CN210592209U

CN210592209U - Torsional spring type double-fork arm robot chassis

Info

Publication number: CN210592209U
Application number: CN201921837818.3U
Authority: CN
Inventors: 范聪; 孙元元
Original assignee: Shandong Jinhui Xinda Intelligent Manufacturing Technology Co ltd
Current assignee: Shandong Jinhui Xinda Intelligent Manufacturing Technology Co ltd
Priority date: 2019-10-25
Filing date: 2019-10-25
Publication date: 2020-05-22
Anticipated expiration: 2029-10-25

Abstract

The utility model relates to a torsional spring type double-fork-arm robot chassis, which comprises a bottom plate, wherein notches are respectively arranged on two sides of the middle part of the bottom plate, a fixing frame is arranged at each notch, the fixing frame is hinged with one end of an upper fork arm, and the other end of the upper fork arm is hinged with a shell of a driving motor; the fixed frame is hinged with one end of the lower fork arm through a rotating shaft, and the other end of the lower fork arm is hinged with the driving motor; the rotating shaft is fixedly connected with the fixing frame, a torsion spring is sleeved outside the rotating shaft, and the extending end of the torsion spring is respectively contacted with the lower fork arm and the fixing frame so as to limit the relative rotation between the lower fork arm and the fixing frame; the output shaft of the driving motor is arranged towards the direction far away from the bottom plate, and the output shaft of the driving motor is fixedly connected with the central hole of the driving wheel.

Description

Torsional spring type double-fork arm robot chassis

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to torsional spring formula double fork arm robot chassis.

Background

The inventor knows that, in the current structure of the service robot chassis, the number of the adopted driving force damping technology is less, and the main reason is that the damping structure can increase the complexity of the structure at the driving wheel, which causes the increase of the manufacturing cost of the robot chassis, and the service robot is generally used in indoor and has slower running speed; under the condition of comprehensively considering the manufacturing cost and the shock absorption requirement, most service robots in the market are basically not provided with a driving wheel shock absorption structure.

Because the chassis of the existing service robot is not provided with a damping structure, the requirement on the flatness of the ground is very high, and the robot cannot climb and cross obstacles. When obstacles such as cables, wire grooves and the like need to be crossed or a climbing is needed in a used place, the motion performance of the existing service robot is poor.

In the case of motion performance and control cost, a robot chassis structure with a shock-absorbing structure, which has a simple structure, is required.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the not enough of above-mentioned prior art, provide a torsional spring formula bifurcate robot chassis, can reduce the structure complexity of drive wheel shock-absorbing structure department under the condition that satisfies the climbing performance of crossing obstacles, save the cost.

In order to achieve the above purpose, the utility model adopts the following technical scheme: a torsion spring type double-fork-arm robot chassis comprises a bottom plate, wherein notches are formed in two sides of the middle of the bottom plate respectively, a fixing frame is arranged at each notch, the fixing frame is hinged to one end of an upper fork arm, and the other end of the upper fork arm is hinged to a shell of a driving motor; the fixed frame is hinged with one end of the lower fork arm through a rotating shaft, and the other end of the lower fork arm is hinged with the driving motor; the fixing frame, the lower fork arm, the upper fork arm and the driving motor are hinged to form a parallelogram structure;

the rotating shaft is fixedly connected with the fixing frame, a torsion spring is sleeved outside the rotating shaft, and the extending end of the torsion spring is respectively contacted with the lower fork arm and the fixing frame so as to limit the relative rotation between the lower fork arm and the fixing frame;

the output shaft of the driving motor is arranged towards the direction far away from the bottom plate, and the output shaft of the driving motor is fixedly connected with the central hole of the driving wheel.

The use of two drive wheels instead of the conventional four drive wheels can save the number of drive wheels, and further reduce the use of the shock-absorbing structure because of the reduction of the number of drive wheels.

Further, the quantity of mount is two, and two mounts set up respectively in the both sides of bottom plate, and the middle part of bottom plate is equipped with two breachs of relative setting, the breach is used for installing the mount.

The distance that the driving wheel structure stretches out of the bottom plate can be reduced by adopting the arrangement of the fixing frame and the notch, and the requirement for mounting the driving wheel structure is met.

Further, the upper yoke is located on the upper side of the bottom plate, and the lower yoke is located on the lower side of the bottom plate.

Furthermore, the lower part of the bottom plate is provided with universal wheels.

Further, the output shafts of the two driving motors are arranged in a back-to-back mode, and the driving motors are speed reducing motors.

Furthermore, the number of universal wheels is 4, and four universal wheel equipartitions set up the below at the bottom plate.

The utility model has the advantages that:

(1) the mode that the upper fork arm and the lower fork arm are respectively hinged with the driving motor and the fixed frame is adopted; the upper fork arm, the lower fork arm, the gear motor and the fixing frame are hinged to form a parallelogram mechanism, the driving wheel and the bottom plate can move relatively due to the deformation of the parallelogram mechanism, the central axis of the driving wheel can be kept in a horizontal state in the deformation process of the parallelogram, and the outer side face of the driving wheel is guaranteed to have enough contact area with the ground.

(2) The torsional spring is established to the outside cover in the pivot, two of torsional spring stretch out the end respectively with mount and lower yoke contact, can restrict the relative rotation between yoke and the mount down, and then restriction parallelogram's deformation, can utilize the elastic potential energy that torsional spring department stored when one of them drive wheel hangs empty, drive the parallelogram and warp, make the drive wheel can move down, keep two drive wheels simultaneously with ground contact, when avoiding passing through the barrier, the drive wheel is from unsettled to the vibrations that cause with ground contact again.

