CN112296978A - Robot - Google Patents

Abstract

The application relates to the technical field of robots and discloses a robot. The robot includes: a body and a plurality of drive assemblies; each driving component is connected with the main body and is used for supporting the main body and controlling the main body to move in a matching way; wherein, each drive assembly includes: the motor base is connected with the main body and provided with a motor; the first driving arm is connected with the motor base through a first driving shaft and is configured to rotate around the first driving shaft for 360 degrees under the driving of the motor; and a second driving arm connected to the first driving arm through a second driving shaft, wherein the second driving arm is configured to be capable of rotating 360 degrees around the second driving shaft under the driving of a motor. Through the mode, the movement speed of the robot is improved.

Description

Robot

Technical Field

The application relates to the technical field of robots, in particular to a robot.

Background

With the development of society and countries, while the economy is rapidly increased, various natural disasters still inevitably occur, a plurality of potential safety hazards exist in the rescue work after disasters, and the rescuers are easily injured and the disaster-stricken personnel are easily subjected to secondary injury. With the promotion of various demands and technical conditions, robots for search and rescue work and material transportation are beginning to enter the field of vision of people. Such as snake-shaped robots for searching and rescuing after earthquake disaster.

The robot in the related art has many disadvantages such as sudden stop of the driving motor, which makes the robot movement limited.

Disclosure of Invention

The technical problem that this application mainly solved provides a robot, can promote robot's velocity of motion.

A technical scheme that this application adopted provides a robot, and this robot includes: a main body; the driving components are connected with the main body and are used for supporting the main body and controlling the main body to move in a matching manner; wherein, each drive assembly includes: the motor base is connected with the main body and provided with a motor; the first driving arm is connected with the motor base through a first driving shaft and is configured to rotate around the first driving shaft for 360 degrees under the driving of the motor; and a second driving arm connected to the first driving arm through a second driving shaft, wherein the second driving arm is configured to be capable of rotating 360 degrees around the second driving shaft under the driving of a motor.

The motor comprises a first motor and a second motor, wherein the first motor and the second motor are oppositely arranged on two sides of a motor base; the first driving arm is connected with the motor base through a first driving shaft and is configured to rotate around the first driving shaft for 360 degrees under the driving of the first motor; the second driving arm is connected with the first driving arm through a second driving shaft, and the second driving arm is configured to rotate around the second driving shaft for 360 degrees under the driving of a second motor.

Wherein each driving component also comprises a first transmission component; the first transmission assembly includes: a first conveyor belt; the first driving wheel is connected with the first motor and is used for rotating under the driving of the first motor; the second driving wheel is connected with the first driving wheel through the first conveyor belt, connected with the first driving shaft and used for being driven by the first driving wheel to rotate so as to drive the first driving shaft to rotate, and further enable the first driving arm to rotate.

Wherein, each drive assembly still includes: the second transmission assembly is connected with a second motor; and the third transmission assembly is connected with the second transmission assembly and is connected with the second driving arm through the second driving shaft.

Wherein, the second transmission assembly includes: a second conveyor belt; the third driving wheel is connected with the second motor and is used for rotating under the driving of the second motor; the fourth driving wheel is connected with the third driving wheel through a second conveying belt; and the third driving shaft is connected with the fourth driving wheel and the third transmission assembly and is used for rotating under the driving of the fourth driving wheel, so that the third transmission assembly drives the second driving arm to rotate around the second driving shaft.

Wherein, the third transmission assembly includes: a third conveyor belt; the fifth driving wheel is connected with the third driving shaft; and the sixth driving wheel is connected with the fifth driving wheel through a third conveying belt and is connected with the second driving shaft, and the sixth driving wheel is used for driving the second driving arm to rotate around the second driving shaft under the driving of the fifth driving wheel.

The first driving arm comprises a first shell, a second shell and a third shell, and the first shell, the second shell and the third shell are connected in a matched mode to form an accommodating space for accommodating the third transmission assembly.

Wherein, first drive shaft is provided with the through-hole along the axial, and the third drive shaft is worn to locate the through-hole and is connected with third transmission assembly.

