CN110696939B

CN110696939B - Intelligent robot walking assembly

Info

Publication number: CN110696939B
Application number: CN201911103729.0A
Authority: CN
Inventors: 杨晨光; 任新年
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-12
Filing date: 2019-11-12
Publication date: 2021-02-09
Anticipated expiration: 2039-11-12
Also published as: CN110696939A

Abstract

The invention discloses an intelligent robot walking assembly, which comprises a stabilizing disc, a linkage mechanism, a walking mechanism and a ground contact mechanism, wherein the stabilizing disc comprises connecting plates, a rotating bearing and an angle adjusting rod which are symmetrically arranged, the robot walking component is convenient to be arranged in the robot through the structural arrangement of the stabilizing disc, the stable running during walking is ensured, the linkage mechanism is convenient to be connected with the stabilizing disc and the walking mechanism, the rotating force of the power gear is timely transmitted to the walking mechanism to drive the walking mechanism to realize the purpose of staggered advancing, the forward wheels of the ground engaging mechanism may slide forward along the ground when the lower end of the traveling mechanism moves forward, when the lower end of the walking mechanism moves backwards, the advancing wheels of the ground contacting mechanism can stop the rotation of the mechanism through the ratchet wheel structure, so that the purpose of walking forwards is achieved, and the purpose of stable walking can be achieved by staggering the advancing wheels.

Description

Intelligent robot walking assembly

Technical Field

The invention relates to the technical field of robot walking components, in particular to an intelligent robot walking component.

Background

The walking robot is also called as walking robot, and is a humanoid robot with human form, and the walking robot can utilize its body gravity sensor and sole tactile sensor to transfer the ground condition back to computer, and the computer can make judgement according to road surface condition so as to balance body and stably walk all around, and can not only walk on flat road, but also walk on the steps and inclined road, and its standing is stable, and can not be fallen down, and the sole is not flat, and also can retain the upright posture of body.

The inventor of the application finds that the existing walking robot adopts a touch sensor and other electrical elements to control the robot to walk, and needs to carry out special design and debugging on each different robot to carry out stable walking, so that the robot walking assembly which can be conveniently installed is urgently needed to be suitable for being installed in different intelligent machines for use.

Disclosure of Invention

The invention aims to provide an intelligent robot walking assembly, aiming at solving the problems that the existing intelligent walking robot is complex in structure, the walking structure principle of each different walking robot is different, the design and debugging are required to be carried out independently, time and labor are wasted, and the intelligent robot walking assembly is inconvenient for mass production and use.

The invention is realized by the following steps:

an intelligent robot walking assembly comprises a stabilizing disc, a linkage mechanism, a walking mechanism and a ground contacting mechanism, wherein the stabilizing disc comprises a connecting plate A, a rotating bearing and an angle adjusting rod which are symmetrically installed, the rotating bearing is fixedly installed at the center of the inner side surface of the connecting plate A, the angle adjusting rod is arranged between the rotating bearings, the linkage mechanism comprises a concave connecting rod and a straight rod, one end of the concave connecting rod is rotatably connected with the rotating bearing, the other end of the concave connecting rod is rotatably connected with the straight rod, the length of the straight rod is greater than that of the concave connecting rod, the straight rod is installed in the middle of the concave connecting rod, the walking mechanism is installed at the tail end of the straight rod, the walking mechanism is rotatably connected with the straight rod, the ground contacting mechanism comprises a fixing plate, a multidirectional connecting frame and a forward wheel, the fixing plate is fixed at the lower end, and the multidirectional connecting frame is rotationally connected with the fixing plate, the advancing wheel is arranged in the middle of the multidirectional connecting frame and is rotationally connected with the multidirectional connecting frame, and the ground contact mechanism is arranged to facilitate a user to realize the purposes of steering and standing of the walking assembly by controlling the rotating motor.

