CN112848876A

CN112848876A - Posture self-holding type walking device based on spherical support

Info

Publication number: CN112848876A
Application number: CN202110287395.8A
Authority: CN
Inventors: 章征凯
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-03-17
Filing date: 2021-03-17
Publication date: 2021-05-28

Abstract

The invention discloses a posture self-supporting type walking device based on spherical support, wherein a posture adjusting gear is fixedly connected to the middle end of a main shaft; a left movement motor, a posture adjusting motor and a right movement motor are fixed on the supporting plate, and a balance weight is connected below the supporting plate; the bowl-shaped left moving hub and the bowl-shaped right moving hub are also included; the left fork arm and the right fork arm at two ends of the load support are clamped outside the bottom surfaces of the left moving hub and the right moving hub; two ends of the main shaft are respectively movably connected with shaft sleeves on the left moving hub and the right moving hub, and two free ends of the main shaft extend out of the shaft sleeves and are respectively fixedly connected with the tail ends of the left fork arm and the right fork arm; the power output shafts of the left movement motor and the right movement motor are respectively in transmission connection with the left movement hub and the right movement hub, and the power output shaft of the posture adjusting motor is in transmission connection with a posture adjusting gear on the main shaft. The device can be carried with a load to walk, can keep a relatively stable posture, and has wide application prospect.

Description

Posture self-holding type walking device based on spherical support

Technical Field

The invention relates to a walking device, in particular to a walking device with a posture self-sustaining function.

Background

Small as toys and large as automobiles, and various walking devices. In the prior art, various walking devices such as wheels and crawler belts are available, and some walking devices are designed as autonomous or semi-autonomous moving robots which can carry a certain load and receive instructions to walk in modes such as remote control and wire control, so that the walking device is applied to some complex and specific environments. For example, in a toxic or dangerous environment, a robot can be used to carry the image pickup apparatus forward for situation awareness, and in a narrow space, a small robot can be used for work.

Disclosure of Invention

The invention aims to provide a posture self-supporting type walking device based on spherical support, which can carry a load to walk, can keep a relatively stable posture and has a wide application prospect.

In order to solve the technical problems, the technical scheme of the invention is as follows:

a posture self-holding type walking device based on spherical support comprises a supporting plate, wherein a main shaft is movably arranged on the supporting plate along the length direction of the supporting plate, and the middle end of the main shaft is fixedly connected with a posture adjusting gear; a left movement motor, a posture adjusting motor and a right movement motor are fixed on the supporting plate, and a balance weight is connected below the supporting plate;

the bowl-shaped left moving hub and the bowl-shaped right moving hub are further included, a shaft sleeve is arranged in the center of the bottom surface of each moving hub, and the open parts of the left moving hub and the right moving hub are mutually buckled to form a drum-shaped structure;

the left fork arm and the right fork arm are clamped outside the bottom surfaces of the left moving hub and the right moving hub;

two ends of the main shaft are respectively movably connected with shaft sleeves on the left moving hub and the right moving hub, and two free ends of the main shaft extend out of the shaft sleeves and are respectively fixedly connected with the tail ends of the left fork arm and the right fork arm;

and power output shafts of the left movement motor and the right movement motor are in transmission connection with the left movement hub and the right movement hub respectively, and the power output shaft of the posture adjusting motor is in transmission connection with the posture adjusting gear on the main shaft.

Preferably, a counterweight cavity in clearance fit with the inner cavity of the drum-shaped structure is connected below the supporting plate, and the counterweight is fixed in the counterweight cavity.

Preferably, the left movement motor, the posture adjusting motor and the right movement motor are all fixed above the supporting plate.

Preferably, at least one of the left movement motor, the posture adjusting motor and the right movement motor is arranged below the supporting plate.

