CN213292257U

CN213292257U - Parking mechanism of wheeled robot

Info

Publication number: CN213292257U
Application number: CN202021654949.0U
Authority: CN
Inventors: 兰毅; 柳维强
Original assignee: Planetary Computing Power Shenzhen Technology Co ltd
Current assignee: Planetary Computing Power Shenzhen Technology Co ltd
Priority date: 2020-08-11
Filing date: 2020-08-11
Publication date: 2021-05-28
Anticipated expiration: 2030-08-11

Abstract

The utility model provides a parking mechanism of wheeled robot belongs to the robotechnology field. It has solved current two rounds of robots and has not set up parking mechanism, causes the robot to easily empty, is unfavorable for carrying out the problem of retrieving it in the ultimate space. This wheeled robot's parking mechanism is including rotationally connecting the parking pole on the base, and the rotation center line of parking pole is parallel with the axis of left wheel, and the one end that parking pole and base are connected is equipped with the action bars, is used for driving the action bars and makes the parking pole move to the drive assembly of parking state when being equipped with the parking on the base, is equipped with the reset assembly who is used for making the parking pole reset when the action bars breaks away from drive assembly's drive between parking pole and the base. The utility model has the advantages of structural design is reasonable, the parking is effectual.

Description

Parking mechanism of wheeled robot

Technical Field

The utility model belongs to the technical field of the robot, a parking mechanism of wheeled robot is related to.

Background

At present, the full-automatic transport robot's application is more and more extensive, and its advantage is: the multifunctional electric vehicle can replace higher and higher labor cost, has high durability and no fatigue feeling, can execute tasks in polluted environments and dangerous environments, and can replace manual execution of tasks which are harmful to human bodies. The existing transportation robot is mostly driven by four wheels or driven by auxiliary driving wheels of universal wheels, the chassis is large in size, high in manufacturing cost and large in required walking space, and the robot is not convenient to move and transfer.

Therefore, the Chinese patent discloses a two-wheeled self-balancing transportation robot (with the publication number of CN 209176810U), which comprises a chassis; a left wheel assembly and a right wheel assembly; a balance sensing assembly; a control circuit board; a battery module and a container; the left wheel assembly and the right wheel assembly are symmetrically arranged along a traveling direction vertical to the left and right direction; the balance induction assembly, the control circuit board, the battery module and the container are symmetrically arranged along the traveling direction, and the container, the control circuit board and the battery are sequentially arranged from top to bottom along the height direction.

Because the two-wheeled self-balancing transportation robot is not provided with the parking assembly, when the robot collides with an obstacle at a high speed, the container can incline forwards due to inertia, so that the robot is toppled, and the robot is not recovered in a limit space.

SUMMERY OF THE UTILITY MODEL

The utility model aims at having the above-mentioned problem to current technique, provided an effectual wheeled robot's of parking mechanism.

The purpose of the utility model can be realized by the following technical proposal:

the parking mechanism of wheeled robot locates on the base of robot, and the left side of base is equipped with left wheel, and its right side is equipped with the right wheel with the coaxial setting of left wheel, and parking mechanism is including rotationally connecting the parking pole on the base, the rotation center line of parking pole is parallel with the axis of left wheel, the one end that parking pole and base are connected be equipped with the effect pole, the base on be equipped with the drive action pole and make the parking pole move to the drive assembly of parking state when the parking, parking pole and base between be equipped with the reset assembly who is used for making the parking pole reset when the effect pole breaks away from drive assembly's drive.

When the robot normally runs, the parking rod is kept in a reset state under the action of the reset component; when the robot needs to park, the driving assembly drives the action rod and enables the parking rod to move to a parking state, and when the parking rod is in the parking state, the robot is improved in stability through three-point contact of the left wheel, the right wheel and the parking rod with the ground. When the parking rod is in a parking state, the contact point of the parking rod and the ground is positioned in front of or behind the central axis of the left wheel.

In the parking mechanism of the wheeled robot, the base is provided with a mounting groove which is vertically communicated with the base, the mounting groove is provided with a first side surface, a second side surface which is opposite to the first side surface and a limiting surface which is positioned between the first side surface and the second side surface, an articulated shaft which is parallel to the central axis of the left wheel is arranged between the first side surface and the second side surface in a penetrating mode, the parking rod is sleeved on the articulated shaft with one end connected with the base, and the action rod is attached to the limiting surface through the reset component when the action rod is separated from the driving of the driving component.

