid grains, one side of the torsion spring 414 close to the knob 413 is fixedly connected with the knob 413, and one side of the torsion spring 414 far away from the knob 413 is fixedly connected with the connecting shaft 41;

during operation, the effect of the anti-skidding line of seting up through the knob 413 outside plays the effect that increases the frictional force between finger and the knob 413, prevents to slide when rotating knob 413, plays the effect that makes knob 413 automatic re-setting and drive other part antiport and removal through the effect of the restoring force of torsional spring 414.

One side of the connecting block 47, which is close to one end of the connecting cavity 46, is fixedly connected with a movable block 415, the movable block 415 is slidably connected inside a movable groove 416, and the movable groove 416 is formed in one side inside the connecting cavity 46;

during operation, the effect of reducing the frictional force between connecting block 47 and the inner wall of connecting chamber 46 is played through the effect of activity piece 415 and activity groove 416 combination, makes connecting block 47 more smooth and easy when removing, prevents that connecting block 47 from removing because of with the too big card of frictional force between the inner wall of connecting chamber 46 extremely.

The shielding mechanism comprises a protection plate 71, first insertion blocks 72, limiting springs 75, limiting blocks 76, a stop block 78, a connecting column 710, a first spring 711 and a pulling plate 712, wherein the protection plate 71 is arranged on two sides of the chassis main body 1, the first insertion blocks 72 are fixedly connected with the protection plate 71, the first insertion blocks 72 are inserted into first insertion grooves 73, the first insertion grooves 73 are formed in two sides of the chassis main body 1, limiting cavities 74 are formed in the top ends of the first insertion blocks 72, the limiting springs 75 are arranged in the limiting cavities 74, the limiting blocks 76 are sleeved in the limiting cavities 74, the limiting blocks 76 are clamped with the limiting grooves 77, the limiting grooves 77 are formed in the bottom ends of the stop blocks 78, the stop blocks 78 are arranged in movable cavities 79, the movable cavities 79 are formed in the top ends of the first insertion grooves 73, the connecting columns 710 and 78 are fixedly connected, the first springs 711 are wound on the outer sides of the connecting columns 710, and the pulling plate 712 is fixedly connected to one side, far away from the stop blocks 78, of the connecting columns 710;

when the protective plate 71 is to be taken down for cleaning, the pulling plate 712 is pulled outwards at first, so that the pulling plate 712 drives the stopper 78 to move through the connecting column 710 and extrudes the first spring 711, the first spring 711 generates elastic deformation, the stopper 78 extrudes the limiting block 76 when the stopper 78 moves, the limiting block 76 moves towards the inside of the limiting cavity 74 and extrudes the limiting spring 75, the limiting spring 75 generates elastic deformation, and the limiting block 76 is released from being clamped with the limiting groove 77 at the moment, the protection plate 71 is pulled outwards to pull the first inserting block 72 out of the first slot 73, the protection plate 71 is detached, when the protection plate 71 is to be installed, the first inserting block 72 is firstly inserted into the first slot 73, the limiting block 76 is extruded by the inner wall of the limiting block 76 to move towards the inside of the limiting cavity 74 when the first inserting block 72 is inserted, the limiting spring 75 is extruded, the limiting spring 75 generates elastic deformation, when the first inserting block 72 is completely inserted into the first slot 73, the inner wall of the limiting block 76 disappears to extrude the limiting block 76, at the moment, the limiting block 76 returns to the original position under the action of the reducing force of 7 and is clamped with the limiting groove 77, and the effect of limiting the protection plate 71 is achieved.

The storage mechanism comprises a storage cavity 81, a power battery 82, a clamping block 83, a moving block 84, a tension spring 86, a first baffle plate 87, a second baffle plate 88, a pulling block 89, a second insertion block 811, a second spring 814 and a fixture block 815, the storage cavity 81 is arranged at the top end of the chassis body 1, the power battery 82 is arranged inside the storage cavity 81, the clamping block 83 abuts against two sides of the bottom end of the power battery 82, the moving block 84 is fixedly connected to the bottom end of the clamping block 83, the moving block 84 is slidably connected inside the moving groove 85, the moving groove 85 is arranged at two sides of the bottom end inside the storage cavity 81, the tension spring 86 is arranged inside the moving groove 85, the first baffle plate 87 is arranged at one side of the top end of the storage cavity 81, the second baffle plate 88 is arranged at the other side of the top end of the storage cavity 81, the pulling block 89 is respectively arranged at the top ends of the first baffle plate 87 and the second baffle plate 88, the first baffle plate 87 and the second baffle plate 88 are both arranged inside the storage cavity 810, the insertion groove 812 is provided with a clamping block 811, the clamping block 813 is arranged at one side of the second insertion groove 812, the second baffle plate 811, the fixture block 811 is arranged at one side of the bottom end of the second insertion groove 812, the insertion groove 813, the second baffle plate 813, the insertion groove 812, the clamping block 811 is arranged at one side of the bottom end of the second insertion groove 812, and the insertion groove 813 of the second baffle plate 811, the insertion groove 813, the clamping groove 813 of the clamping groove 812, the clamping block 815 is arranged at one side of the clamping groove 812, and the clamping groove 813 of the clamping groove 812, the clamping groove 812;