Furthermore, the angle adjusting rod comprises a length rod, a fixed disk and an angle adjusting rod, the head of the outer side surface of the length rod is provided with a sliding groove, the fixed disk comprises a first disk body and a second disk body, the first disk body and the second disk body are symmetrically arranged at the head parts of two ends of the length rod, the first disk body is fixedly connected with the length rod, the second disk body is rotatably connected with the length rod, the second disk body is uniformly provided with clamping through holes along the circumferential direction, the angle adjusting rod is sleeved on the outer side surface of the length rod, a clamping column matched with the clamping through holes and an inner sliding strip matched with the sliding groove are arranged on the angle sleeve, the clamping column is uniformly arranged on the bottom surface of the angle sleeve along the circumferential direction of the angle sleeve, the inner sliding strip is uniformly arranged on the inner side surface of the angle sleeve along the circumferential direction of the angle sleeve, and the user can adjust the walking range between the two walking mechanisms by adjusting the angle adjusting rod through the structure setting of the, so as to be convenient for installation and use in different robots and also facilitate the purpose of walking of the robots in different use environments, the length rod is arranged to be connected with the first tray body and the second tray body for use, the outer sides of the first tray body and the second tray body are fixedly connected with the concave connecting rods, so that the included angle between the concave connecting rods at two sides can be changed by rotating the second tray body, the swinging difference of the walking mechanisms at two ends can be reduced in the transmission process, the walking mode of the walking mechanisms can be changed, the specific angle changing operation process is that the angle sleeve slides to the center of the length rod to enable the clamping column to slide out of the clamping through hole, then the clamping column is inserted into the corresponding clamping through hole after the second tray body is rotated to a proper angle, the angle adjustment is completed, and the angle sleeve can be well ensured to only slide along the sliding groove direction through the arrangement of the inner slide bar, but not can rotate, thereby ensuring the stability of the angle adjustment.

Furthermore, the concave connecting rod comprises an outer side rod, a connecting shaft and an inner side rod, the outer side rod is fixedly sleeved on the rotating bearing, the connecting shaft is arranged between the outer side rod and the inner side rod, the outer side rod and the inner side rod are fixedly connected with the connecting shaft, the inner side rod is fixedly clamped on the fixed disc, the concave connecting rod is structurally arranged to facilitate the transmission of the power gear, then the purpose of driving the running mechanism to swing is achieved through the self circumferential rotation, the concave connecting rod is arranged to be concave, can effectually guarantee that the straight-bar can be in normal pivoted on the connecting axle, also can guarantee that the straight-bar can pass between outside pole and the inboard pole, guarantee can not be in driven process mutual interference operation, the setting of outside pole is used for connecting rolling bearing and uses, and the setting of inside pole is used for connecting angle modulation pole and uses, drives the straight-bar through outside pole and inside pole jointly and swings.

Furthermore, the walking mechanism comprises a height rod, a width rod and a bottom plate box, the head of the height rod is rotatably connected with the straight rod, the width rod is arranged in the middle of the height rod, the width rod is rotatably connected with the height rod, the middle of the upper end of the height rod is also provided with a mounting plate, the mounting plate is vertically welded on the height rod, the bottom plate box is fixedly arranged on the lower end face of the height rod, the lower end of the bottom plate box is provided with a stabilizing groove, the walking mechanism is structurally arranged to be conveniently matched with the swinging of the straight rod to realize the walking purpose, the height rod is structurally arranged to be conveniently connected with the straight rod through the head, the middle of the height rod is positioned through the width rod, so that the height rod can only do reciprocating swinging under the driving of the straight rod, the walking simulation purpose is realized, and the user can conveniently fix the height rod in the robot through the mounting plate through the structural arrangement of the width rod, therefore, the purpose of positioning the middle part of the height rod is achieved, the floor contact mechanism is convenient to mount and use through the structural arrangement of the bottom plate box, the floor contact mechanism can be effectively surrounded in the bottom plate box while the normal work of the floor contact mechanism is guaranteed, and the floor contact mechanism is protected from being damaged by the outside.

Further, the fixed plate includes connecting plate B and vertical board, connecting plate B installs the inside at the bottom plate box, and connecting plate B passes through bolt and bottom plate box fixed connection, vertical board sets up the lower terminal surface head at connecting plate B perpendicularly, and connecting plate B and vertical board integrated into one piece, install the rotation motor on the vertical board, come the user to install the mechanism that contacts earth through the structure setting to the fixed plate and use, guarantee that the mechanism that contacts earth can be stable installs the inside at the bottom plate box, connecting plate B's setting convenient to use person carries out fixed mounting through the bolt, the setting of vertical board is used for being convenient for install the multidirectional link and uses to install the rotation motor that is connected with the multidirectional link in the outside of vertical board, the user can control the use to the multidirectional link through the control rotation motor.