The notch of mounting groove sets up forward or backward, and the parking pole is located the mounting groove.

In the parking mechanism of the wheeled robot, the base is provided with an extension part, the mounting groove is arranged on the extension part, one end of the articulated shaft penetrates out from the left side of the extension part, and the other end of the articulated shaft penetrates out from the right side of the extension part. The extension part is connected with the base into a whole.

In the parking mechanism of the wheeled robot, the two extension parts are respectively positioned at the front part and the rear part of the base, each extension part is provided with a mounting groove, each mounting groove is internally connected with a driving rod through a hinge shaft, each driving rod is connected with an action rod, and the driving assembly is positioned between the two action rods.

After two driving rods are arranged, parking can be achieved from two directions. The parking lever located at the front moves to the parking state when the robot leans forward, and the driving lever located at the rear moves to the parking state when the robot leans backward.

In the parking mechanism of the wheeled robot, the reset assembly comprises a torsion spring which is sleeved on the hinge shaft and is positioned on the side part of the extension part, one end of the torsion spring acts on the extension part, and the other end of the torsion spring acts on the parking rod. Under the effect of torsional spring, the parking pole has the trend of upwards swinging around the articulated shaft, and the torsional spring makes the action bars paste on spacing face when the action bars breaks away from drive assembly's drive.

In the parking mechanism of the wheeled robot, the number of the torsion springs is two, and the torsion springs are symmetrically distributed on the left side and the right side of the extension part.

In the parking mechanism of the wheel type robot, the driving assembly comprises a driving motor, a driving wheel driven by the driving motor and a driven wheel connected with the driving wheel through a synchronous belt in a transmission mode, the part straightened by the synchronous belt is parallel to the upper surface of the base, and the part straightened by the synchronous belt is fixedly connected with a push block.

The part that the hold-in range was straightened extends along the fore-and-aft direction of base, and the perpendicular distance of articulated shaft to ejector pad is less than the distance that the articulated shaft was kept away from to the articulated shaft to the action pole one end. When needs parking, driving motor drives the action wheel and rotates, and the action wheel passes through the hold-in range and drives from the driving wheel rotation, and the hold-in range is by the partial linear motion of flare-outing to drive ejector pad linear motion, the ejector pad supports and extrudees the effect portion, makes the parking pole swing to the parking state after overcoming the elasticity of torsional spring.

In the parking mechanism of the wheeled robot, the base is provided with a guide rail extending along the front-back direction, the guide rail is provided with a sliding block in a sliding manner, and the push block is fixedly connected with the sliding block.

In the parking mechanism of the wheeled robot, the base is fixed with the support plate, the driving motor is arranged on one side of the support plate, and the driving wheel and the driven wheel are arranged on the other side of the support plate.

In the parking mechanism of the wheeled robot, the action rod is perpendicular to the parking rod.

Compared with the prior art, the parking mechanism of the wheel type robot has the following advantages:

the parking rod driven by the driving assembly is arranged on the base, so that the robot can be prevented from toppling in an emergency; the parking rods are two, so that the robot can be parked from two directions, and the stability of the robot during parking can be effectively improved.

Drawings

Fig. 1 is a schematic structural diagram of a wheeled robot provided by the present invention.

Fig. 2 is a schematic structural diagram of the parking mechanism provided by the present invention.

Fig. 3 is a schematic partial structural diagram of the parking mechanism provided by the present invention.

In the figure, 1, a base; 2. a left wheel; 3. a right wheel; 4. a parking rod; 5. an action rod; 6. mounting grooves; 7. hinging a shaft; 8. an extension portion; 9. a torsion spring; 10. a driving wheel; 11. a synchronous belt; 12. a driven wheel; 13. a push block; 14. a guide rail; 15. a slider; 16. and a support plate.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

The wheeled robot shown in fig. 1 comprises a base 1, wherein a left wheel 2 is arranged on the left side of the base 1, and a right wheel 3 which is coaxial with the left wheel 2 is arranged on the right side. The parking mechanism shown in fig. 2 comprises a parking rod 4 rotatably connected to a base 1, wherein the rotation center line of the parking rod 4 is parallel to the central axis of a left wheel 2, an action rod 5 is arranged at one end of the parking rod 4 connected with the base 1, and the action rod 5 is perpendicular to the parking rod 4. The parking device is characterized in that a driving assembly used for driving the action rod 5 and enabling the parking rod 4 to move to a parking state during parking is arranged on the base 1, and a reset assembly used for resetting the parking rod 4 when the action rod 5 is separated from the driving of the driving assembly is arranged between the parking rod 4 and the base 1.

