CN108974180B

CN108974180B - Robot

Info

Publication number: CN108974180B
Application number: CN201810886451.8A
Authority: CN
Inventors: 龙霖; 叶红; 柳叶舟
Original assignee: Xi'an Yubo Robot System Technology Co ltd
Current assignee: Xi'an Yubo Robot System Technology Co ltd
Priority date: 2018-08-06
Filing date: 2018-08-06
Publication date: 2021-12-28
Anticipated expiration: 2038-08-06
Also published as: CN108974180A

Abstract

The invention discloses a robot, which comprises a vehicle body, wherein wheel sets are arranged on two sides of the vehicle body, each wheel set consists of two wheel pairs which are symmetrically arranged, the upper parts of the wheel pairs are of sliding structures, and the sliding structures can drive the wheel pairs to extend or shorten; the lower part of the wheel set is a rotating structure which can drive the wheels to change the direction. The invention has low gravity center and stable equipment during high-speed running; the spoke is provided with a sliding structure and a rotating structure, so that the spoke can adapt to various ground operations; the noise is low, and the working tool can be mounted on or off; the equipment can be deformed, and has the capabilities of concealing entering a target position, adjusting the height of the equipment and a tool and carrying out investigation and other operations.

Description

Robot

Technical Field

The invention belongs to the technical field of special robots, and particularly relates to a robot.

Background

From the middle of the last century, robots have been increasingly used in special work situations, particularly in military and police special work environments. With the technical progress, the method is also widely applied to the occasions of explosive ordnance disposal, search and the like.

At present, a lot of such equipment have appeared in the market, but equipment is usually from great, need rely on the chassis dead weight to keep balance during the arm operation, for guaranteeing trafficability characteristic, adopts the track chassis in a large number, leads to the low, the energy consumption of marcing speed height, the poor scheduling problem of ground adaptability. Special vehicles are often required for carrying, but the carrying price is too high to be widely applied.

At present, robot equipment which travels in four feet is researched by many countries, but the energy consumption of the equipment is too high, practical equipment needs the support of an internal combustion engine, and the noise and heat signals of the equipment make the equipment difficult to be put into practical application occasions.

Disclosure of Invention

The invention aims to provide a robot, which solves the problems of high energy consumption and low speed of the robot in the prior art.

The robot comprises a vehicle body, wherein wheel sets are arranged on two sides of the vehicle body, each wheel set consists of two wheel pairs which are symmetrically arranged, the upper parts of the wheel pairs are of sliding structures, and the sliding structures can drive the wheel pairs to extend or shorten; the lower part of the wheel set is a rotating structure which can drive the wheels to change the direction;

the sliding structure comprises a motor a, an output shaft of the motor a is connected with a ball screw, and a screw nut of the ball screw is connected with a sliding block; a protective shell is arranged on the periphery of the sliding block.

The invention is also characterized in that:

the protective shells of the two symmetrically arranged wheel pairs are respectively and fixedly connected to two ends of the connecting plate; the middle part of the connecting plate is hinged with the vehicle body through a rotating shaft.

The rotating structure comprises a gear a which is fixedly connected below the sliding block and is parallel to the bottom surface of the sliding block, the gear a is meshed with a gear b, the gear b is connected to an output shaft of a motor b, and the motor b is positioned on one side of the protective shell and is parallel to the motor a; the shaft of the gear a is connected with the wheel shaft of the wheel through a connecting piece.

The motor a and the motor b are both speed reduction stepping motors.

Each connecting piece is connected with a driving wheel and a driven wheel; a hub motor is arranged in the driving wheel; the driving wheel and the driven wheel are driven by the synchronous belt wheel.

The driven wheel is evenly provided with a circle of small wheels along the wheel hub, and the small wheels are parallel to the wheel axle.

The small wheel is a rubber wheel.

The two ends of the connecting plate are provided with connecting points a; the two sides of the vehicle body are both provided with connecting points b; the connection point a and the connection point b on each side form an isosceles triangle; and the connection point b is respectively connected with the connection points a at the two ends of the connection plate through springs.

The invention adopts lightweight materials.

