CN108082322A - A kind of gardens drive supervisory-controlled robot with single motor - Google Patents
A kind of gardens drive supervisory-controlled robot with single motor Download PDFInfo
- Publication number
- CN108082322A CN108082322A CN201711333466.3A CN201711333466A CN108082322A CN 108082322 A CN108082322 A CN 108082322A CN 201711333466 A CN201711333466 A CN 201711333466A CN 108082322 A CN108082322 A CN 108082322A
- Authority
- CN
- China
- Prior art keywords
- locking
- connecting rod
- rack
- interlocking lever
- catch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of gardens single motors to drive supervisory-controlled robot, including rack, the rack front and back position, which respectively rotates, is equipped with a support sole, position is equipped with supporting rod straight down to the central rack rearward, the supporting rod lower end is equipped with gantry motor, one crank of output axis connection of the gantry motor, the outer end of the crank is rotatably connected to first connecting rod, upper position is rotatably connected to the first rocking bar in the middle part of the supporting rod, the other end of the other end of the first connecting rod and the first rocking bar is rotatedly connected, the angle formed between the first connecting rod described in rotation process and the first rocking bar is always acute angle, the length of first rocking bar is more than the length of first connecting rod.The robot of the present invention can realize walking function by the output of single motor, reasonable in design；Show that device drives showing stand to realize comprehensive dynamic bandwagon effect by single main motor, bandwagon effect is good, has practicability.
Description
Technical field
The present invention relates to robotic technology fields, particularly relate to a kind of gardens single motor driving supervisory-controlled robot.
Background technology
The walking mechanism complex structural designs of the prior art could drive robot to advance, it is necessary to which multiple motors coordinate, into
This height；In addition show that apparatus structure design is unreasonable, lack dynamic effect, it is necessary to improve.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of gardens single motor driving supervisory-controlled robot, existing to solve
Having walking mechanism complex structural designs in technology could drive robot to advance, it is necessary to which multiple motors coordinate, of high cost；In addition open up
Showing device structure design is unreasonable, lacks dynamic effect, it is necessary to the technical issues of improving.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of gardens drives supervisory-controlled robot with single motor,
Including rack, the rack front and back position respectively rotate be equipped with one support sole, the central rack rearward position be equipped with vertically to
Under supporting rod, the supporting rod lower end be equipped with gantry motor, one crank of output axis connection of the gantry motor, the song
The outer end of handle is rotatably connected to first connecting rod, and upper position is rotatably connected to the first rocking bar in the middle part of the supporting rod, and described first
The other end of the other end of connecting rod and the first rocking bar is rotatedly connected, described in rotation process between first connecting rod and the first rocking bar
The angle of formation is always acute angle, and the length of first rocking bar is more than the length of first connecting rod, the length of the first connecting rod
More than the length of crank, the junction of the first connecting rod described in rotation process and the first rocking bar is always positioned in front of supporting rod,
Strut is equipped at the middle part of the first connecting rod rearward position, the strut is vertical and is fixed in the first connecting rod, institute
The lower end for stating strut is rotatably connected to driving sole, the driving sole periodically contact to earth with it is liftoff so as to drive rack before
Into；
Displaying device is provided with by supporting rack in the rack, the displaying device includes the pedestal of a square, institute
Pedestal is stated equipped with orbit portion, the orbit portion includes square loop and circuit orbit, and the circuit orbit is inscribed within pros
Shape track, so as to be separated out disk area and four angle point areas on the pedestal, each angle point area includes proximate base edge
Orthogonal two right-angle sides and adjacent disk area an arc-shaped side, the center in the disk area is equipped with circular first