Furthermore, the multidirectional connecting frame comprises a deviation rotating frame and a walking bogie, the deviation rotating frame comprises a horizontal C-shaped frame and a vertical C-shaped frame, the horizontal C-shaped frame is arranged on the inner side surface of the longitudinal plate and is rotationally connected with the longitudinal plate, the vertical C-shaped frame is longitudinally arranged on the upper end surface of the horizontal C-shaped frame, the horizontal C-shaped frame and the vertical C-shaped frame are integrally formed, a rotating motor is further arranged on the outer side of the horizontal C-shaped frame, a user can conveniently control the forward wheel to rotate in a multi-angle mode through the rotating motor through the structural arrangement of the multidirectional connecting frame, various walking modes of the robot are facilitated, the user can conveniently control the twisting direction of the forward wheel through the structural arrangement of the deviation rotating frame, the robot can conveniently stop standing and walk, and can conveniently switch, the rotating motor can be conveniently connected through the arrangement of the horizontal C-shaped frame, the rotating angle of the horizontal C-shaped frame is accurately controlled by rotating the motor, so that the purpose of controlling the advancing wheels is achieved, the structure of the vertical C-shaped frame is arranged to facilitate installation of the walking bogie for use, the vertical C-shaped frame can rotate along with the deviation rotating frame, and then the angle of the walking bogie and the advancing wheels is driven to rotate.

Further, walking bogie installs perpendicularly in the inside of erroneous tendency rotating turret, and walking bogie rotates with the erroneous tendency rotating turret to be connected, the center department of walking bogie lateral surface is provided with the connection pivot, it has the connection gear to connect pivot head fixed mounting, and the walking direction that the person of facilitating the use can effectual control robot is set up through the structure to walking bogie, reaches the purpose of rotating the connection pivot through rotating the motor and connecting the gear through the chain cooperation, and then drives walking bogie and carry out accurate angle and rotate to the realization changes the purpose of robot walking direction.

Further, still be provided with the auxiliary steering rod on the erroneous tendency rotating turret, the auxiliary steering rod level sets up at the lateral surface lower extreme of erroneous tendency rotating turret, and turns to auxiliary steering rod and erroneous tendency rotating turret integrated into one piece, the head of auxiliary steering rod lateral surface still fixed mounting elastic element, the elastic element other end and horizontal C shape frame fixed connection are convenient for supplementary erroneous tendency rotating turret through the setting to the auxiliary steering rod and are rotated the use, guarantee to return by oneself when rotating the motor and not controlling, guarantee to place the stability ability when the robot walks, and elastic element's setting is used for guaranteeing to turn to the scope of adjusting of distance between auxiliary steering rod and the horizontal C shape frame is fixed, and the effectual too big and unable normal walking of robot that causes of erroneous tendency rotating turret angle of preventing.

Further, the advancing wheel includes wheel body and ratchet, stable inclined plane has been seted up on the wheel body lateral surface, ratchet fixed mounting is at the lower extreme of walking bogie, the wheel body is installed on the lateral surface of ratchet, and the wheel body is connected with the ratchet rotation, through the structure setting to the advancing wheel be convenient for cooperate running gear to carry out the removal walking of robot, when the bottom plate box moved forward, the wheel body can cooperate the ratchet to rotate, reach the effect of stepping, when the bottom plate box backward movement, the ratchet can be deadlocked the wheel body, let the wheel body can not take place to rotate for ground to reach the robot forward, so relapse just can realize the purpose that the robot normally walked.

Further, be provided with screw mounting groove and power gear on the connecting plate A, the screw mounting groove evenly sets up along connecting plate A's circumferencial direction, power gear rotates and installs the center department at the medial surface of connecting the A board, and power gear and rolling bearing fixed connection, come the person of facilitating the use through setting up to the screw mounting groove and can use the bolt to come to fix the inner wall that connecting plate A can be fixed at the robot, the normal operation of the link gear of being convenient for, running gear and the mechanism that contacts with the earth, come the external chain of the person of facilitating the use through setting up to power gear and come to install the power of walking additional and use, drive power gear through external power supply and rotate and then go down power transmission, power for whole robot running gear provides the walking is used.

Compared with the prior art, the invention has the beneficial effects that: the intelligent robot walking assembly is designed by researching the walking process of the traditional robot, is convenient to install in the assembly of the robot to assist the robot in walking and use, and is convenient for the robot to simulate the walking of human through the walking mechanism;

the robot walking assembly is convenient to install in the inside of robot through the structure setting to the steady dish, steady operation when guaranteeing to walk, link gear's setting is used for conveniently connecting steady dish and running gear, timely with power gear's turning force transmission to running gear, drive running gear and realize the purpose of crisscross advancing, the advancing wheel of mechanism can slide forward along ground when running gear's lower extreme moves forward, the advancing wheel of mechanism can block its rotation through the ratchet structure when running gear's lower extreme backward movement, reach the purpose of walking forward, so crisscross can realize the steady walking purpose.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a perspective view of the device of the present invention as the height bar on the left side is being walked forward;

FIG. 2 is a right side view of the device of FIG. 1;

FIG. 3 is a perspective view of the present invention apparatus as the side elevation bar is being walked forward;

FIG. 4 is a right side view of the device of FIG. 1;