Preferably, the middle part of the supporting plate is bent along the axis to form a main shaft cavity with an arc-shaped cross section, two lantern rings are fixedly arranged on the main shaft cavity along the length direction of the main shaft cavity, a main shaft sleeve is arranged in each lantern ring, the main shaft is movably connected with the lantern rings through the main shaft sleeve, and a posture adjusting gear on the main shaft is arranged in the main shaft cavity between the two lantern rings.

Preferably, the shaft sleeves on the inner sides of the left moving hub and the right moving hub are fixed with gears, and power output shafts of the left moving motor and the right moving motor are in transmission connection with the left moving hub and the right moving hub through the gears respectively.

Preferably, the two ends of the supporting plate are provided with side vertical plates, a front fixing rod and a rear fixing rod are arranged between the two side vertical plates, and the left movement motor, the posture adjusting motor and the right movement motor are fixed on the supporting plate through the fixing rods.

The technical effects of the invention are as follows: A. the invention takes the spherical surface as the gravity supporting surface contacted with the ground, so the site adaptability is better; B. the invention can carry a certain load to walk in various ways such as forward, backward, steering and the like; C. the invention can realize self-holding of the posture, thereby enabling the load on the device to work in a specific angle and direction; because the spherical support is adopted, the spherical support has the characteristic similar to a tumbler, namely, when the spherical support is interfered by an external force which does not exceed a rated range, the posture of the spherical support is changed, and after the interference disappears, the posture of the spherical support is automatically restored to the original state; D. the invention can realize attitude adjustment, namely, the angle between the load on the device and the horizontal plane can be actively adjusted within a rated range. The invention can carry various loads, carry out detection, surveying and mapping, transportation and other works, is provided with the motor and the battery, can be provided with the remote control device for working, and has wide application prospect.

Drawings

FIG. 1 is a perspective view of the self-supporting walking device based on spherical support posture of the present invention;

FIG. 2 is a front view of the self-supporting attitude walking device based on spherical support of the present invention;

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;

FIG. 4 is a side view of the self-supporting attitude walker based on spherical support of the present invention;

FIG. 5 is a cross-sectional view taken along line B-B of FIG. 4;

FIG. 6 is an exploded view of the present invention of a self-supporting postural support based walking device;

FIG. 7 is a front view of FIG. 6;

fig. 8 is a cross-sectional view of fig. 6.

Detailed Description

As shown in fig. 1, 2, 3, 4, 5, 6, 7 and 8, the posture self-supporting walking device based on spherical support of the present invention comprises a support plate 1, wherein a main shaft 2 is movably arranged on the support plate 1 along the length direction thereof, and the middle end of the main shaft 2 is fixedly connected with a posture adjusting gear 20; a left movement motor 3, a posture adjusting motor 4 and a right movement motor 5 are fixed on the supporting plate 1, and a balance weight is connected below the supporting plate 1.

The novel bowl-shaped moving wheel further comprises a bowl-shaped left moving wheel hub 6 and a bowl-shaped right moving wheel hub 6 ', a shaft sleeve 60 is arranged in the center of the bottom surface of each moving wheel hub, and the open parts of the left moving wheel hub 6 and the right moving wheel hub 6' are mutually buckled to form a drum-shaped structure.

The motion hub comprises a bottom surface formed by a circular plane, the edge of the bottom surface is integrally formed and bent into a bowl-shaped structure, and the upper part of the bottom surface is open; the left moving hub 6 and the right moving hub 6' are symmetrically arranged and mutually buckled to form a drum-shaped structure. The outer edge of the drum body part of the drum-shaped structure is of an arc-shaped structure and is used as a supporting part of the self-supporting device contacted with the ground; the left and right planes on both sides of the drum body are parallel to each other and are used for connecting a load support.