Gear, the first gear are driven to rotate by main motor, and the orbit portion is equipped with showing stand, and the showing stand outer ring is set
There is the second gear being meshed with the first gear, the outer profile of the second gear is oval, the showing stand bottom
Both sides are respectively equipped with a slider guide so that the showing stand slides along the track, and the angle point that is transferred in the angle point area is equipped with gear
Sheet devices, the mask device include being posted by the first catch on the outside of disk area and be posted by square loop side wall the
Two catch are equipped with compression spring so that the second catch is resisted against on square loop side wall, institute between second catch and angle point area
It states and the area of giving up the throne for housing the second catch is additionally provided in angle point area, the medium position of the mask device is turned by catch shaft
Dynamic be connected to is transferred to corner point, described when being transferred to angle point and being moved for showing stand by first gear drives edge orbit portion, by angle point
First corner point in area, when the showing stand is by wherein when being transferred to angle point of an angle point area, on the showing stand wherein
One slider guide moves along square loop and oppresses the second catch and gives up the throne to giving up the throne in area, and the outer rim of first catch is posted by
On the inside of square loop, so that another slider guide on the showing stand is slided along circuit orbit；
Monitor camera device is additionally provided in the rack, the monitor camera device includes shell, camera, fixed bottom
Plate, camera locking nut, the first interlocking lever, Circular Sliding slot, the first locking shaft, the first locking knob, connection shaft, the
Two locking shafts, the second locking knob, the second interlocking lever, fixing nut, ball chain connect, support chassis；The support chassis is fixed
In rack, in the support chassis by ball chain connect installation be equipped with the second interlocking lever, second interlocking lever with it is described
Fixing nut is equipped between support chassis for locking the second interlocking lever；Second interlocking lever is connected with by connecting shaft
One interlocking lever, the one end of first interlocking lever away from the connection shaft, which is fixedly mounted, is equipped with shell, and the enclosure is consolidated
Dingan County is equiped with camera, is fixedly connected between the shell and first interlocking lever equipped with fixed bottom plate, the fixed bottom
It is fixedly connected between plate and first interlocking lever equipped with camera locking nut；The first lock is equipped in the middle part of first interlocking lever
Tight shaft, the second interlocking lever middle part are equipped with the second locking shaft, connect in the first locking shaft and the second locking shaft
Circular Sliding slot is connected to, is locked between the first locking shaft and Circular Sliding slot by the first locking knob, described second
Lock used second locking knob locking between shaft and Circular Sliding slot.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In said program, robot of the invention can realize walking function, structure design by the output of single motor
Rationally.Show that device drives showing stand to realize comprehensive dynamic bandwagon effect by single main motor, bandwagon effect is good, tool
There is practicability.
Description of the drawings
Fig. 1 is the layout of the present invention.
Fig. 2 is the stereogram of the rack section of the present invention.
Fig. 3 is the state diagram one of the rack section of the present invention.
Fig. 4 is the state diagram two of the rack section of the present invention.
Fig. 5 is the state diagram three of the rack section of the present invention.
Fig. 6 is the state diagram four of the rack section of the present invention.
Fig. 7 is the state diagram one of the displaying device of the present invention.
Fig. 8 is the state diagram two of the displaying device of the present invention.
Fig. 9 is the stereogram of the displaying device of the present invention.
Figure 10 is the structure chart of the showing stand of the displaying device of the present invention.
Figure 11 is the structure chart in a wherein angle point area for the displaying device of the present invention.
Figure 12 is the structure chart of the monitor camera device of the present invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
For convenience of description, before left side is in Fig. 1, after right side is.