The motor comprises a first motor, a second motor and a third motor; the motor cabinet includes: the first motor base is arranged on the main body, and a third motor is arranged on the first motor base; and the second motor base is connected with an output shaft of the third motor, is provided with the first motor and the second motor, and is configured to rotate around the output shaft of the third motor under the driving of the third motor.

Wherein, the second motor cabinet includes: the base is connected with an output shaft of the third motor; the first side plate and the second side plate are oppositely arranged on the side wall of the base; wherein, be provided with the second motor on the first curb plate, be provided with first motor on the second curb plate.

The beneficial effect of this application is: in contrast to the state of the art, a robot of the present application comprises: a main body; the driving components are connected with the main body and are used for supporting the main body and controlling the main body to move in a matching manner; wherein, each drive assembly includes: the motor base is connected with the main body and provided with a motor; the first driving arm is connected with the motor base through a first driving shaft and is configured to rotate around the first driving shaft for 360 degrees under the driving of the motor; and a second driving arm connected to the first driving arm through a second driving shaft, wherein the second driving arm is configured to be capable of rotating 360 degrees around the second driving shaft under the driving of a motor. Through the mode, the first driving arm and the second driving arm in the driving assembly can rotate 360 degrees, on one hand, reciprocating scram of the motor is reduced, loss of the motor can be reduced, on the other hand, the rotating range of the first driving arm and the second driving arm is increased, the moving speed of the robot can be improved, and performance of the robot is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:

FIG. 1 is a schematic diagram of an embodiment of a robot provided herein;

FIG. 2 is a schematic structural diagram of an embodiment of the body of FIG. 1 provided herein;

FIG. 3 is a schematic structural diagram of an embodiment of the drive assembly of FIG. 1 provided herein;

FIG. 4 is a schematic structural diagram of an embodiment of the first motor mount of FIG. 3 provided herein;

FIG. 5 is a schematic structural diagram of an embodiment of the second motor mount of FIG. 3 provided herein;

FIG. 6 is a schematic structural view of an embodiment of the second side plate of FIG. 5 provided herein;

FIG. 7 is a schematic structural view of an embodiment of the first side panel of FIG. 5 as provided herein;

FIG. 8 is a schematic structural diagram of an embodiment of the base of FIG. 5 provided herein;

fig. 9 is a schematic structural diagram of an embodiment of the second electric machine in fig. 3 provided by the present application:

FIG. 10 is a schematic view of the connection of the second motor and the first side plate provided by the present application;

FIG. 11 is a schematic structural diagram of an embodiment of the drive assembly of FIG. 1 provided herein;

FIG. 12 is a schematic structural diagram illustrating an embodiment of the first transmission assembly of FIG. 11 provided herein;

FIG. 13 is a schematic structural diagram illustrating an embodiment of the second drive assembly of FIG. 11 as provided herein;

FIG. 14 is a schematic structural view of an embodiment of the connection of the second motor, the third transmission wheel and the first side plate provided by the present application;

FIG. 15 is a schematic structural view of an embodiment of the first drive shaft of FIG. 3 provided herein;

FIG. 16 is a schematic structural view of an embodiment of the third drive shaft of FIG. 3 as provided herein;

FIG. 17 is a schematic illustration of the first drive shaft, third drive shaft, first drive assembly and second drive assembly connection provided herein;

FIG. 18 is a schematic cross-sectional view along AA' of FIG. 17 provided herein;

figure 19 is a schematic structural view of an embodiment of the first drive arm, second drive arm, third drive assembly, and secondary drive shaft connection provided herein;

FIG. 20 is a schematic structural view of an embodiment of the second drive shaft of FIG. 3 as provided herein;

FIG. 21 is a schematic illustration of an embodiment of the connection of the second drive shaft to the third transmission assembly of FIG. 19 as provided herein;

figure 22 is a schematic structural view of an embodiment of the second drive arm of figure 3 as provided herein;

FIG. 23 is a schematic view of a portion of the drive assembly of the robot provided herein;

FIG. 24 is a schematic view of an application scenario of the robot provided herein;

fig. 25 is a schematic view of another application scenario of the robot provided in the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a robot provided in the present application. The robot 10 includes a main body 11 and a plurality of drive assemblies 12.