The invention has the beneficial effects that:

the robot is low in gravity center, and equipment is stable when the robot runs at a high speed; the wheel set is provided with a sliding structure and a rotating structure, so that the wheel set can adapt to various ground operations; the noise is low, and the operation instrument can be facial make-up or facial make equipment flexible because of the wheelset has revolution mechanic, possesses the ability of hiding and getting into the target location, and investigation and other operations are carried out to adjustment device and instrument height. In addition, the invention adopts lightweight materials, has small dead weight, can be carried by only two workers by using the draw-bar box, and solves the problems that the product on the current market has overlarge dead weight, needs a special vehicle for carrying and has high carrying cost.

Drawings

FIG. 1 is a schematic view of the construction of the robot of the present invention;

fig. 2 is a schematic structural diagram of a wheel set of the robot.

In the figure, 1, a vehicle body, 2, a connecting plate, 4, a wheel pair, 6, motors a and 8, a protective shell, 9, gears a and 10, gears b and 11, motors b and 12, a wheel connecting piece, 13, a driving wheel, 14, a driven wheel, 15, a synchronous pulley, 16, a synchronous belt, 17, a small wheel, 18, a spring, 19, a rotating shaft, 20, connecting points a and 21 and a connecting point b are arranged.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The invention relates to a robot, which comprises a vehicle body 1, wherein wheel sets are arranged on two sides of the vehicle body 1, each wheel set consists of two wheel pairs 4 which are symmetrically arranged, the upper parts of the wheel pairs 4 are of sliding structures, and the sliding structures can drive the wheel pairs 4 to extend or shorten; the lower part of the wheel set 4 is a rotating structure which can drive the wheels to change the direction; the sliding structure comprises a motor a6, wherein an output shaft of the motor a6 is connected with a ball screw, and a screw nut of the ball screw is connected with a sliding block; a protective shell 8 is arranged on the periphery of the sliding block.

Further:

the protective casings 8 of the two symmetrically arranged wheel pairs 4 are respectively and fixedly connected to two ends of the connecting plate 2; the connecting plate 2 is hinged with the vehicle body 1 through a rotating shaft 19.

Further:

the rotating structure comprises a gear a9 which is fixedly connected below the sliding block and is parallel to the bottom surface of the sliding block, a gear a9 is meshed with a gear b10, a gear b10 is connected with an output shaft of a motor b11, and a motor b11 is positioned on one side of the protective shell 8 and is parallel to a motor a 6; the shaft of gear a9 is connected to the axle of the wheel by a link 12.

Further:

both motor a6 and motor b11 are speed-reducing stepping motors.

Further:

each connecting piece 12 is connected with a driving wheel 13 and a driven wheel 14; a hub motor is arranged in the driving wheel 13; the driving pulley 13 and the driven pulley 14 are driven by a synchronous pulley 15.

Further:

the driven wheel 14 is provided with a circle of small wheels 17 uniformly along the wheel hub, and the small wheels 17 are parallel to the wheel axle.

Further:

the small wheel 17 is a rubber wheel.

Further:

both ends of the connecting plate 2 are provided with connecting points a 20; both sides of the vehicle body 1 are provided with connecting points b 21; the connection point a20 and the connection point b21 on each side form an isosceles triangle; and the connection point b21 is connected with the connection points a20 at both ends of the connection plate 2 through the springs 18.

Further:

the invention adopts lightweight materials.

The preferred scheme of the robot of the invention is as follows:

as shown in fig. 1, the vehicle comprises a vehicle body 1, wherein both sides of the vehicle body 1 are connected with wheel sets (as shown in fig. 2) through connecting plates 2, and each wheel set is composed of two wheel pairs 4 which are symmetrically arranged. The middle part of the connecting plate 2 is hinged with the vehicle body 1 through a rotating shaft 19. The two ends of the connecting plate 2 are both provided with a connecting point a20, the two sides of the vehicle body 1 are both provided with a connecting point b21, the connecting point a20 and the connecting point b21 on each side form an isosceles triangle, and the connecting point b21 is respectively connected with the connecting points a20 on the two ends of the connecting plate 2 through springs 18; the suspension support of the wheel set is realized.

As shown in fig. 2, the upper part of the wheel set 4 is a sliding structure, the sliding structure comprises a motor a6 which is arranged on a vertical surface and has an output shaft facing downwards, the output shaft of the motor a6 is connected with a ball screw, and a screw nut of the ball screw is connected with a slide block; the slider periphery is provided with cuboid protective housing 8, and protective housing 8 in two wheelsets 4 of symmetrical arrangement connects respectively in the both ends of connecting plate 2 in this wheelset, and sliding construction can drive wheelset 4 extension or shorten.