As shown in Figures 1 to 6, the embodiment of the present invention provides a kind of gardens and drives supervisory-controlled robot with single motor, including machine
Frame 100,100 forward position of rack, which rotates, is equipped with front support sole 31, and 100 rear positions of the rack rotation is propped up after being equipped with
Spike plate 32, equipped with supporting rod 33 straight down, 33 lower end of supporting rod is equipped with for position rearward at 100 middle part of rack
Gantry motor 34, one crank 35 of output axis connection of the gantry motor 34, the outer end of the crank 35 is rotatably connected to first
Connecting rod 36, the 33 middle part upper position of supporting rod are rotatably connected to the first rocking bar 37, the other end of the first connecting rod 36 and
The other end of first rocking bar 37 is rotatedly connected, the folder formed described in rotation process between 36 and first rocking bar 37 of first connecting rod
Angle is always acute angle, and the length of first rocking bar 37 is more than the length of first connecting rod 36, and the length of the first connecting rod 36 is big
In the length of crank 35, the junction of 36 and first rocking bar 37 of first connecting rod is always positioned at supporting rod 33 described in rotation process
Front is equipped with strut 38 at the middle part of the first connecting rod 36 rearward position, and the strut 38 is vertical and is fixed in described
First connecting rod 36, the lower end of the strut 38 are rotatably connected to driving sole 39, the driving sole 39 periodically contact to earth and
It is liftoff so that rack 100 be driven to advance；The front support sole 31, rear support sole 312 and driving 39 rotation direction of sole are
In same plane where front-rear direction.
It is that back and front supporting sole is in landing state simultaneously shown in Fig. 1；With continued reference to Fig. 3, gantry motor band at this time
Dynamic crank rotates counterclockwise, and for the movement locus of strut lower end to move forward and obliquely upward, it is hanging that driving sole is liftoff；Continue
With reference to figure 4, gantry motor drives crank to continue rotation counterclockwise, and driving sole moves forward after the distance of one end, starts to touch
Ground；As shown in figure 5, since the center that sole is driven to contact to earth at this time is located at frame central front, when crank continues
After rotating counterclockwise, front support sole starts vacantly, and rear support sole front end is liftoff, and rear bearing sheet rear end portion touches ground, drives
Dynamic foot plate support plays entire rack；As shown in fig. 6, driving sole is in state of contacting to earth, the rotation of crank promotes rack forwards
Advance, until front support sole starts to contact to earth, finally move to Fig. 1 states, crank rotates one week and forms a complete cycle
Property movement, can used single motor entire rack is driven to travel forward.
As shown in Fig. 1, Fig. 7 to Figure 11, displaying device 10, the exhibition are provided with by supporting rack 111 in the rack 100
Showing device 10 includes the pedestal 11 of a square, and 11 lower section of pedestal is connected to 100 top of rack, institute by supporting rack 111
Pedestal 11 is stated equipped with orbit portion 12, the orbit portion 12 includes square loop 121 and circuit orbit 122, square loop
121 make arc transition in its corner location, and the circuit orbit 122 is inscribed within square loop 121, so that on the pedestal 11
Disk area 13 and four angle point areas 14 are separated out, each angle point area 14 includes orthogonal the two of 11 edge of proximate base
A right-angle side 141 and an arc-shaped side 142 in adjacent disk area 13, two right-angle sides 141 and an arc-shaped side 142 form one
Roughly triangular angle point area, two 141 connecting places of right-angle side make arc transition, and the center in the disk area 13 is equipped with circle
First gear 15, the first gear 15 is driven to rotate by main motor 16, and the orbit portion 12 is equipped with showing stand 17,
17 outer ring of showing stand is equipped with the second gear 18 being meshed with the first gear 15, the outer profile of the second gear 18
For ellipse, 17 two bottom sides of showing stand are respectively equipped with a slider guide 19 so that the showing stand 17 is along orbit portion 12
It slides, the angle point area 14 is transferred to angle point 143 equipped with mask device 20, and the mask device 20 is included in recline under normal conditions
The first catch 201 in 13 outside of disk area and the second catch 202 on 121 side wall of square loop is posted by under normal conditions,
Compression spring 21 is equipped between second catch 202 and angle point area 143 so that the second catch 202 is being resisted against square rail under normal conditions
On 121 side wall of road, it is additionally provided with to house the area 22 of giving up the throne of the second catch 202 in the angle point area 14, the compression spring 21 is located at
It gives up the throne in area 22, the medium position of the mask device 20 is rotationally connected with by catch shaft 23 to be transferred at angle point 143, described
Be transferred to angle point 143 for showing stand 17 moved by 15 drives edge orbit portion 12 of first gear when, by first angle in angle point area 14
At putting, when wherein one on the showing stand 17 process wherein when being transferred to angle point 143 of an angle point area 14, the showing stand 17 leads
Sliding block 19 moves along square loop 121 and oppresses the second catch 202 and gives up the throne to giving up the throne in area 22, first catch 201
Outer rim is posted by 121 inside of square loop, so that another slider guide 19 on the showing stand 17 is slided along circuit orbit 122
It is dynamic.
