Flexible base and self-driven robot

Patent metadata

Field	Value
Publication number	US-10906589-B2
Application number	US-201816472836-A
Country	US
Kind code	B2
Filing date	Jul 12, 2018
Priority date	Dec 13, 2017
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

Abstract

Provided are an adjusting base and a self-driven robot. The flexible base includes: a chassis, a carrying plate and an adjusting mechanism. The bottom of the chassis is provided with at least one second driven wheel and at least two driving wheels. The bottom of the carrying plate is provided with at least a first driven wheel. The adjusting mechanism is configured to connect to the carrying plate and the chassis or connect to the carrying plate and the second driven wheel. When the ground is uneven, the adjusting mechanism is configured to dynamically adjust the second driven wheel in such a manner that the first driven wheel, the second driven wheel and the driving wheels are in contact with the ground.

First claim

What is claimed is:

1. A flexible base, which is applied to a self-driven robot, comprising:
a chassis, wherein a bottom of the chassis is provided with at least one second driven wheel and at least two driving wheels, and a disposing position of the second driven wheel does not coincide with disposing positions of the driving wheels;
a carrying plate, wherein a bottom of the carrying plate is provided with at least a first driven wheel, and a disposing position of the first driven wheel does not coincide with disposing positions of the second driven wheel and the driving wheels; and
an adjusting mechanism, wherein the adjusting mechanism is configured to be connected to the carrying plate and the chassis or configured to be connected to the carrying plate and the second driven wheel, and when the ground is uneven, the adjusting mechanism is configured to dynamically adjust the second driven wheel in such a manner that the first driven wheel, the second driven wheel and the driving wheels are in contact with the ground,
wherein the adjusting mechanism comprises a plurality of telescopic members, the plurality of telescopic members are evenly disposed between the carrying plate and the chassis or between the carrying plate and the second driven wheel, each of the plurality of telescopic members comprises a shaft barrel and a rotating shaft disposed in the shaft barrel, the rotating shaft is telescopically disposed in the shaft barrel, and the plurality of telescopic members are configured in annular arrangements respectively on a surface of the chassis and a surface of the carrying plate, and the surface of the chassis and the surface of the carrying plate face each other.

2. The flexible base according to claim 1 , wherein a first end of the adjusting mechanism is hinged to the chassis or the second driven wheel, and a second end of the adjusting mechanism is connected to the carrying plate.

3. The flexible base according to claim 2 , wherein the second end of the adjusting mechanism is fixedly connected or hinged to the carrying plate.

4. The flexible base according to claim 1 , wherein a first end of the adjusting mechanism is fixedly connected to the chassis or the second driven wheel, and a second end of the adjusting mechanism is hinged to the carrying plate.

5. The flexible base according to claim 2 , wherein the first end of the adjusting mechanism is provided with a rotating ball head, and the adjusting mechanism is hinged to the chassis or the second driven wheel through the rotating ball head.

6. The flexible base according to claim 4 , wherein the second end of the adjusting mechanism is provided with a rotating ball head, and the adjusting mechanism is hinged to the carrying plate through the rotating ball head.

7. The flexible base according to claim 1 , wherein the shaft barrel is hinged to the chassis or the second driven wheel, and the rotating shaft is connected to the carrying plate.

8. The flexible base according to claim 1 , wherein each of the plurality of telescopic members has a first end and a second end, wherein the second end is closer to the chassis or the second driven wheel than the first end, the first ends of the plurality of telescopic members are fixed to each other, and the second ends of the plurality of telescopic members extend in directions in a manner that the second ends of the plurality of telescopic members are spaced apart from each other, and the second ends of the plurality of telescopic members are connected to the carrying plate.

9. The flexible base according to claim 1 , wherein an included angle between the telescopic member and the carrying plate is in a range of 15°-45°.

10. The flexible base according to claim 1 , wherein the number of the telescopic members is 3-8.

11. The flexible base according to claim 7 , wherein the second driven wheel is connected to the carrying plate through the telescopic member or the linkage mechanism; or the chassis is connected to the carrying plate through the telescopic member or the linkage mechanism.

12. The flexible base according to claim 1 , wherein the at least two driving wheels are disposed at a left and a right portion of the chassis and are symmetrical relative to a first centerline, and the first centerline is perpendicular to a front-and-rear direction of the chassis and equally divides the chassis into a front portion and a rear portion.

13. The flexible base according to claim 1 , wherein the at least two driving wheels are disposed at a left and a right portion of the chassis and are symmetrical relative to a second centerline, and the second centerline is parallel to a front-and-rear direction of the chassis and equally divides the chassis into the left and the right portion.

14. The flexible base according to claim 13 , wherein the at least two driven wheels are symmetrically disposed relative to the second centerline.

15. The flexible base according to claim 12 , wherein the at least two driven wheels are symmetrically disposed relative to the first centerline.

16. A self-driven robot, comprising a flexible base, at least two drive motors, and a lifting mechanism,
wherein the flexible base comprises:
a chassis, wherein a bottom of the chassis is provided with at least one second driven wheel and at least two driving wheels, and a disposing position of the second driven wheel does not coincide with disposing positions of the driving wheels;
a carrying plate, wherein a bottom of the carrying plate is provided with at least a first driven wheel, and a disposing position of the first driven wheel does not coincide with disposing positions of the second driven wheel and the driving wheels; and
an adjusting mechanism, wherein the adjusting mechanism is configured to be connected to the carrying plate and the chassis or configured to be connected to the carrying plate and the second driven wheel, and when the ground is uneven, the adjusting mechanism is configured to dynamically adjust the second driven wheel in such a manner that the first driven wheel, the second driven wheel and the driving wheels are in contact with the ground,
wherein the at least two drive motors are disposed above the flexible base and respectively connected to at least two driving wheel,
wherein the adjusting mechanism comprises a plurality of telescopic members, the plurality of telescopic members are evenly disposed between the carrying plate and the chassis or between the carrying plate and the second driven wheel, each of the plurality of telescopic members comprises a shaft barrel and a rotating shaft disposed in the shaft barrel, the rotating shaft is telescopically disposed in the shaft barrel, and the plurality of telescopic members are configured in annular arrangements respectively on a surface of the chassis and a surface of the carrying plate, and the surface of the chassis and the surface of the carrying plate face each other.

17. The self-driven robot according to claim 16 , further comprising two speed reducers, wherein the two speed reducers are respectively connected to the drive motors.

18. The self-driven robot according to claim 16 , wherein the lifting mechanism is provided with an opening and a camera disposed at the opening, wherein the camera is configured to scan a two-dimensional code.

Assignees

• Beijing Geekplus Tech Co Ltd

Inventors

• Tang Yan

Classifications

• B25J11/008

  Manipulators for service tasks · CPC title

• B25J9/0009 Primary

  Constructional details, e.g. manipulator supports, bases · CPC title

• B25J5/007 Primary

  mounted on wheels · CPC title

• B25J19/00

  Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) · CPC title

• B62D21/02

  comprising longitudinally or transversely arranged frame members · CPC title