FIG. 5 is a schematic view of the stabilizing disc of FIG. 4 in cooperation with a female link;

FIG. 6 is a perspective view of the stabilizing disc shown in FIG. 5;

FIG. 7 is a perspective view of the angle adjustment lever of FIG. 1;

FIG. 8 is a schematic view of the construction of the angle sleeve shown in FIG. 7;

FIG. 9 is a schematic illustration of the configuration of the female link shown in FIG. 5;

FIG. 10 is a schematic structural view of the traveling mechanism shown in FIG. 1;

FIG. 11 is a schematic view of the construction of the chassis box of FIG. 10;

FIG. 12 is a perspective view of the ground engaging mechanism of FIG. 1

FIG. 13 is a front view of the device of FIG. 12;

FIG. 14 is a schematic view of the deflection turret of FIG. 13;

FIG. 15 is a schematic view of the construction of the walking bogie shown in FIG. 13;

fig. 16 is a schematic view of the structure of the advancing wheel shown in fig. 13.

In the figure: 1. a stabilizing disc; 11. a connecting plate A; 111. a screw mounting groove; 112. a power gear; 12. a rotating bearing; 13. an angle adjusting rod; 131. a length rod; 1311. a chute; 132. fixing the disc; 1321. a first tray body; 1322. a second tray body; 1323. clamping the through hole; 133. an angle sleeve; 1331. a clamping column; 1332. an inner slide bar; 2. a linkage mechanism; 21. a concave connecting rod; 211. an outer lever; 212. a connecting shaft; 213. an inner side rod; 22. a straight rod; 3. a traveling mechanism; 31. a height bar; 311. mounting a plate; 32. a width bar; 33. a floor box; 4. a ground engaging mechanism; 41. a fixing plate; 411. a connecting plate B; 412. a longitudinal plate; 42. a multidirectional connection frame; 421. a deflection rotating frame; 4211. a horizontal C-shaped frame; 4212. a vertical C-shaped frame; 422. a walking bogie; 423. connecting the rotating shaft; 424. a connecting gear; 425. a steering assist lever; 426. an elastic element; 43. a forward wheel; 431. a wheel body; 432. and (4) ratchet wheels.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Referring to fig. 1, 2, 3, 4, 5, 6, 10, 12, 13, an intelligent robot walking assembly includes a stable disk 1, a linkage mechanism 2, a walking mechanism 3, and a ground contacting mechanism 4, the stable disk 1 includes a connection board a11, a rotation bearing 12, and an angle adjusting rod 13, the rotation bearing 12 is fixedly installed at the center of the inner side of the connection board a11, the angle adjusting rod 13 is disposed between the rotation bearings 12, by studying the traditional robot walking process, an intelligent robot walking assembly is designed to be conveniently installed in the assembly of a robot to assist the walking of the robot, the robot can simulate the walking of a human through the walking mechanism 3, the robot walking assembly is conveniently installed in the robot through the structural arrangement of the stable disk 1, the stable running during walking is ensured, the connecting plate A11 is provided with screw mounting grooves 111 and a power gear 112, the screw mounting grooves 111 are uniformly arranged along the circumferential direction of the connecting plate A11, the power gear 112 is rotatably mounted at the center of the inner side surface of the connecting plate A11, the power gear 112 is fixedly connected with the rotating bearing 12, the screw mounting grooves 111 are arranged to facilitate the user to use bolts to fix the connecting plate A11 on the inner wall of the robot, facilitate the normal running of the linkage mechanism 2, the walking mechanism 3 and the ground contact mechanism 4, facilitate the user to use the power of walking by externally connecting chains through the arrangement of the power gear 112, drive the power gear 112 to rotate through an externally connected power source such as a motor so as to transmit the power downwards, and provide the walking power for the whole robot walking assembly for use;