When the robot normally runs, the parking rod 4 is kept in a reset state under the action of the reset component; when the robot needs to park, the driving assembly drives the action rod 5 and enables the parking rod 4 to move to a parking state, and when the parking rod 4 is in the parking state, the left wheel 2, the right wheel 3 and the parking rod 4 are in three-point contact with the ground, so that the stability of the robot is improved. When the parking lever 4 is in the parking state, a point of contact with the ground is located forward or rearward of the center axis of the left wheel 2.

Both ends all have extension 8 around base 1, all are equipped with one on extension 8 and link up the mounting groove 6 that sets up from top to bottom, and parking pole 4 is two and locates different mounting grooves 6 respectively in, all connects an action bars 5 on every actuating lever, and drive assembly is located between two action bars 5. The mounting groove 6 is provided with a first side surface, a second side surface opposite to the first side surface and a limiting surface between the first side surface and the second side surface, a hinge shaft 7 parallel to the central axis of the left wheel 2 penetrates through the first side surface and the second side surface in the same mounting groove 6, a parking rod 4 correspondingly arranged with the hinge shaft 7 is sleeved on the hinge shaft 7, and the action rod 5 is attached to the limiting surface by the aid of the reset component when the action rod 5 is separated from the driving of the driving component. As shown in fig. 3, one end of the hinge shaft 7 is extended through the left side of the extension portion 8, and the other end thereof is extended through the right side of the extension portion 8, and the extension portion 8 is integrally connected to the base 1. After two driving rods are arranged, parking can be achieved from two directions. The parking lever 4 at the front moves to the parking state when the robot leans forward, and the drive lever at the rear moves to the parking state when the robot leans backward.

As shown in fig. 2 and 3, the return assembly comprises a torsion spring 9 fitted around the hinge shaft 7 and located at the side of the extension 8, one end of the torsion spring 9 acting on the extension 8 and the other end thereof acting on the parking rod 4. Under the effect of torsional spring 9, parking pole 4 has the trend of upwards swinging around articulated shaft 7, and torsional spring 9 makes effect pole 5 paste and lean on spacing face when the drive that the pole 5 breaks away from drive assembly. In this embodiment, all be equipped with two torsional springs 9 on every articulated shaft 7, two torsional springs 9 symmetric distribution are in the left and right sides of extension 8.

As shown in fig. 2, the driving assembly includes a driving motor (not shown), a driving wheel 10 driven by the driving motor, and a driven wheel 12 in transmission connection with the driving wheel 10 through a synchronous belt 11, a straightened portion of the synchronous belt 11 is parallel to the upper surface of the base 1, and a push block 13 is fixedly connected to the straightened portion of the synchronous belt 11. The straightened part of the synchronous belt 11 extends along the front-back direction of the base 1, and the vertical distance from the hinge shaft 7 to the push block 13 is less than the distance from one end of the action rod 5 far away from the hinge shaft 7 to the hinge shaft 7. When needs are parked, driving motor drives action wheel 10 and rotates, and action wheel 10 passes through hold-in range 11 and drives from the rotation of driving wheel 12, and hold-in range 11 is by the partial linear motion of flare-outing to drive ejector pad 13 linear motion, ejector pad 13 support and the extrusion portion, make behind the elasticity of overcoming torsional spring 9 parking pole 4 swing to the parking state.

As shown in fig. 2, the base 1 has a guide rail 14 extending in the front-rear direction, a slider 15 is slidably provided on the guide rail 14, the push block 13 is fixedly connected to the slider 15, and the guide rail 14 guides the slider 15.