The middle part of the load support 7 is provided with an arc part 70 matched with the drum-shaped structure, two ends of the arc part are bent into a left fork arm and a right fork arm 71 which are parallel to each other, and the left fork arm and the right fork arm 71 are clamped outside the bottom surfaces of the left moving hub 6 and the right moving hub 6'; the middle end of the arc part 70 is provided with a connecting part for connecting a load 9;

the two ends of the main shaft 2 are movably connected with the shaft sleeves 60 on the left moving hub 6 and the right moving hub 6', and if necessary, bearings (not shown in the figure) can be additionally arranged between the main shaft 2 and the shaft sleeves 60 to improve flexibility. Two free ends of the main shaft 2 extend out of the shaft sleeve 60 and are respectively fixedly connected with the tail ends of the left fork arm 71 and the right fork arm 71; in this embodiment, the two free ends of the main shaft 2 and the ends of the two fork arms 71 are clamped with each other.

The power output shafts of the left movement motor 3 and the right movement motor 5 are respectively in transmission connection with the left movement hub 6 and the right movement hub 6', and the power output shaft of the posture adjusting motor 4 is in transmission connection with the posture adjusting gear 20 on the main shaft 2.

The lower part of the supporting plate 1 is connected with a counterweight cavity 8 in clearance fit with the inner cavity of the drum-shaped structure, and the counterweight is fixed in the counterweight cavity 8.

In this embodiment, for the convenience of arrangement, the left movement motor 3, the posture adjusting motor 4 and the right movement motor 5 are all fixed above the support plate 1. It should be noted that the motor can also be used as a counterweight, that is, at least one of the left movement motor 3, the posture adjusting motor 4 and the right movement motor 5 is arranged below the support plate 1, and still the corresponding function can be realized.

As can be seen from fig. 6, 7 and 8, in one embodiment, the middle of the support plate 1 is bent along the axis thereof into a main shaft cavity 10 with an arc-shaped cross section, two collars 100 are fixedly arranged on the main shaft cavity 10 along the length direction thereof, a main shaft sleeve 21 is arranged in each collar 100, the main shaft 2 is movably connected with the collars 100 through the main shaft sleeve 21, and the posture adjusting gear 20 on the main shaft 2 is arranged in the main shaft cavity 10 between the two collars 100.

In this embodiment, the bottom surface of the counterweight chamber 8 matches with the inner cavity of the drum-shaped structure, the upper end surface matches with the lower bottom surface of the support plate 1, and the two side surfaces match with the bottom surfaces of the left moving hub 6 and the right moving hub 6 ', respectively, and the whole body is similar to a drum-shaped structure cut in half, so as to achieve the purpose of being capable of not interfering with the left moving hub 6 and the right moving hub 6'.

As shown in fig. 6, as one implementation of the transmission, a gear is fixed on the shaft sleeve 60 inside the left moving hub 6 and the right moving hub 6 ', and the power output shafts of the left moving motor 3 and the right moving motor 5 are respectively in transmission connection with the left moving hub 6 and the right moving hub 6' through the gear.

As shown in fig. 3, 6, 7, and 8, two side vertical plates 11 are disposed at two ends of the supporting plate 1, a front fixing rod and a rear fixing rod 12 are disposed between the two side vertical plates 11, an auxiliary positioning plate 345 is welded and fixed to the left movement motor 3, the posture adjusting motor 4, and the right movement motor 5, a left hole and a right hole are disposed on the auxiliary positioning plate 345, the two fixing rods 12 respectively penetrate through the two holes and fix the fixing rods 12 and the auxiliary positioning plate with nuts, and end portions of the two fixing rods 12 are respectively and fixedly connected to the two side vertical plates 11. Namely, the left movement motor 3, the posture adjusting motor 4 and the right movement motor 5 are fixed on the support plate 1 by fixing rods 12, and the fixing manner is not limited to the above description.

The posture self-sustaining type walking device based on the spherical support has the main functional characteristics that:

firstly, the device has the posture self-holding function and certain load capacity

The device can realize self-holding of the posture, the posture can be changed when the device is interfered by external force, but after the interference disappears, the device can recover to the posture before the interference; that is, the device has a function similar to a "tumbler". It should be noted that, on the premise of bearing a certain amount of load, the device still has the above "tumbler" function, so that the device has a wide application scene.