As shown in fig. 7, the arrow logo on showing stand is directed toward first gear, with the rotation of first gear, displaying is driven
Frame is moved along orbit portion, and when as shown in Figure 8, the arrow logo on showing stand is illustrated as showing stand hair away from first gear
180 ° of rotary movement is given birth to, principle is, showing stand on orbit portion when moving, during by being transferred to angle point, on showing stand
A slider guide on front side of direction of advance continues on the square loop movement of periphery, and then oppressing the second catch moves back it
Position drives the outer end of the first catch to be resisted against on square loop side wall at this time to giving up the throne in area, and is opened to circuit orbit,
Square loop is closed, another slider guide on showing stand is made to be moved along circuit orbit, when showing stand is behind angle point area, just
180 ° of overturning has occurred, the billboard established on showing stand will be realized transforms to back side content by the displaying of positive content
Displaying, the billboard of dynamic mapping can more attract the attention of other people, achieve the effect that publicize widely.
Watering can be also set in rack, and weeder realizes the demand in the operation of gardens field.
As shown in figs. 1 and 12, monitor camera device 7 is additionally provided in the rack 100, the monitor camera device 7 wraps
Include shell 71, camera 72, fixed bottom plate 73, camera locking nut 74, the first interlocking lever 75, Circular Sliding slot 76, first
It locks shaft 77, the first locking knob 78, connection shaft 79, second and locks shaft 81, the second locking knob 82, the second interlocking lever
83rd, fixing nut 84, ball chain connect 85, support chassis 86；The support chassis 86 is fixedly mounted on 100, the support chassis
85 installations are connect equipped with the second interlocking lever 83 by ball chain on 86, are equipped between second interlocking lever 83 and the support chassis 86
Fixing nut 84 is for the second interlocking lever 83 of locking；Second interlocking lever 83 is connected with the first interlocking lever by connecting shaft 79
75, the one end of first interlocking lever 75 away from the connection shaft 79, which is fixedly mounted, is equipped with shell 71, inside the shell 71
It is fixedly mounted and is equipped with camera 72, be fixedly connected between the shell 71 and first interlocking lever 75 equipped with fixed bottom plate 73,
It is fixedly connected between the fixed bottom pedestal 73 and first interlocking lever 75 equipped with camera locking nut 74；Described first connects
The middle part of lever 75 is equipped with the first locking shaft 77, and 83 middle part of the second interlocking lever is equipped with the second locking shaft 81, and described first
Locking shaft 77 and second locks and Circular Sliding slot 76 is connected in shaft 81, the first locking shaft 77 and Circular Sliding slot
It is locked between 76 by the first locking knob 78, used second locking between the second locking shaft 81 and Circular Sliding slot 76
Knob 82 is locked.Monitor camera device is imaged by camera locking nut, the first locking knob, the second locking knob to adjust
The position of head, convenient for monitoring.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of gardens drive supervisory-controlled robot with single motor, including rack, which is characterized in that each turn of the rack front and back position
Dynamic to be equipped with a support sole, equipped with supporting rod straight down, the supporting rod lower end is set the central rack for position rearward
Organic frame motor, one crank of output axis connection of the gantry motor, the outer end of the crank are rotatably connected to first connecting rod, institute
State the other end that upper position in the middle part of supporting rod is rotatably connected to the first rocking bar, the other end of the first connecting rod and the first rocking bar
It being rotatedly connected, the angle formed between the first connecting rod described in rotation process and the first rocking bar is always acute angle, and described first
The length of rocking bar is more than the length of first connecting rod, and the length of the first connecting rod is more than the length of crank, the institute in rotation process
The junction for stating first connecting rod and the first rocking bar is always positioned in front of supporting rod, positioned at the middle part of first connecting rod position rearward
Place is equipped with strut, and the strut is vertical and is fixed in the first connecting rod, and the lower end of the strut is rotatably connected to driving sole,