when the power battery 82 needs to be fixed in operation, the first baffle plate 87 and the second baffle plate 88 are pulled towards two sides respectively through the pulling block 89, the first baffle plate 87 and the second baffle plate 88 move towards the inside of the accommodating groove 810 under the action of the pulling force, the clamping block 815 is extruded by the clamping groove 816 to move towards the inside of the clamping cavity 813, the clamping block 815 extrudes the second spring 814 to generate elastic deformation, the clamping block 815 releases the clamping with the clamping groove 816, the connection state of the first baffle plate 87 and the second baffle plate 88 is released, then two sides of the bottom end of the power battery 82 are contacted with the clamping block 83, then the power battery 82 is pressed downwards, the two groups of clamping blocks 83 slide towards two sides respectively under the action of the downward pressure, the moving block 84 is driven to move, the moving block 84 pulls the pulling block 86 to generate elastic deformation, after the power battery 82 is contacted with the bottom end inside the storing cavity 81, the clamping block 83 clamps and fixes the power battery 82 through the action of the reducing force of the tension spring 86, and when the power battery 82 needs to be fixed in reverse operation.

One end of the fixture block 815 close to the clamping groove 816 is designed in an arc shape, and the fixture block 815 is matched with the clamping groove 816;

when the device works, the effect of connecting the second baffle 88 and the first baffle 87 is achieved through the combined action of the fixture block 815 and the fixture groove 816.

Example two

Referring to fig. 8, in a first comparative example, as another embodiment of the present invention, a guide block 713 is fixedly connected inside the movable chamber 79, and the guide block 713 is matched with a guide slot 714, and the guide slot 714 is formed on the stopper 78; in operation, the guide block 713 is inserted into the guide groove 714 along with the movement of the stopper 78, the stopper 78 is guided by the combined action of the guide block 713 and the guide groove 714, the stopper 78 is prevented from wobbling when moving, and the guide block 713 prevents the stopper 76 from being engaged with the interior of the movable chamber 79 and blocking the movable chamber 79 when the first insertion block 72 is inserted.

EXAMPLE III

Referring to fig. 9, in a first comparative example, as another embodiment of the present invention, both sides of one end of the fixture block 815 close to the second spring 814 are fixedly connected with a second slider 817, the second slider 817 is slidably connected inside a second sliding groove 818, and the second sliding groove 818 is disposed on both sides inside the clamping cavity 813; during operation, the second slider 817 slides synchronously in the second sliding groove 818 along with the movement of the fixture block 815, the contact area between the fixture block 815 and the inner wall of the clamping cavity 813 is reduced through the combined action of the second slider 817 and the second sliding groove 818, and the friction force between the fixture block 815 and the inner wall of the clamping cavity 813 is further reduced, so that the fixture block 815 is smoother during movement, the fixture block 815 is prevented from being clamped due to overlarge friction force between the fixture block 815 and the inner wall of the clamping cavity 813 during movement, and meanwhile, the effect of limiting the movement distance of the fixture block 815 is achieved through the combined action of the second slider 817 and the second sliding groove 818, and the fixture block 815 is prevented from being separated from the inside of the clamping cavity 813.

The working principle is as follows: when the device bumps in the moving process, the hub 5 drives the extrusion block 23 to move under the action of the hollow part through the connecting shaft 41, so that the extrusion block 23 extrudes the main buffer spring 22, the main buffer spring 22 elastically deforms, the bump is restrained through the action of the reducing force of the main buffer spring 22, the driving chassis is kept stable, meanwhile, the extrusion block 23 drives the hinged rod 24 to push the push block 25 when moving, the push block 25 slides in the buffer cavity 26 and extrudes the auxiliary buffer spring 28, the auxiliary buffer spring 28 elastically deforms, and the vibration and the bump are further restrained through the action of the reducing force of the auxiliary buffer spring 28.