The lower part of the wheel set 4 is a rotating structure which comprises a gear a9 fixedly connected below the sliding block and parallel to the bottom surface of the sliding block, a gear a9 is meshed with a gear b10, and a gear b10 is connected with an output shaft of a motor b11 which is positioned on one side of the protective shell 8 and parallel to the motor a 6; the shaft of the gear a9 is connected with the wheel shaft of the wheel through a connecting piece 12; the rotating structure may drive the wheel to change direction.

Each connecting piece 12 is connected with a driving wheel 13 and a driven wheel 14; a hub motor is arranged in the driving wheel 13; the driving wheel 13 and the driven wheel 14 are driven by a synchronous belt wheel 15; the hub motor can drive the driving wheel 13 to rotate. The driven wheel 14 is uniformly provided with a circle of small wheels 17 along the wheel hub, and the small wheels 17 are rubber wheels arranged in parallel with the wheel axle, so that the driven wheel 14 can slide transversely. The invention adopts lightweight materials.

The working principle of the robot is as follows:

when the robot normally travels, the robot moves in a mode that 4 wheels on each side land, the sliding structure is contracted to the shortest, and equipment movement and direction adjustment are realized in a mode that the left wheel and the right wheel of the vehicle body 1 run in a differential mode. The structural form is mainly applied to paving road surfaces, muddy water road surfaces, grasslands and gravel ground.

When meeting an obstacle, the length of the sliding structure is adjusted, the wheel set 4 is rotated through the rotating structure according to needs, the driven wheel 14 faces forwards, and the obstacle climbing is realized by using the unique structure of the driven wheel 14.

The robot is low in gravity center, and equipment is stable when the robot runs at a high speed; the wheel set is provided with a sliding structure and a rotating structure, so that the wheel set can adapt to various ground operations; the noise is low, and the working tool can be mounted on or off; the equipment can be deformed, and has the capabilities of concealing entering a target position, adjusting the height of the equipment and a tool and carrying out investigation and other operations. In addition, the invention adopts lightweight materials, has small dead weight, can be carried by only two workers by using the draw-bar box, and solves the problems that the product on the current market has overlarge dead weight, needs a special vehicle for carrying and has high carrying cost.

Claims

1. A robot, characterized by: the bicycle comprises a bicycle body (1), wherein wheel sets are arranged on two sides of the bicycle body (1), each wheel set consists of two wheel pairs which are symmetrically arranged, the upper parts of the wheel pairs are of sliding structures, and the sliding structures can drive the wheel pairs to extend or shorten; the lower part of the wheel set is a rotating structure which can drive the wheels to change the direction;

the sliding structure comprises a motor a (6) which is arranged on a vertical surface and has an output shaft facing downwards, the output shaft of the motor a (6) is connected with a ball screw, and a screw nut of the ball screw is connected with a sliding block; a protective shell (8) is arranged at the periphery of the sliding block;

the rotating structure comprises a gear a (9) which is fixedly connected below the sliding block and is parallel to the bottom surface of the sliding block, the gear a (9) is meshed with a gear b (10), the gear b (10) is connected with an output shaft of a motor b (11), and the motor b (11) is positioned on one side of the protective shell (8) and is parallel to the motor a (6); the shaft of the gear a (9) is connected with the wheel shaft of the wheel through a connecting piece (12);

the motor a (6) and the motor b (11) are both speed reduction stepping motors;

the protective casings (8) of the two symmetrically arranged wheel pairs are fixedly connected to two ends of the connecting plate (2) respectively; the middle part of the connecting plate (2) is hinged with the vehicle body (1) through a rotating shaft (19);

each connecting piece (12) is connected with a driving wheel (13) and a driven wheel (14); a hub motor is arranged in the driving wheel (13); the driving wheel (13) and the driven wheel (14) are driven by a synchronous belt wheel (15), a circle of small wheels (17) are uniformly arranged on the driven wheel (14) along a wheel hub, and the small wheels (17) are parallel to the wheel axle.

2. The robot of claim 1, wherein: the small wheel (17) is a rubber wheel.

3. The robot of claim 2, wherein: two ends of the connecting plate (2) are provided with connecting points a (20); two sides of the vehicle body (1) are provided with connecting points b (21); the connection point a (20) and the connection point b (21) on each side form an isosceles triangle; and the connection point b (21) is respectively connected with the connection points a (20) at the two ends of the connecting plate (2) through springs (18).