as shown in fig. 7 and 8, the angle adjusting lever 13 includes a length rod 131, a fixed disk 132 and an angle sleeve 133, a sliding slot 1311 is formed at a head of an outer side surface of the length rod 131, the fixed disk 132 includes a first disk 1321 and a second disk 1322, the first disk 1321 and the second disk 1322 are symmetrically disposed at two end heads of the length rod 131, the first disk 1321 is fixedly connected to the length rod 131, the second disk 1322 is rotatably connected to the length rod 131, clamping through holes 1323 are uniformly formed in the second disk 1322 along a circumferential direction, the angle sleeve 133 is sleeved on the outer side surface of the length rod 131, a clamping column 1331 matched with the clamping through hole 1323 and an inner sliding strip 1332 matched with the sliding slot 1311 are disposed on the angle sleeve 133, the clamping column 1331 is uniformly disposed on a bottom surface of the angle sleeve 133 along the circumferential direction of the angle sleeve 133, the inner sliding strip 1332 is uniformly disposed on an inner side surface of the angle sleeve 133 along the circumferential direction of the angle sleeve 133, the walking range between the two walking mechanisms can be adjusted by adjusting the angle adjusting rod 13 by a user through the structure of the angle adjusting rod 13, so as to be convenient for installation and use in different robots and also facilitate the purpose of walking of the robots in different use environments, the length rod 131 is arranged to be connected with the first disk 1321 and the second disk 1322 for use, the outer sides of the first disk 1321 and the second disk 1322 are fixedly connected with the concave connecting rod 21, so that the included angle between the concave connecting rods 21 at two sides can be changed by rotating the second disk 1322, the swinging difference of the walking mechanisms at two ends can be reduced in the transmission process, the walking mode of the walking mechanisms can be changed, the specific operation process of changing the angle is to slide the angle sleeve 133 to the center of the length rod 131, and the clamping column 1331 can slide out of the clamping through hole 1323, then rotate second disk 1322 and adjust to suitable angle after, insert joint post 1331 in corresponding joint through-hole 1323, accomplish the purpose of angle modulation, can be fine through setting up the assurance angle cover 133 that slides along spout 1311 direction, and can not take place pivoted purpose to interior slide bar 1332, guarantee angle modulation's stability.

As shown in fig. 1, 2, 3 and 4, the linkage mechanism 2 includes a concave connecting rod 21 and a straight rod 22, one end of the concave connecting rod 21 is rotatably connected to the rotating bearing 12, the other end of the concave connecting rod is rotatably connected to the straight rod 22, the length of the straight rod 22 is greater than that of the concave connecting rod 21, the straight rod 22 is installed in the middle of the concave connecting rod 21, and the linkage mechanism 2 is arranged to facilitate connection between the stabilizing disc 1 and the traveling mechanism 3, and timely transmit the rotating force of the power gear 112 to the traveling mechanism 3 to drive the traveling mechanism 3 to achieve the purpose of advancing in a staggered manner;

as shown in fig. 9, the concave connecting rod 21 includes an outer rod 211, a connecting shaft 212 and an inner rod 213, the outer rod 211 is fixedly sleeved on the rotary bearing 12, the connecting shaft 212 is disposed between the outer rod 211 and the inner rod 213, both the outer rod 211 and the inner rod 213 are fixedly connected to the connecting shaft 212, the inner rod 213 is fixedly clamped on the fixed disk 132, the structure of the concave connecting rod 21 is configured to facilitate the transmission of the power gear 112, and then the circular rotation of the concave connecting rod 21 is utilized to drive the traveling mechanism 3 to swing, the concave connecting rod 21 is configured to be concave, so that the straight rod 22 can effectively rotate on the connecting shaft, and at the same time, the straight rod 22 can pass through between the outer rod 211 and the inner rod 213, thereby ensuring no mutual interference operation during the transmission process, the outer rod 211 is configured to be used in connection with the rotary bearing 12, the inner rod 213 is provided to be connected to the angle adjustment lever 13, and the straight lever 13 is driven to swing by the outer rod 211 and the inner rod 213.

As shown in fig. 10, the traveling mechanism 3 is installed at the end of the straight rod 22, and the traveling mechanism 3 is rotatably connected to the straight rod 22, when the lower end of the traveling mechanism 3 moves forward, the advancing wheel 43 of the ground contacting mechanism 4 can slide forward along the ground, when the lower end of the traveling mechanism 3 moves backward, the advancing wheel 43 of the ground contacting mechanism 4 can block its rotation through the ratchet wheel 432 structure, so as to achieve the purpose of traveling forward, and thus the walking mechanism 3 can achieve the purpose of stable traveling, the traveling mechanism includes a height rod 31, a width rod 32, and a bottom plate box 33, the head of the height rod 31 is rotatably connected to the straight rod 22, the width rod 32 is installed at the middle of the height rod 31, and the width rod 32 is rotatably connected to the height rod 31, the middle of the upper end of the height rod 31 is further provided with an installation plate 311, the installation plate 311 is vertically welded to the height rod 31, the bottom plate box 33 is fixedly installed, and the lower end of the bottom plate box 33 is provided with a stabilizing groove 331, the walking mechanism 3 is structurally arranged to conveniently match the swing of the straight rod 22 to realize the walking purpose, the connection with the straight bar 22 through the head is facilitated by the structural arrangement of the height bar 32, and the middle of the height bar 31 is positioned by the width bar 32, so that the height rod 31 can only do reciprocating swing at the lower part under the driving of the straight rod 22, thereby realizing the purpose of simulating walking, the structure of the width rod 32 is convenient for a user to fix the height rod inside the robot through the mounting plate 311, therefore, the purpose of positioning the middle part of the height rod 31 is achieved, the floor box 33 is structurally arranged to facilitate installation and use of the ground contacting mechanism 4, the ground contacting mechanism 4 can be effectively surrounded in the floor box 33 while normal work of the ground contacting mechanism 4 is guaranteed, and the ground contacting mechanism 4 is protected from being damaged by the outside.