When the tire 6 is to be replaced, firstly, the rotary knob 413 drives the gear 411 to rotate through the connecting rod 412, the gear 411 rotates to drive the meshed rack 49 to move, the rack 49 drives the connecting block 47 to move, the connecting block 47 is released from being clamped with the connecting groove 48, at the moment, the connection between the connecting shaft 41 and the hub 5 is released, the hub 5 can be taken down to replace the tire 6, when the hub 5 and the tire 6 are to be installed, the reverse operation is performed, the torsional spring 414 is driven to generate elastic deformation when the rotary knob 413 rotates, after the rotary knob 413 is loosened, the rotary knob 413 drives the gear 411 to reversely rotate under the reducing force of the torsional spring 414, the rack 49 drives the connecting block 47 to restore to be clamped with the connecting groove 48, the effect of connecting between the connecting shaft 41 and the hub 5 is achieved, and the hub 5 and the tire 6 are installed.

The dirt brought up when moving is blocked through the effect of the protection plate 71, the dirt is prevented from splashing everywhere, when the protection plate 71 is to be taken down for cleaning, the pulling plate 712 is pulled outwards at first, the pulling plate 712 is enabled to drive the stop block 78 to move through the connecting column 710 and extrude the first spring 711, the first spring 711 generates elastic deformation, the stop block 78 extrudes the stop block 76 when the stop block 78 moves, the stop block 76 moves towards the inside of the limiting cavity 74 and extrudes the limiting spring 75, the limiting spring 75 generates elastic deformation, the stop block 76 is released from being clamped with the limiting groove 77 at the moment, the protection plate 71 is pulled outwards to draw the first insertion block 72 out of the first slot 73 so as to detach the protection plate 71, when the protection plate 71 is to be installed, the first insertion block 72 is firstly inserted into the inside of the first slot 73, the stop block 76 is extruded towards the inside of the limiting cavity 74 when the first insertion block 72 is inserted, the elastic deformation is enabled to generate elastic deformation, the first insertion block 76 is enabled to restore the elastic deformation when the first insertion block 71 is inserted into the limiting groove, the original position, the inner wall of the first insertion block 76 and the inner wall of the limiting groove 7 completely recovers from being clamped with the limiting groove 7, and the inner wall of the limiting block 71.

When the power battery 82 is to be fixed, the first baffle plate 87 and the second baffle plate 88 are pulled towards two sides respectively through the pulling block 89, the first baffle plate 87 and the second baffle plate 88 both move towards the inside of the accommodating groove 810 under the action of the pulling force, at this time, the fixture block 815 is extruded by the clamping groove 816 and moves towards the inside of the clamping cavity 813, the fixture block 815 extrudes the second spring 814 to generate elastic deformation, the fixture block 815 releases the clamping with the clamping groove 816, the connection state of the first baffle plate 87 and the second baffle plate 88 is released, then two sides of the bottom end of the power battery 82 are contacted with the clamping blocks 83 and then the power battery 82 is pressed downwards, two groups of clamping blocks 83 slide towards two sides respectively under the action of the downward pressing force, the moving block 84 is driven to move, the pulling tension spring 86 to generate elastic deformation, after the power battery 82 is contacted with the bottom end inside the accommodating cavity 81, the clamping blocks 83 clamp and fix the power battery 82 through the action of the reducing force of the tension spring 86, and when the power battery 82 is to be taken out reversely.

In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims (1)

1. A robot drive chassis, characterized by: comprises a chassis main body (1), a motor (3), a wheel hub (5) and a tire (6); the novel chassis is characterized in that both sides of the bottom end of the chassis main body (1) are provided with buffer mechanisms, the motor (3) is arranged in the buffer mechanisms, the hubs (5) are arranged on both sides of the bottom end of the chassis main body (1), a connecting mechanism is arranged between the hubs (5) and the buffer mechanisms, the tire (6) is arranged on the outer side of the hubs (5), both sides of the chassis main body (1) are provided with shielding mechanisms, and the top end of the chassis main body (1) is provided with a storage mechanism;

the buffer mechanism comprises a main buffer spring (22), an extrusion block (23), a hinged rod (24), a push block (25), a guide rail (27) and an auxiliary buffer spring (28), buffer grooves (21) are formed in two sides of the bottom end of the chassis main body (1), the main buffer spring (22) is arranged in the buffer grooves (21), the extrusion block (23) is arranged at the bottom end of the main buffer spring (22), one side, close to the extrusion block (23), of the hinged rod (24) is movably connected with the extrusion block (23) through a rotating shaft, the push block (25) and one end, far away from the extrusion block (23), of the hinged rod (24) are movably connected through the rotating shaft, the push block (25) is connected in the buffer cavity (26) in a sliding mode, the buffer cavity (26) is arranged at a position, close to the center, of the bottom end of the chassis main body (1), the guide rail (27) is fixedly connected in the buffer cavity (26), the guide rail (27) penetrates through the push block (25) to enable the push block (25) to be sleeved on the outer side of the guide rail (27), and the guide rail (28) is wound outside of the auxiliary buffer spring (28);

one side of the top end of the extrusion block (23) is fixedly connected with a first sliding block (29), the first sliding block (29) is connected in a first sliding groove (210) in a sliding manner, and the first sliding groove (210) is formed in one side of the interior of the buffer groove (21);