Wherein each driving assembly 12 is connected to the main body 11 for supporting the main body 11 and cooperating with the main body 11 to control the movement. As shown in fig. 1, the robot 10 includes four driving units 12, and the four driving units 12 are respectively disposed on the main body 11. The robot 10 can be controlled to move forward, backward, leftward, and rightward. In other embodiments, the number of drive assemblies 12 may be six.

Referring to fig. 2, the main body 11 includes a top plate 111, a bottom plate 112, a first side plate 113, and a second side plate 114. The first side plate 113 and the second side plate 114 are disposed opposite to each other and cooperate with the top plate 111 and the bottom plate 112 to form an accommodating space for accommodating a control system, a power supply system, an induction system, and the like of the robot 10. The four driving assemblies 12 may be disposed at the first opening of the accommodating space and the second opening of the accommodating space respectively.

In some embodiments, a rack may be disposed on the top plate 111 for accommodating articles, and the robot 10 may transport the articles.

Referring to fig. 3, the driving assembly 12 includes a motor base 121, a motor 122, a first driving arm 123, a first driving shaft 124, a second driving arm 125, a second driving shaft 126, and a third driving shaft 130.

Wherein, the motor base 121 is connected with the main body 11, and a motor 122 is arranged on the motor base 121; the first driving arm 123 is connected to the motor base 121 through a first driving shaft 124, and the first driving arm 123 is configured to be driven by the motor 122 to rotate 360 degrees around the first driving shaft 124; the second drive arm 125 is connected to the first drive arm 123 via a second drive shaft 126, and the second drive arm 125 is disposed to be rotatable by 360 degrees around the second drive shaft 126 by the motor 122.

Among them, the motor 122 includes a first motor 1221, a second motor 1223, and a third motor 1225. Motor mount 121 includes a first motor mount 1211 and a second motor mount 1213. The first motor 1221 and the second motor 1223 are oppositely disposed on two sides of the second motor mount 1213. The third motor 1225 is disposed between the first motor mount 1211 and the second motor mount 1213. The first driving arm 123 is connected to the second motor base 1213 through the first driving shaft 124, and the first driving arm 123 is configured to be rotatable by 360 degrees around the first driving shaft 124 by the first motor 1221; the second drive arm 125 is connected to the first drive arm 123 via a second drive shaft 126, and the second drive arm 125 is configured to be rotatable about the second drive shaft 126 by 360 degrees by a second motor 1223. In other embodiments, the drive assembly 12 may not include the third drive shaft 130.

Referring to fig. 4, the first motor mount 1211 is illustrated:

the first motor mount 1211 includes a base 12111, a first projection 12112, a second projection 12113, a third projection 12114, and a fourth projection 12115. Among them, a first projection 12112, a second projection 12113, a third projection 12114 and a fourth projection 12115 are provided on the base 12111. The first through holes are formed in the first, second, third and fourth protrusions 12112, 12113, 12114 and 12115, the first through holes of the first and second protrusions 12112 and 12113 are engaged with the top plate 111 of the main body 11 using a fastener, the first and second protrusions 12112 and 12113 are brought into contact with the top plate 111 of the main body 11, the first through holes of the third and fourth protrusions 12114 and 12115 are engaged with the bottom plate 112 of the main body 11 using a fastener, the first and second protrusions 12112 and 12113 are brought into contact with the bottom plate 112 of the main body 11, and the first motor mount 1211 is disposed on the main body 11. The base 12111 is provided with a plurality of second through holes for cooperating with fasteners to mount the motor on the base 12111.

Referring to fig. 5 to 8, the second motor mount 1213 will be explained:

second motor mount 1213 includes a base 12131, a first side plate 12132, and a second side plate 12133. The base 12131, the first side plate 12132 and the second side plate 12133 form an accommodating space. A plurality of third through holes 121316 are disposed on the bottom 121315 of the base 12131, and when the bottom 121315 is assembled with the output shaft of the third motor 1225, the second motor mount 1213 is connected to the third motor 1225 by fasteners passing through the plurality of third through holes 121316 and connecting to the fourth through hole on the output shaft of the third motor 1225. First sidewall 121311 of base 12131 is disposed opposite third sidewall 121313 and second sidewall 121312 is disposed opposite fourth sidewall 121314. The base 12131 is further provided with a first groove, and the opening of the first groove is arranged at the side far away from the bottom surface 121315. The first groove is provided with openings at both the first side wall 121311 and the third side wall 121313. The first side wall 121311 and the third side wall 121313 are each provided with a fifth through hole. The second motor base 1213 is configured to be rotatable around an output shaft of the third motor 1225 by the third motor 1225, thereby achieving the left-right movement of the robot.