The realization principle is as follows: the open parts of the left moving hub 6 and the right moving hub 6' are mutually buckled to form a drum-shaped structure, the arc part of the drum-shaped structure is grounded, the support plate 1 is arranged in the drum-shaped structure, the lower part of the support plate 1 is connected with a balance weight, and the upper part of the support plate is connected with a load 9 through a load bracket 7; the weight of the support plate 1 and the counterweight is transmitted to the left and right moving hubs 6, 6' via the main shaft 2, and the main shaft 2 and the drum-shaped structure can rotate relatively.

Because the counterweight is positioned below the supporting plate 1, the gravity center of the counterweight is matched with the main shaft 2, namely the main shaft 2 is horizontally arranged, and the gravity center line of the counterweight passes through the center of the main shaft 2. The load 9 and the load support 7 as a whole have a proper mass, so that the gravity center of the load is balanced with the counterweight, and the posture self-holding function can be achieved. This device receives external force to interfere when verting at certain angle within range as a whole, and the counter weight plays the balancing act, and the counter weight is big more, and the balancing capability is stronger.

The amount of weight of the load 9 is limited by the size of the counterweight. In theory, the load capacity of the device can be increased by increasing the weight of the counterweight. In addition, the counterweight cavity 8 is also arranged in the drum-shaped structure, and the counterweight cavity 8 can be accommodated by the battery, even the motor and other accessories, so that necessary accessories can be used as a counterweight. As a minimum requirement, the total weight of the components fixed above the support plate 1 should be less than the weight of the counterweight below.

Secondly, the walking function is provided

And power output shafts of the left movement motor 3 and the right movement motor 5 are respectively in transmission connection with the left movement hub 6 and the right movement hub 6'. The left movement motor 3 and the right movement motor 5 are respectively driven to realize the movement in various forms.

When left side motion wheel hub 6, right side motion wheel hub 6 'moved, main shaft 2 still received the counter weight drive, and relative rotation between left side motion wheel hub 6, the right side motion wheel hub 6', therefore under this device motion state, load 9, load support 7 can take place certain tilting, nevertheless can not topple over, after the motion, original state can be resumeed to this device.

Thirdly, the posture adjusting function is provided

The device can realize posture adjustment, in particular to the load support 7 which can rotate around the main shaft 2 by a certain angle, so that the external load 9 on the load support 7 can realize corresponding posture adjustment.

The implementation mode is as follows: the posture adjusting motor 4 works, the main shaft 2 is driven to rotate through the posture adjusting gear 20, and the load support 7 is fixedly connected with the main shaft 2, namely the main shaft of the posture adjusting motor 4 and the load support 7 can rotate relatively, and the load 9 correspondingly realizes posture adjustment; as the load carrier 7 rotates about the main shaft 2, the support plate 1 and the counterweight rotate in opposite directions about the main shaft 2 so that the center of gravity remains balanced. By taking the support plate 1 as a reference, the tail end of the load bracket 7 has a larger absolute distance relative to the counterweight, and a lever effect is generated, so that the counterweight rotates by a smaller angle to drive the tail end of the load bracket 7 to perform posture adjustment in a larger range.

In addition, the posture adjustment of the invention also comprises gravity center adjustment, namely the lifting and the lowering of the whole gravity center. When the device walks, the gravity center can be adjusted in a matching way, so that more suitable walking speed is obtained.

It should be noted that, because the center of gravity of the counterweight coincides with the midpoint of the main shaft 2, the main shaft 2 is coaxial with the attitude adjusting gear 20, and the attitude adjustment is caused by the rotation of the attitude adjusting gear 20, during the attitude adjustment of the device, the two ends of the main shaft 2 are always kept in the equal height state.

Fourth, this device accessible electric drive also can be through battery drive, after being equipped with corresponding module, acceptable remote control commander, and the range of application is extensive. The battery may be built into the weight chamber to act as a weight.