As shown in fig. 1, a supporting plate 16 is fixed on the base 1, the driving motor is disposed on one side of the supporting plate 16, and the driving wheel 10 and the driven wheel 12 are disposed on the other side of the supporting plate 16.

When the robot has a tendency of toppling forwards, the driving motor drives the straightened part of the synchronous belt 11 to move linearly, so as to drive the push block 13 to move forwards, and the push block 13 abuts against and extrudes an action part in front, so that the parking rod 4 in front rotates around the hinge shaft 7 to be in a parking state; when the robot has the tendency of toppling over backward, driving motor drives the part linear motion that hold-in range 11 was straightened to drive ejector pad 13 rearward movement, ejector pad 13 supports and pushes the effect portion that is located the rear, makes the round articulated shaft 7 that is located the rear rotate to parking state.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims

1. A parking mechanism of a wheeled robot is arranged on a base (1) of the robot, a left wheel (2) is arranged on the left side of the base (1), the right side of the parking mechanism is provided with a right wheel (3) which is coaxial with the left wheel (2), and the parking mechanism is characterized by comprising a parking rod (4) which is rotatablely connected with the base (1), the rotation center line of the parking rod (4) is parallel to the central axis of the left wheel (2), one end of the parking rod (4) connected with the base (1) is provided with an action rod (5), the base (1) is provided with a driving component which is used for driving the action rod (5) and enabling the parking rod (4) to move to a parking state during parking, a reset component for resetting the parking rod (4) when the action rod (5) is separated from the driving of the driving component is arranged between the parking rod (4) and the base (1).

2. The parking mechanism of the wheeled robot according to claim 1, wherein the base (1) is provided with a mounting groove (6) which is vertically arranged in a penetrating manner, the mounting groove (6) is provided with a first side surface, a second side surface arranged opposite to the first side surface and a limiting surface arranged between the first side surface and the second side surface, a hinge shaft (7) parallel to the central axis of the left wheel (2) penetrates through the first side surface and the second side surface, one end of the parking rod (4) connected with the base (1) is sleeved on the hinge shaft (7), and the reset assembly enables the action rod (5) to be attached to the limiting surface when the action rod (5) is separated from the driving of the driving assembly.

3. The parking mechanism of wheeled robot according to claim 2, characterized in that said base (1) has an extension (8), said mounting groove (6) is provided on said extension (8), one end of said hinge shaft (7) is extended from the left side of said extension (8), and the other end is extended from the right side of said extension (8).

4. The parking mechanism of a wheeled robot as claimed in claim 3, wherein said extension portions (8) are two and located at the front and rear of the base (1), respectively, each of said extension portions (8) has a mounting slot (6), each mounting slot (6) has a driving rod connected thereto via a hinge shaft (7), each driving rod has an action rod (5) connected thereto, and said driving assembly is located between the two action rods (5).

5. The parking mechanism of wheeled robot as claimed in claim 4, characterized in that said return assembly comprises a torsion spring (9) fitted on the articulated shaft (7) and located at the side of the extension (8), one end of said torsion spring (9) acting on the extension (8) and the other end acting on the parking lever (4).

6. The parking mechanism of a wheeled robot as claimed in claim 5, characterized in that said torsion springs (9) are two and symmetrically distributed on the left and right sides of the extension portion (8).

7. The parking mechanism of a wheeled robot as claimed in claim 4, wherein the driving assembly comprises a driving motor, a driving wheel (10) driven by the driving motor and a driven wheel (12) in transmission connection with the driving wheel (10) through a synchronous belt (11), the straightened part of the synchronous belt (11) is parallel to the upper surface of the base (1), and the straightened part of the synchronous belt (11) is fixedly connected with a push block (13).

8. The parking mechanism of wheeled robot according to claim 7, characterized in that said base (1) has a guide rail (14) extending in the front-rear direction, said guide rail (14) is slidably provided with a slider (15), and said push block (13) is fixedly connected with said slider (15).

9. The parking mechanism of a wheeled robot as claimed in claim 8, characterized in that a support plate (16) is fixed on the base (1), the driving motor is arranged on one side of the support plate (16), and the driving wheel (10) and the driven wheel (12) are arranged on the other side of the support plate (16).

10. Parking mechanism for a wheeled robot according to claim 1, characterised in that said action lever (5) is perpendicular to the parking lever (4).