The first side plate 12132 is provided with a plurality of sixth through holes 121323, a plurality of seventh through holes 121325, a plurality of eighth through holes 121324, a ninth through hole 121321, and a tenth through hole 121322.

The second side plate 12133 includes a base plate 121331 and a frame body 121332, wherein the base plate 121331 is the same as the first side plate, the frame body 121332 cooperates with the base plate 121331 to form a structure as shown in fig. 6, and cooperates with the first side plate 12132 and the base 12131 to form a structure as shown in fig. 5, specifically, the first side plate 12132 and the second side plate are disposed on the side wall of the base 12131, such as the first side plate 12132 is disposed on the first side wall 121311, and the second side plate 12133 is disposed on the third side wall 121313; or the second side plate 12133 is disposed on the first side wall 121311 and the first side plate 12132 is disposed on the third side wall 121313.

Referring to fig. 9, the second motor 1223 is taken as an example for explanation: the second motor 1223 includes a motor main body 12231 and an output shaft 12233. Wherein, the motor main body 12231 is provided with a plurality of eleventh through holes 12232.

The eleventh through hole 12212 of the second motor 1223 is connected after the fasteners are inserted through the seventh through holes 121325, so that the output shaft 12213 of the second motor 1223 is exposed at the ninth through hole 121321, thereby forming the structure shown in fig. 10.

The first motor 1221 is disposed on the second side plate 12133 in the same or similar manner as described above.

Referring to fig. 11, the first transmission assembly 127 and the second transmission assembly 128 are accommodated in the accommodating space of the second motor base 1213. The drive assembly 12 also includes a third drive shaft 130.

Referring to fig. 12, the first drive assembly 127 is illustrated: the first drive assembly 127 includes a first conveyor belt 1271, a first drive wheel 1272 and a second drive wheel 1273. The first driving wheel 1272 is connected with the second driving wheel 1273 through a first belt 1271. The first driving wheel is connected with a first motor 1221 and is driven by the first motor 1221 to rotate; the second transmission wheel is connected to the first transmission wheel through the first transmission belt 1271 and connected to the first driving shaft 124, and is driven by the first transmission wheel to rotate so as to drive the first driving shaft 124 to rotate, and thus the first driving arm 123 is rotated.

Specifically, the first driving wheel 1272 is provided with a plurality of twelfth through holes 12721, and the first driving wheel is connected with positioning holes provided on the output shaft 12213 of the first motor 1221 by using fasteners to penetrate through the plurality of twelfth through holes 12721. The second transmission wheel 1273 is provided with a thirteenth through hole 12731, and is connected to the first driving shaft 124 by using a fastening member inserted through the thirteenth through hole 12731, so as to drive the first driving shaft 124 to rotate. In some embodiments, the first conveyor 1271 is a toothed belt and the first and second drive wheels 1272 and 1273 are gears. By the toothed belt cooperating with the gears, the transmission accuracy is improved, the relative movement between the first conveyor belt 1271 and the first and second drive wheels 1272 and 1273 is reduced, and slipping is avoided.

In some embodiments, the first drive assembly 127 may not include the first conveyor 1271, and drive is provided by the engagement of the first drive wheel 1272 with the second drive wheel 1273. The second driving wheel 1273 can be connected with the first driving shaft 124 through a key, a key slot is arranged on the first driving shaft 124, and a key with a corresponding specification is arranged on the second driving wheel, or a key is arranged on the first driving shaft 124, and a key slot with a corresponding specification is arranged on the second driving wheel, and the fastening is completed through the matching of the key and the key slot.