As shown in fig. 11, 12 and 13, the ground contacting mechanism 4 includes a fixed plate 41, a multi-directional connecting frame 42 and a forward wheel 43, the fixed plate 41 is fixed at the lower end of the traveling mechanism 3 by bolts, the multi-directional connecting frame 42 is installed at the lower end of the fixed plate 41, the multi-directional connecting frame 42 is rotatably connected with the fixed plate 41, the forward wheel 43 is installed at the middle part of the multi-directional connecting frame 42, the forward wheel 43 is rotatably connected with the multi-directional connecting frame 42, the user can conveniently realize the purpose of steering and standing the traveling assembly 3 by controlling the rotating motor by arranging the ground contacting mechanism 4, the fixed plate 41 includes a connecting plate B411 and a longitudinal plate 412, the connecting plate B411 is installed inside the floor box 33, the connecting plate B411 is fixedly connected with the floor box 33 by bolts, the longitudinal plate 412 is vertically arranged at the head of the lower end face of the connecting plate B411, and the connecting plate B411 and the longitudinal plate 412 are integrally formed, the longitudinal plate 412 is provided with a rotating motor, the fixing plate 41 is structurally arranged to facilitate a user to install the ground contacting mechanism 4 for use, the ground contacting mechanism 4 can be stably installed inside the bottom plate box 33, the connecting plate B411 is arranged to facilitate the user to fixedly install the ground contacting mechanism through bolts, the longitudinal plate 412 is arranged to facilitate the installation of the multidirectional connecting frame 42 for use, the outer side of the longitudinal plate 412 is provided with the rotating motor connected with the multidirectional connecting frame 42, the user can control the multidirectional connecting frame 42 for use by controlling the rotating motor, and the rotating motor can realize functions by adopting a stepping motor;

as shown in fig. 12, 13 and 14, the multi-directional link 42 includes a deviation rotating frame 421 and a traveling bogie 422, the deviation rotating frame 421 includes a horizontal C-shaped frame 4211 and a vertical C-shaped frame 4212, the horizontal C-shaped frame 4211 is installed on an inner side surface of the longitudinal plate 412, the horizontal C-shaped frame 4211 is rotatably connected with the longitudinal plate 412, the vertical C-shaped frame 4212 is longitudinally installed on an upper end surface of the horizontal C-shaped frame 4211, the horizontal C-shaped frame 4211 and the vertical C-shaped frame 4212 are integrally formed, a rotating motor is further provided outside the horizontal C-shaped frame 4211, a user can control the forward wheel 43 to rotate at multiple angles by rotating the rotating motor through the structural configuration of the multi-directional link 42, multiple traveling modes of the robot are facilitated, a user can control the twisting direction of the forward wheel 43 through the structural configuration of the deviation rotating frame 421, and further, switching between standing and traveling of the robot is facilitated, when the horizontal C-shaped frame is in a horizontal position, the advancing wheels 43 are perpendicular to the ground at the moment, so that the robot can conveniently walk forwards normally, when the horizontal C-shaped frame rotates from inside to outside, the inner side surfaces of the advancing wheels 43 are provided with chamfer inclined surfaces, the advancing wheels 43 are in an inclined state with the ground at the moment, the chamfer inclined surfaces of the advancing wheels 43 are in contact with the ground, so that the advancing wheels 43 on the two sides are splayed, the robot can be stably stopped on the ground, a user can control the walking of the robot and the angle of the advancing wheels 43 when the robot stops by rotating the motor, the rotating motor is conveniently connected by arranging the horizontal C-shaped frame, the rotating angle of the horizontal C-shaped frame is accurately controlled by rotating the motor, the purpose of controlling the advancing wheels is further achieved, the structure arrangement of the vertical C-shaped frame is convenient for installing a walking bogie for use, the vertical C-shaped frame can rotate along with the deflection rotating frame, so that the angle between the walking bogie and the advancing wheel is driven to rotate;