The driving sole periodically contacts to earth with liftoff that rack is driven to advance；
Displaying device is provided with by supporting rack in the rack, the displaying device includes the pedestal of a square, the bottom
Seat is equipped with orbit portion, and the orbit portion includes square loop and circuit orbit, and the circuit orbit is inscribed within square rail
Road, so as to be separated out disk area and four angle point areas on the pedestal, each angle point area includes the phase at proximate base edge
Mutually two vertical right-angle sides and an arc-shaped side in adjacent disk area, the center in the disk area are equipped with circular first tooth
Wheel, the first gear are driven to rotate by main motor, and the orbit portion is equipped with showing stand, and the showing stand outer ring is equipped with
The second gear being meshed with the first gear, the outer profile of the second gear is oval, the showing stand bottom two
Side is respectively equipped with a slider guide so that the showing stand slides along the track, and the angle point area is transferred to angle point equipped with catch
Device, the mask device include the first catch being posted by the outside of disk area and be posted by square loop side wall second
Catch is equipped with compression spring so that the second catch is resisted against on square loop side wall between second catch and angle point area, described
It is additionally provided with to house the area of giving up the throne of the second catch in angle point area, the medium position of the mask device is rotated by catch shaft
Be connected to and be transferred to corner point, it is described be transferred to angle point for showing stand moved by first gear drives edge orbit portion when, by angle point area
First corner point, when the showing stand is by wherein when being transferred to angle point of an angle point area, wherein one on the showing stand
Slider guide moves along square loop and oppresses the second catch and gives up the throne to giving up the throne in area, and the outer rim of first catch is posted by just
On the inside of square track, so that another slider guide on the showing stand is slided along circuit orbit；
Monitor camera device is additionally provided in the rack, the monitor camera device includes shell, camera, fixes bottom plate, takes the photograph
As head locking nut, the first interlocking lever, Circular Sliding slot, the first locking shaft, the first locking knob, connection shaft, the second lock
Tight shaft, the second locking knob, the second interlocking lever, fixing nut, ball chain connect, support chassis；The support chassis is fixedly mounted
Installation is connect by ball chain in rack, in the support chassis and is equipped with the second interlocking lever, second interlocking lever and the support
Fixing nut is equipped between chassis for locking the second interlocking lever；Second interlocking lever is connected with the first company by connecting shaft
Lever, the one end of first interlocking lever away from the connection shaft, which is fixedly mounted, is equipped with shell, and the enclosure fixes peace
Be equiped with camera, be fixedly connected between the shell and first interlocking lever equipped with fixed bottom plate, the fixed bottom plate with
It is fixedly connected between first interlocking lever equipped with camera locking nut；The first locking is equipped in the middle part of first interlocking lever to turn
Axis, the second interlocking lever middle part are equipped with the second locking shaft, are connected in the first locking shaft and the second locking shaft
Circular Sliding slot is locked between the first locking shaft and Circular Sliding slot by the first locking knob, second locking
Used second locking knob locking between shaft and Circular Sliding slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711333466.3A CN108082322A (en) | 2017-12-14 | 2017-12-14 | A kind of gardens drive supervisory-controlled robot with single motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711333466.3A CN108082322A (en) | 2017-12-14 | 2017-12-14 | A kind of gardens drive supervisory-controlled robot with single motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108082322A true CN108082322A (en) | 2018-05-29 |
Family
ID=62175673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711333466.3A Withdrawn CN108082322A (en) | 2017-12-14 | 2017-12-14 | A kind of gardens drive supervisory-controlled robot with single motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108082322A (en) |
-
2017
- 2017-12-14 CN CN201711333466.3A patent/CN108082322A/en not_active Withdrawn
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180529 |