Referring to fig. 13, the second drive assembly 128 is illustrated: the second drive assembly 128 includes a second conveyor belt 1281, a third drive wheel 1282, and a fourth drive wheel 1283. The third transmission wheel 1282 is connected with the fourth transmission wheel 1283 through a second transmission belt 1281. The third transmission wheel 1282 is connected with the second motor 1223 and is driven by the second motor 1223 to rotate; the fourth transmission wheel 1283 is connected to the third transmission wheel 1282 through the second transmission belt 1281, and is connected to the third driving shaft 130, and is driven by the third transmission wheel 1282 to rotate, so as to drive the third driving shaft 130 to rotate.

Specifically, a plurality of fourteenth through holes 12821 are disposed on the third transmission wheel 1282, and a sixteenth through hole disposed on the output shaft 12213 of the second motor 1223 is connected after the plurality of fourteenth through holes 12821 are penetrated through by fasteners. The fourth transmission wheel 1283 is provided with a fifteenth through hole 12831, and is connected to the third driving shaft 130 by using a fastening member inserted through the fifteenth through hole 12831, so as to drive the third driving shaft 130 to rotate. In some embodiments, the third conveyor belt 1281 is a toothed belt and the third drive wheel 1282 and the fourth drive wheel 1283 are gears. By the cooperation of the toothed belt and the gears, the transmission accuracy can be improved, relative movement between the second conveyor belt 1281 and the third and fourth transmission wheels 1282, 1283 is reduced, and slipping is avoided.

Referring to fig. 14, the second motor 1223 is connected to the first side plate 12132, and an output shaft of the second motor 1223 is connected to the third transmission wheel. Specifically, the sixteenth through hole on the output shaft of the second motor 1223 can be matched with the fourteenth through hole 12821 on the third transmission wheel 1282, so that the third transmission wheel 1282 is connected with the output shaft of the second motor 1223.

Referring to fig. 15, the first drive shaft 124 will be described: the first drive shaft 124 includes a first connection end 1241, a first body portion 1242 and a second connection end 1243. The first connection end 1241, the first body portion 1242 and the second connection end 1243 are disposed along an axial direction of the first driveshaft 124, and the first body portion 1242 is disposed between the first connection end 1241 and the second connection end 1243. The first connecting end 1241 is provided with a plurality of seventeenth through holes 1246, and is configured to, when the first connecting end 1241 contacts the first driving arm 123, utilize a fastener to penetrate through the seventeenth through holes 1246 to match with the connecting holes on the first driving arm 123, and set the first connecting portion 1241 on the first driving arm 123. The second connection end 1243 is provided with a second recess 1244, for the through hole fastener to cooperate with the second recess 1244 when the second connection end 1243 is connected with the second driving wheel 1273, so as to arrange the second driving wheel 1273 at the second connection end 1243. The outer circumference of the first body part 1242 is larger than that of the second connection end 1243. The first driving shaft 124 is provided with an eighteenth through hole 1245 in the axial direction.

Referring to fig. 16, the third driving shaft 130 will be explained: the third driving shaft 130 includes a third connection end 131, a fourth connection end 132, a fifth connection end 133, a sixth connection end 134, and a seventh connection end 135. The third connecting end 131, the fourth connecting end 132, the fifth connecting end 133, the sixth connecting end 134, and the seventh connecting end 135 are sequentially connected in the axial direction of the third driving shaft 130. Third link end 131 includes a first end 1311 and a second end 1312. The outer circumference of the first end 1311 is smaller than the outer circumference of the second end 1312. A first planar surface 137 is disposed on the first end 1311. A second plane 136 is provided at the seventh connection end 135. In other embodiments, the first plane 137 and the second plane 136 may also be grooves.

Referring to fig. 17 and 18, the third driving shaft 130 is inserted into an eighteenth through hole 1245 of the first driving shaft 124, and a first bearing 132 and a second bearing 133 are disposed at two ends of the eighteenth through hole 1245, so as to separate the first driving shaft 124 from the third driving shaft, and enable the first driving shaft 124 and the third driving shaft to rotate under force respectively without mutual interference. The third driving shaft 130 and the first driving shaft 124 are integrally provided with a first bearing housing 135, a fourth driving wheel 1283, a second driving wheel 1273, a second bearing housing 134, a fifth driving wheel 1292 and a locking member 131 in an axial direction. The first bearing seat 135 is disposed at a through hole of the first side plate, and the second bearing seat 134 is disposed at a through hole of the second side plate to cooperate with the first driving shaft 124 and the third driving shaft to move.