one side of the auxiliary buffer spring (28) close to the push block (25) is fixedly connected with the push block (25), and one side of the auxiliary buffer spring (28) far away from the push block (25) is fixedly connected inside the buffer cavity (26);

the connecting mechanism comprises a connecting shaft (41), a connecting block (47), a connecting groove (48), a rack (49), a gear (411), a connecting rod (412), a knob (413) and a torsion spring (414), the motor (3) is arranged in the main buffer spring (22), one side of the connecting shaft (41) close to the motor (3) is fixedly connected with the motor (3), the two ends of one side of the motor (3) are far away from the connecting shaft (41) are both provided with a connecting cavity (46), the inside of the connecting cavity (46) is sleeved with the connecting block (47), the connecting block (47) is clamped with the connecting groove (48), the connecting groove (48) is arranged on the inner side of a hub (5), the connecting block (47) is far away from one end of the connecting groove (48) and is fixedly connected with the rack (49), the rack (49) is sleeved in the accommodating cavity (410), the accommodating cavity (410) is arranged at one end of the connecting cavity (46) far away from the connecting block (47), the gear (411) is meshed with the rack (49), the connecting rod (412) is fixedly connected with the gear (411), and the connecting shaft (412) penetrates through the connecting shaft (41) and is connected with the knob (413), the torsion spring (414) is wound on the outer side of the connecting rod (412);

the outer side of the knob (413) is provided with anti-skid grains, one side of the torsion spring (414) close to the knob (413) is fixedly connected with the knob (413), and one side of the torsion spring (414) far away from the knob (413) is fixedly connected with the connecting shaft (41);

one side, close to one end of the connecting cavity (46), of the connecting block (47) is fixedly connected with a movable block (415), the movable block (415) is connected inside a movable groove (416) in a sliding mode, and the movable groove (416) is formed in one side inside the connecting cavity (46);

the shielding mechanism comprises a protection plate (71), a first inserting block (72), a limiting spring (75), a limiting block (76), a stop block (78), a connecting column (710), a first spring (711) and a pulling plate (712), the protection plates (71) are arranged on two sides of the chassis main body (1), the first insert block (72) is fixedly connected with the protection plate (71), and the first insert block (72) is inserted into the first insert groove (73), the first slots (73) are arranged at two sides of the chassis main body (1), the top end of the first insert block (72) is provided with a limit cavity (74), the limit spring (75) is arranged inside the limit cavity (74), the limiting block (76) is sleeved in the limiting cavity (74), the limiting block (76) is clamped with the limiting groove (77), the limiting groove (77) is arranged at the bottom end of the stop block (78), the stop block (78) is arranged inside the movable cavity (79), the movable cavity (79) is arranged at the top end of the first slot (73), the connecting column (710) is fixedly connected with the stop block (78), the first spring (711) is wound on the outer side of the connecting column (710), the pulling plate (712) is fixedly connected to one side of the connecting column (710) far away from the stop block (78);

the storage mechanism comprises a storage cavity (81), a power battery (82), a clamping block (83), a moving block (84), a tension spring (86), a first baffle plate (87), a second baffle plate (88), a pulling block (89), a second inserting block (811), a second spring (814) and a clamping block (815), the storage cavity (81) is arranged at the top end of the chassis main body (1), the power battery (82) is arranged in the storage cavity (81), the clamping block (83) is abutted against two sides of the bottom end of the power battery (82), the moving block (84) is fixedly connected to the bottom end of the clamping block (83), the moving block (84) is slidably connected to the moving groove (85), the moving groove (85) is arranged at two sides of the bottom end in the storage cavity (81), the tension spring (86) is arranged in the moving groove (85), the first baffle plate (87) is arranged at one side of the top end of the storage cavity (81), the second baffle plate (88) is arranged at the other side of the top end of the storage cavity (81), the pulling block (89) is respectively arranged at the top end of the first baffle plate (88) and the bottom end of the chassis main body (810) is sleeved with the first baffle plate (88), the second inserting block (811) is fixedly connected to one side, close to the first baffle (87), of the second baffle (88), the second inserting block (811) is inserted into the second inserting groove (812), the second inserting groove (812) is formed in one side, close to the second baffle (88), of the first baffle (87), clamping cavities (813) are formed in two ends of the second inserting block (811), the second spring (814) is arranged inside the clamping cavity (813), the clamping block (815) is sleeved inside the clamping cavity (813), the clamping block (815) is clamped with the clamping groove (816), and the clamping groove (816) is formed in two ends of the second inserting groove (812);

one end of the clamping block (815) close to the clamping groove (816) is designed in an arc shape, and the clamping block (815) is matched with the clamping groove (816).

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