as shown in fig. 12, 13 and 15, the traveling bogie 422 is vertically installed inside the deflection rotating frame 421, the traveling bogie 422 is rotatably connected to the deflection rotating frame 421, the connecting rotating shaft 423 is installed at the center of the outer side of the traveling bogie 422, the connecting gear 424 is fixedly installed at the head of the connecting rotating shaft 423, the traveling direction of the robot can be effectively controlled by a user through the structural arrangement of the traveling bogie 422, the purpose of rotating the connecting rotating shaft 423 is achieved by rotating the motor through the chain matching with the connecting gear 424, and the traveling bogie 422 is driven to perform precise angular rotation, so as to achieve the purpose of changing the traveling direction of the robot, the deflection rotating frame 421 is further provided with a steering auxiliary rod 425, the steering auxiliary rod 425 is horizontally arranged at the lower end of the outer side of the deflection rotating frame 421, and the steering auxiliary rod 425 and the deflection rotating frame 421 are integrally formed, the head of the outer side surface of the steering auxiliary rod 425 is fixedly provided with an elastic element 426, the other end of the elastic element 426 is fixedly connected with a horizontal C-shaped frame 4211, the steering auxiliary rod 425 is arranged to facilitate the auxiliary deflection rotating frame 421 to rotate for use, the automatic correction can be ensured when a rotating motor is not controlled, the stability of the robot during walking is ensured, the range of distance adjustment between the steering auxiliary rod 425 and the horizontal C-shaped frame 4211 can be ensured by the arrangement of the elastic element 426, and the problem that the robot cannot normally walk due to the fact that the deflection rotating frame 421 has an overlarge steering angle can be effectively prevented;

as shown in fig. 12, 13 and 16, the advancing wheel 43 includes a wheel body 431 and a ratchet 432, a stable inclined plane 433 is formed on an outer side surface of the wheel body 431, the ratchet 432 is fixedly installed at a lower end of the traveling bogie 422, the wheel body 431 is installed on an outer side surface of the ratchet 432, and the wheel body 431 is rotatably connected with the ratchet 432, so that the advancing wheel 43 is conveniently matched with the traveling mechanism 3 to perform moving traveling of the robot through structural arrangement, when the floor box 33 moves forward, the wheel body 431 can rotate in cooperation with the ratchet 432 to achieve a stepping effect, and when the floor box 33 moves backward, the ratchet 432 locks the wheel body 431 to prevent the wheel body 431 from rotating relative to the ground, so that the purpose of normal traveling of the robot can be achieved through repetition.

The device obtained by the design can basically meet the use requirement of the walking assembly of the intelligent robot, but the designer further improves the device with the aim of further improving the function.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an intelligent robot walking subassembly, includes stable dish (1), link gear (2), running gear (3) and mechanism (4) that contacts to earth, its characterized in that: the stabilizing disc (1) comprises connecting plates A (11), rotating bearings (12) and angle adjusting rods (13) which are symmetrically installed, the rotating bearings (12) are fixedly installed at the center of the inner side faces of the connecting plates A (11), the angle adjusting rods (13) are arranged between the rotating bearings (12), the linkage mechanism (2) comprises concave connecting rods (21) and straight rods (22), one ends of the concave connecting rods (21) are rotatably connected with the rotating bearings (12), the other ends of the concave connecting rods (21) are rotatably connected with the straight rods (22), the length of the straight rods (22) is larger than that of the concave connecting rods (21), the straight rods (22) are installed in the middle of the concave connecting rods (21), the traveling mechanisms (3) are installed at the tail ends of the straight rods (22), the traveling mechanisms (3) are rotatably connected with the straight rods (22), the ground contact mechanism (4) comprises fixing plates (41), multidirectional connecting frames (42) and advancing wheels (43), the fixed plate (41) is fixed at the lower end of the travelling mechanism (3) through bolts, the multidirectional connecting frame (42) is installed at the lower end of the fixed plate (41), the multidirectional connecting frame (42) is rotatably connected with the fixed plate (41), the advancing wheel (43) is installed in the middle of the multidirectional connecting frame (42), and the advancing wheel (43) is rotatably connected with the multidirectional connecting frame (42); the angle adjusting rod (13) comprises a length rod (131), a fixed disk (132) and an angle sleeve (133), the head of the outer side surface of the length rod (131) is provided with a sliding groove (1311), the fixed disk (132) comprises a first disk body (1321) and a second disk body (1322), the first disk body (1321) and the second disk body (1322) are symmetrically arranged at the two ends of the length rod (131), the first disk body (1321) is fixedly connected with the length rod (131), the second disk body (1322) is rotatably connected with the length rod (131), clamping through holes (1323) are uniformly arranged in the second disk body (1322) along the circumferential direction, the angle sleeve (133) is sleeved on the outer side surface of the length rod (131), clamping columns (1321) matched with the clamping through holes (1323) and inner sliding strips (1332) matched with the sliding groove (1311) are arranged on the angle sleeve (133), and the clamping columns (1331) are uniformly arranged on the bottom surface of the angle sleeve (133) along the circumferential direction, the inner slide bar (1332) is uniformly arranged on the inner side surface of the angle sleeve (133) along the circumferential direction of the angle sleeve (133).