Referring to fig. 19-22, the first driving arm 123 includes a first housing 1231, a second housing 1232 and a third housing 1233, and the first housing 1231, the second housing 1232 and the third housing 1233 are cooperatively connected to form an accommodating space for accommodating the third driving assembly 129.

Optionally, the third drive assembly 129 includes a third conveyor belt 1291, a fifth drive wheel 1292 and a sixth drive wheel 1293. Wherein, the fifth transmission wheel 1292 is connected with the third driving shaft 130; the sixth transmission wheel 1293 is connected to the fifth transmission wheel 1292 via a third transmission belt 1291 and is connected to the second driving shaft 126 for driving the second driving arm 125 to rotate around the second driving shaft 126 under the driving of the fifth transmission wheel 1291.

Optionally, second drive shaft 126 includes an eighth link end 1263, a ninth link end 1262, and a tenth link end 1261. Eighth, ninth, and tenth link ends 1263, 1262, 1261 are disposed axially along the second drive shaft 126, with the second link end disposed between the first and third link ends. Wherein the outer perimeter of the second link end is larger than the outer perimeter of the eighth link end 1263 and the outer perimeter of the tenth link end 1261. A third plane 1265 is provided at the ninth connection terminal 1262, and a fourth plane 1264 is provided at the tenth connection terminal 1261. In other embodiments, the third and fourth planes 1265, 1264 may also be grooves.

The second driving shaft 126 is provided with a bearing seat 137, a third bearing 138, a sixth transmission wheel 1293 and a fourth bearing 136 in this order along the axial direction. Wherein, the inner circle of third bearing 138 is connected with eighth link 1263, and the excircle of third bearing 138 is connected with bearing frame 137, and bearing frame 137 is connected with third casing 1233. The sixth transmission wheel 1293 is connected to a ninth connection 1262. The inner circle of the fourth bearing 136 is connected to the tenth connection end 1261, and the outer circle of the fourth bearing 136 is connected to the first housing 1231.

Referring to fig. 22, the second driving arm 125 includes a second body 1251, a third recess 1252 and a nineteenth through hole 1253 are disposed at one end of the second body 1251, and the nineteenth through hole 1253 penetrates through an inner wall of the third recess 1252. The third recess 1252 is coupled and fastened to the tenth coupling end 1261 of the second driving shaft 126 by the through holes being fitted with the fastening members. The bearing housing 137 is connected to the third housing 1233, and the outer circumference of the fourth bearing 136 is connected to the first housing 1231, so that the second driving arm 125 rotates about the second driving shaft 126.

Referring to fig. 23, the first motor 1221 is disposed on the base 121331, the second motor 1223 is disposed on the first side plate 12132, an output shaft of the first motor 1221 is connected to the first transmission assembly 127, and an output shaft of the second motor 1223 is connected to the second transmission assembly 128. The first transmission assembly 127 is connected to the first driving shaft 124 to control the first driving shaft 124 to rotate under the driving of the first motor 1221, so that the first driving arm 123 connected to the first driving shaft 124 rotates around the first driving shaft 124. Such as clockwise rotation or counterclockwise rotation of the first drive arm 123 about the first drive shaft 124. The second transmission assembly 128 is connected to a third transmission assembly 129 through a third driving shaft 130, and the third transmission assembly 129 is connected to the second driving arm 125 through a second driving shaft 126, so as to control the third driving shaft 130 to rotate under the driving of the second motor 1223, and further to drive the third transmission assembly 129 to rotate, so as to drive the second driving shaft 126 connected to the third transmission assembly 129 to rotate, and further to drive the second driving arm 125 connected to the second driving shaft 126 to rotate around the second driving shaft 126. Such as clockwise rotation or counterclockwise rotation of the second drive arm 125 about the second drive shaft 126. In this way, the first driving arm 123 and the second driving arm 125 of the robot 10 have a larger rotation angle, and thus have a larger movement range, so that the robot 10 can adapt to different environments, and the performance of the robot 10 is improved.