The embodiments of the present invention include, but are not limited to, the above-mentioned embodiments, and those skilled in the art can make various corresponding changes and modifications according to the present invention without departing from the spirit and the substance of the present invention, and still fall into the scope of the present invention.

Claims

1. The utility model provides a posture is from holding formula running gear based on spherical support, includes backup pad (1), its characterized in that: a main shaft (2) is movably arranged on the supporting plate (1) along the length direction of the supporting plate, and the middle end of the main shaft (2) is fixedly connected with a posture adjusting gear (20); a left movement motor (3), a posture adjusting motor (4) and a right movement motor (5) are fixed on the supporting plate (1), and a balance weight is connected below the supporting plate (1);

the novel bicycle is characterized by further comprising a bowl-shaped left moving hub (6) and a bowl-shaped right moving hub (6 '), wherein a shaft sleeve (60) is arranged in the center of the bottom surface of each moving hub, and the open parts of the left moving hub (6) and the right moving hub (6') are mutually buckled to form a drum-shaped structure;

the device is characterized by further comprising a load support (7), wherein two ends of the load support (7) are bent into a left fork arm and a right fork arm (71) which are parallel to each other, and the left fork arm and the right fork arm (71) are clamped outside the bottom surfaces of the left moving hub (6) and the right moving hub (6');

two ends of the main shaft (2) are respectively movably connected with shaft sleeves (60) on the left moving hub (6) and the right moving hub (6'), and two free ends of the main shaft (2) extend out of the shaft sleeves (60) and are respectively fixedly connected with the tail ends of the left fork arm (71) and the right fork arm (71);

the power output shafts of the left movement motor (3) and the right movement motor (5) are in transmission connection with the left movement hub (6) and the right movement hub (6'), and the power output shaft of the posture adjusting motor (4) is in transmission connection with a posture adjusting gear (20) on the main shaft (2).

2. The self-sustaining walking device in posture based on spherical support of claim 1, characterized in that: the lower part of the supporting plate (1) is connected with a counterweight cavity (8) in clearance fit with the inner cavity of the drum-shaped structure, and the counterweight is fixed in the counterweight cavity (8).

3. The self-sustaining walking device in posture based on spherical support of claim 1, characterized in that: the left movement motor (3), the posture adjusting motor (4) and the right movement motor (5) are all fixed above the supporting plate (1).

4. The self-sustaining walking device in posture based on spherical support of claim 1, characterized in that: at least one of the left movement motor (3), the posture adjusting motor (4) and the right movement motor (5) is arranged below the support plate (1).

5. The self-sustaining walking device in posture based on spherical support of claim 1, characterized in that: the middle part of backup pad (1) is buckled along its axis and is arc main shaft chamber (10) for the cross-section, it is fixed along its length direction to be provided with two lantern rings (100) on main shaft chamber (10), all be provided with main shaft axle sleeve (21) in the lantern ring (100), main shaft (2) through main shaft axle sleeve (21) with lantern ring (100) swing joint, accent appearance gear (20) on main shaft (2) set up in main shaft chamber (10) between two lantern rings (100).

6. The self-sustaining walking device in posture based on spherical support of claim 1, characterized in that: and gears are fixed on shaft sleeves (60) at the inner sides of the left moving hub (6) and the right moving hub (6 '), and power output shafts of the left moving motor (3) and the right moving motor (5) are in transmission connection with the left moving hub (6) and the right moving hub (6') through the gears respectively.

7. The self-sustaining walking device in posture based on spherical support of claim 1, characterized in that: both ends of the supporting plate (1) are provided with side vertical plates (11), a front fixing rod and a rear fixing rod (12) are arranged between the two side vertical plates (11), and the left movement motor (3), the posture adjusting motor (4) and the right movement motor (5) are fixed on the supporting plate (1) through the fixing rods (12).