(3) The use of two drive wheels instead of the conventional four drive wheels can save the number of drive wheels, and further reduce the use of the shock-absorbing structure because of the reduction of the number of drive wheels.

(4) The distance that the driving wheel structure stretches out of the bottom plate can be reduced by adopting the arrangement of the fixing frame and the notch, and the requirement for mounting the driving wheel structure is met.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

Fig. 1 is an axonometric view of the overall structure in an embodiment of the invention;

fig. 2 is an isometric view of another aspect of the overall structure in an embodiment of the invention;

fig. 3 is an axonometric view of a part of the structure in the embodiment of the invention;

fig. 4 is a schematic structural view of an upper yoke according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a lower yoke in an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a torsion spring in an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a driving motor according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a rotating shaft in an embodiment of the present invention;

in the figure: 1. a base plate; 2. a drive wheel; 3. a universal wheel; 4. a fixed mount; 5. a lower yoke; 6. a drive motor; 7. a torsion spring; 8. an upper yoke; 9. a rotating shaft.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

For convenience of description, the words "up, down, left, right" in the present invention, if appearing, are intended to correspond only to the upper, lower, left, right directions of the drawings themselves, not to limit the structure, but merely to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.

In a typical embodiment of the present invention, as shown in fig. 1-8, a torsion spring type dual-fork arm robot chassis comprises a bottom plate 1, wherein two sides of the middle part of the bottom plate 1 are provided with fixing frames 4, the fixing frames 4 are hinged with one end of an upper fork arm 8 through a rotating shaft 9, and the other end of the upper fork arm 8 is hinged with a housing of a driving motor 6;

the fixing frame 4 is hinged with one end of the lower fork arm 5 through a rotating shaft 9, the rotating shaft 9 is fixedly connected with the fixing frame 4, a torsion spring 7 is sleeved outside the rotating shaft 9, and the extending end of the torsion spring 7 is respectively contacted with the lower fork arm 5 and the fixing frame 4 so as to limit the relative rotation between the lower fork arm 5 and the fixing frame 4; the other end of the lower fork arm 5 is hinged with a driving motor 6; the fixing frame, the lower fork arm, the upper fork arm and the driving motor are hinged to form a parallelogram structure.

Specifically, in order to enable a parallelogram structure to be formed between the fixing frame, the lower fork arm, the upper fork arm and the driving motor, the upper fork arm and the lower fork arm are parallel to each other, the hinged points of the upper fork arm, the lower fork arm and the fixing frame are overlapped in the projection in the vertical direction, and the hinged points of the upper fork arm, the lower fork arm and the driving motor are overlapped in the projection in the vertical direction.

The output shaft of the driving motor 6 is arranged towards the direction far away from the bottom plate 1, and the output shaft of the driving motor 6 is fixedly connected with the central hole of the driving wheel 2.

The number of the fixing frames 4 is two, and the two fixing frames 4 are respectively arranged on two sides of the bottom plate 1.

The upper yoke 8 is located on the upper side of the base plate 1, and the lower yoke 5 is located on the lower side of the base plate 1. The lower part of the bottom plate 1 is provided with universal wheels 3.

The output shafts of the two driving motors 6 are arranged in a back-to-back manner, and the driving motors 6 are speed reducing motors.

The quantity of universal wheel 3 is 4, and four universal wheel 3 equipartitions set up in the below of bottom plate 1.

The working principle is as follows: when obstacles such as a door frame need to be crossed, under the condition that one driving wheel 2 is vacated, the elastic potential energy stored in the torsion spring 7 can drive the parallelogram to deform, so that the driving wheel 2 can move downwards, the two driving wheels 2 are kept to be in contact with the ground at the same time, and the driving wheel 2 is prevented from being suspended to be in contact with the ground again to cause vibration when passing through the obstacle.

When crossing obstacles such as wire casing, the drive wheel that contacts with the wire casing can be under the drive of torsional spring 7, and certain distance is translated downwards, guarantees that drive wheel 2 contacts with ground constantly.

Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.

Claims

1. A torsion spring type double-fork-arm robot chassis is characterized by comprising a bottom plate, wherein notches are respectively arranged on two sides of the middle part of the bottom plate, a fixing frame is arranged at each notch, the fixing frame is hinged with one end of an upper fork arm, and the other end of the upper fork arm is hinged with a shell of a driving motor; the fixed frame is hinged with one end of the lower fork arm through a rotating shaft, and the other end of the lower fork arm is hinged with the driving motor;

the fixing frame, the lower fork arm, the upper fork arm and the driving motor are hinged to form a parallelogram structure;

2. The torsion spring type dual-fork arm robot chassis as claimed in claim 1, wherein the number of the fixing frames is two, and the two fixing frames are oppositely arranged at two sides of the bottom plate.

3. The torsion spring dual-wishbone robot chassis of claim 1, wherein the upper wishbone is located on an upper side of a base plate and the lower wishbone is located on a lower side of the base plate.

4. The torsion spring type dual-wishbone robot chassis of claim 1, wherein universal wheels are mounted to the lower portion of the base plate.

5. The torsion spring type dual-fork arm robot chassis of claim 1, wherein the output shafts of the two driving motors extend in directions away from each other, and the driving motors are speed reducing motors.

6. The torsion spring type double-fork arm robot chassis as claimed in claim 4, wherein the number of the universal wheels is 4, and four universal wheels are uniformly arranged below the bottom plate.