In an application scenario, the robot of the above embodiment is flipped, at this time, the inertia measurement unit disposed on the main body 11 generates a trigger signal, and the control system disposed on the main body 11 sends a corresponding first driving instruction to the driving assembly 12, so that the first motor rotates to a first target angle according to the first driving instruction, and further drives the first transmission assembly composed of the first transmission belt, the first transmission wheel, and the second transmission wheel to rotate, and further drives the first driving shaft to rotate, so that the first driving arm connected to the first driving shaft rotates to the first target angle around the first driving shaft, and the flipping of the first driving arm is achieved. And the control system sends a corresponding second driving instruction to the driving assembly, so that the second motor rotates to a second target angle according to the second driving instruction, and then drives a second conveying assembly consisting of the second conveying belt, the third driving wheel and the fourth driving wheel to rotate, and further drives the third driving shaft to rotate, so that the third conveying assembly connected with the third driving shaft rotates, and further drives the second driving shaft connected with the third conveying assembly to rotate, and further a second driving arm connected with the second driving shaft rotates around the second driving shaft by a second target angle, and the second driving arm is turned over. Each driving component on the main body is controlled according to the similar mode, so that the robot can automatically turn over without manpower under the condition of turning over and then continue to work. In some embodiments, the robot is in motion with the top surface 111 of the body 11 facing upwards. After the robot is turned over, the bottom surface 112 of the main body 11 is upward by controlling the rotation of the driving components, and the plurality of driving components move in coordination with the main body 11. It will be appreciated that the drive commands for the different drive assemblies 12 are corresponding.

In another application scenario, the following is explained with reference to fig. 24 and 25: as shown in fig. 24, when facing an obstacle a with a height h1, the robot 10 controls the motor 122 of the driving assembly 12 at the end of the main body 11 far from the obstacle a, the first driving arm 123 and the second driving arm 125 to cooperate with each other, so that the included angle between the first driving arm 123 and the second driving arm 125 is β, so as to support the main body 11 and the driving assembly 12 at the end of the main body 11 close to the obstacle a, then controls the motor 122 of the driving assembly 12 at the end close to the obstacle a, the first driving arm 123 and the second driving arm 125 to cooperate with each other, so that the included angle between the first driving arm 123 and the second driving arm 125 of the driving assembly 12 at the end close to the obstacle a is α, so that the second driving arm 125 touches the upper surface of the obstacle a, so as to obtain a supporting point, and then controls the motor of the driving assembly 12 to rotate correspondingly, thereby. It will be appreciated that the robot 10 is now able to see only two drive assemblies 12 due to the angle problem, in fact there are two drive assemblies 12 at the end remote from the obstacle a and two drive assemblies 12 near the end of the obstacle a.

As shown in fig. 25, when facing an obstacle B with a height h1, the robot 10 controls the motor 122 of the driving assembly 12 at the end of the main body 11 far from the obstacle a, the first driving arm 123 and the second driving arm 125 to cooperate with each other, so that the included angle between the first driving arm 123 and the second driving arm 125 is β, so as to support the main body 11 and the driving assembly 12 at the end of the main body 11 close to the obstacle a, then controls the motor 122 of the driving assembly 12 at the end close to the obstacle B, the first driving arm 123 and the second driving arm 125 to cooperate with each other, so that the included angle between the first driving arm 123 and the second driving arm 125 of the driving assembly 12 at the end close to the obstacle a is γ, so that the second driving arm 125 touches the upper surface of the obstacle B, so as to obtain a supporting point, and then controls the motor of the driving assembly 12 to rotate correspondingly, thereby. Wherein h2 is greater than h 1. Through the mode, the characteristic that the first driving arm and the second driving arm can rotate by 360 degrees is fully utilized, so that the moving range of the first driving arm and the second driving arm is larger, higher obstacles can be crossed, and the performance of the robot is improved. Further, the robot can adapt to different geographic environments, even if the robot rolls over in the moving process and the like, the robot can complete autonomous rescue and continue to work by utilizing the characteristic that the first driving arm and the second driving arm can rotate by 360 degrees.