2. The walking assembly of the intelligent robot as claimed in claim 1, wherein the concave connecting rod (21) comprises an outer rod (211), a connecting shaft (212) and an inner rod (213), the outer rod (211) is fixedly sleeved on the rotary bearing (12), the connecting shaft (212) is arranged between the outer rod (211) and the inner rod (213), the outer rod (211) and the inner rod (213) are both fixedly connected with the connecting shaft (212), and the inner rod (213) is fixedly clamped on the fixed disc (132).

3. The intelligent robot walking assembly according to claim 2, wherein the walking mechanism (3) comprises a height rod (31), a width rod (32) and a bottom plate box (33), the head of the height rod (31) is rotatably connected with the straight rod (22), the width rod (32) is installed in the middle of the height rod (31), the width rod (32) is rotatably connected with the height rod (31), a mounting plate (311) is further arranged in the middle of the upper end of the height rod (31), the mounting plate (311) is vertically welded on the height rod (31), the bottom plate box (33) is fixedly installed on the lower end face of the height rod (31), and a stabilizing groove (331) is formed in the lower end of the bottom plate box (33).

4. The intelligent robot walking assembly of claim 3, wherein the fixing plate (41) comprises a connecting plate B (411) and a longitudinal plate (412), the connecting plate B (411) is installed inside the bottom plate box (33), the connecting plate B (411) is fixedly connected with the bottom plate box (33) through a bolt, the longitudinal plate (412) is vertically arranged at the head of the lower end face of the connecting plate B (411), the connecting plate B (411) and the longitudinal plate (412) are integrally formed, and a rotating motor is installed on the longitudinal plate (412).

5. The intelligent robot walking assembly of claim 4, wherein the multidirectional connecting frame (42) comprises a deviation rotating frame (421) and a walking bogie (422), the deviation rotating frame (421) comprises a horizontal C-shaped frame (4211) and a vertical C-shaped frame (4212), the horizontal C-shaped frame (4211) is installed on the inner side face of the longitudinal plate (412), the horizontal C-shaped frame (4211) is rotatably connected with the longitudinal plate (412), the vertical C-shaped frame (4212) is longitudinally installed on the upper end face of the horizontal C-shaped frame (4211), the horizontal C-shaped frame (4211) and the vertical C-shaped frame (4212) are integrally formed, and a rotating motor is further arranged on the outer side of the horizontal C-shaped frame (4211).

6. The intelligent robot walking assembly according to claim 5, wherein the walking bogie (422) is vertically installed inside the deflection rotating frame (421), the walking bogie (422) is rotatably connected with the deflection rotating frame (421), a connecting rotating shaft (423) is arranged at the center of the outer side surface of the walking bogie (422), and a connecting gear (424) is fixedly installed at the head of the connecting rotating shaft (423).

7. The intelligent robot walking assembly of claim 6, wherein a steering auxiliary rod (425) is further arranged on the deflection rotating frame (421), the steering auxiliary rod (425) is horizontally arranged at the lower end of the outer side face of the deflection rotating frame (421), the steering auxiliary rod (425) and the deflection rotating frame (421) are integrally formed, an elastic element (426) is further fixedly mounted at the head of the outer side face of the steering auxiliary rod (425), and the other end of the elastic element (426) is fixedly connected with the horizontal C-shaped frame (4211).

8. The intelligent robot walking assembly of claim 7, wherein the advancing wheel (43) comprises a wheel body (431) and a ratchet wheel (432), a stable inclined surface (433) is formed on the outer side surface of the wheel body (431), the ratchet wheel (432) is fixedly installed at the lower end of the walking bogie (422), the wheel body (431) is installed on the outer side surface of the ratchet wheel (432), and the wheel body (431) is rotatably connected with the ratchet wheel (432).

9. The intelligent robot walking assembly according to any one of claims 1 to 8, wherein a screw mounting groove (111) and a power gear (112) are provided on the connection plate A (11), the screw mounting groove (111) is uniformly arranged along the circumferential direction of the connection plate A (11), the power gear (112) is rotatably mounted at the center of the inner side surface of the connection plate A (11), and the power gear (112) is fixedly connected with the rotary bearing (12).