In contrast to the state of the art, a robot of the present application comprises: a main body; the driving components are connected with the main body and are used for supporting the main body and controlling the main body to move in a matching manner; wherein, each drive assembly includes: the motor base is connected with the main body and provided with a motor; the first driving arm is connected with the motor base through a first driving shaft and is configured to rotate around the first driving shaft for 360 degrees under the driving of the motor; and a second driving arm connected to the first driving arm through a second driving shaft, wherein the second driving arm is configured to be capable of rotating 360 degrees around the second driving shaft under the driving of a motor. Through the mode, the first driving arm and the second driving arm in the driving assembly can rotate 360 degrees, on one hand, reciprocating scram of the motor is reduced, loss of the motor can be reduced, on the other hand, the rotating range of the first driving arm and the second driving arm is increased, the moving speed of the robot can be improved, and performance of the robot is improved.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (10)

1. A robot, characterized in that the robot comprises:

a main body;

the driving components are connected with the main body and are used for supporting the main body and cooperatively controlling the main body to move;

wherein each of the driving assemblies includes:

the motor base is connected with the main body and provided with a motor;

a first driving arm connected with the motor base through a first driving shaft, wherein the first driving arm is configured to rotate around the first driving shaft for 360 degrees under the driving of the motor;

and a second driving arm connected to the first driving arm through a second driving shaft, wherein the second driving arm is configured to be capable of rotating 360 degrees around the second driving shaft under the driving of the motor.

2. The robot of claim 1,

the motor comprises a first motor and a second motor, and the first motor and the second motor are oppositely arranged on two sides of the motor base;

the first driving arm is connected with the motor base through the first driving shaft and is configured to rotate around the first driving shaft for 360 degrees under the driving of the first motor;

the second driving arm is connected with the first driving arm through the second driving shaft, and the second driving arm is configured to rotate around the second driving shaft for 360 degrees under the driving of the second motor.

3. The robot of claim 2,

each driving assembly further comprises a first transmission assembly;

the first transmission assembly includes:

a first conveyor belt;

the first driving wheel is connected with the first motor and is used for rotating under the driving of the first motor;

the second driving wheel is connected with the first driving wheel through the first conveying belt, connected with the first driving shaft and used for rotating under the driving of the first driving wheel so as to drive the first driving shaft to rotate, and further enable the first driving arm to rotate.

4. The robot of claim 2,

each of the drive assemblies further comprises:

the second transmission assembly is connected with the second motor;

and the third transmission assembly is connected with the second transmission assembly and is connected with the second driving arm through the second driving shaft.

5. Robot according to claim 4,

the second transmission assembly includes:

a second conveyor belt;

the third driving wheel is connected with the second motor and is used for rotating under the driving of the second motor;

the fourth driving wheel is connected with the third driving wheel through the second conveyor belt;

and the third driving shaft is connected with the fourth driving wheel and the third transmission assembly and is used for rotating under the driving of the fourth driving wheel, so that the third transmission assembly drives the second driving arm to rotate around the second driving shaft.

6. Robot according to claim 5,

the third transmission assembly includes:

a third conveyor belt;

the fifth driving wheel is connected with the third driving shaft;

and the sixth driving wheel is connected with the fifth driving wheel through the third conveying belt, is connected with the second driving shaft and is used for driving the second driving arm to rotate around the second driving shaft under the driving of the fifth driving wheel.

7. A robot as claimed in claim 6,

the first driving arm comprises a first shell, a second shell and a third shell, and the first shell, the second shell and the third shell are connected in a matched mode to form an accommodating space for accommodating the third transmission assembly.

8. Robot according to claim 5,

the first driving shaft is provided with a through hole along the axial direction, and the third driving shaft penetrates through the through hole and is connected with the third transmission assembly.

9. The robot of claim 1,

the motor comprises a first motor, a second motor and a third motor;

the motor cabinet includes:

the first motor base is arranged on the main body, and the third motor is arranged on the first motor base;

and the second motor base is connected with an output shaft of the third motor, the first motor and the second motor are arranged on the second motor base, and the second motor base can rotate around the output shaft of the third motor under the driving of the third motor.

10. The robot of claim 9,

the second motor mount includes:

the base is connected with an output shaft of the third motor;

the first side plate and the second side plate are oppositely arranged on the side wall of the base;

the first side plate is provided with the second motor, and the second side plate is provided with the first motor.

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