CN113829319A

CN113829319A - Modular robot

Info

Publication number: CN113829319A
Application number: CN202111286906.0A
Authority: CN
Inventors: 董海昌; 张强玉; 王盛利; 尹宏林; 袁明昊; 董春山; 沈维林; 徐朝荣
Original assignee: Anhui Haimate Rescue Technology Co ltd
Current assignee: Anhui Haimate Rescue Technology Co ltd
Priority date: 2021-11-02
Filing date: 2021-11-02
Publication date: 2021-12-24

Abstract

The invention discloses a modular robot, which comprises a modular robot, wherein the modular robot comprises a shell; a plurality of expansion damping wheel assemblies are rotatably connected to two sides of the bottom of the shell, each expansion damping wheel assembly comprises a plurality of main body wheels which are rotatably connected with the shell, a plurality of supporting legs which can slide radially are annularly arrayed on the plurality of main body wheels, a solution cavity is formed in each main body wheel, and the solution cavity is communicated with the inner sides of the supporting legs; a plurality of solution chambeies are connected with hydraulic assembly, hydraulic assembly is full of the hydraulic pressure case that solution and pressable including inside, hydraulic pressure case and solution chamber intercommunication, slide the slide along the outside of spout, and outwards prop out the landing leg, make a plurality of landing leg be an annular wheel structure, when folding up, pack up the hydraulic cylinder body of rod, the inside volume grow of hydraulic pressure incasement, and form the negative pressure, and under the elasticity resilience effort of piston and extension spring, make the landing leg accomodate to the draw-in groove completion and accomodate, whole simple to use, and the operation of being convenient for, and the production cost is reduced.

Description

Modular robot

Technical Field

The invention relates to the field of robots, in particular to a modular robot.

Background

The robot is an automatic machine, except that the machine has intelligent capabilities similar to human or biology, such as perception capability, planning capability, action capability and coordination capability, and is an automatic machine with high flexibility. In combination with the application characteristics in these fields, people develop various special robots and various intelligent robots with sensing, decision-making, action and interaction capabilities. Although there is no strict and accurate robot definition, we want some confidence in the nature of the robot: a robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. Its task is to assist or replace human work. It is a product of advanced integrated control theory, mechano-electronics, computer, material and bionics, and has important application in the fields of industry, medicine, agriculture, service industry, building industry and even military affairs.

Current module robot is at the in-process of marcing, when meetting the ramp that is higher than the wheel, traditional robot is when propping up the robot, rotate through adjusting gear or through crawler-type wheel, make the horizontally athey wheel of both sides be, be a structure vertical in ground, though realized advancing to the support of robot, but when in actual use, the internal operation is comparatively complicated, the cost of cost is higher simultaneously, when the shock attenuation is to the robot, need independent suspension simultaneously, the shock attenuation effect is relatively poor.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a modular robot which is convenient for adjusting the height of wheels and has better shock absorption effect.

In order to solve the technical problems, the invention provides the following technical scheme: a modular robot comprises a modular robot, wherein the modular robot comprises a shell;

a plurality of expansion damping wheel assemblies are rotatably connected to two sides of the bottom of the shell, each expansion damping wheel assembly comprises a plurality of main body wheels rotatably connected with the shell, a plurality of support legs capable of sliding radially are annularly arrayed on the plurality of main body wheels, a solution cavity is formed in each main body wheel, and the solution cavity is communicated with the inner sides of the support legs;

the solution cavities are connected with a hydraulic assembly, the hydraulic assembly comprises a hydraulic tank which is filled with solution and can be pressed, and the hydraulic tank is communicated with the solution cavities.

As a preferred technical scheme of the invention, the main body wheel is annularly provided with a plurality of clamping grooves matched with the supporting legs, the main body wheel is radially provided with sliding grooves along the clamping grooves, and through holes are formed between the sliding grooves and the solution cavity.

As a preferable technical scheme of the invention, the supporting leg comprises a limiting pipe matched with the sliding groove to slide, and one end of the limiting pipe, far away from the supporting leg, is provided with a limiting hole along the sliding direction.

As a preferable technical scheme of the invention, one end of the sliding plate, which is close to the limiting pipe, is provided with a limiting rod inserted with the limiting hole.

As a preferable technical scheme of the invention, guide rail grooves are symmetrically formed in the inner side of the sliding groove along the sliding direction, and guide rails which are matched with the guide rail grooves in a sliding manner are arranged on two sides of the sliding plate.

As a preferable technical scheme of the invention, the hydraulic tank comprises a solution tank arranged at the bottom of the shell, an axle tube is rotatably connected between the solution tank and the main wheel, one end of the axle tube is communicated with the solution cavity, the other end of the axle tube is rotatably connected with the solution tank, a connecting pipe which is mutually communicated is arranged between the hydraulic tank and the two solution tanks, and a piston is axially and slidably connected in the hydraulic tank.

As a preferred technical scheme of the invention, the piston is axially provided with a hydraulic oil cylinder, a rod body of the hydraulic oil cylinder is fixed with the piston, and the cylinder body is fixedly arranged with the upper inner wall of the shell.

As a preferred technical scheme of the invention, the limiting pipe is of a rectangular structure.

Compared with the prior art, the invention can achieve the following beneficial effects:

1. when the height-adjusting of casing is being required, the hydraulic cylinder body of rod outwards stretches out this moment to make the piston move to the direction of connecting pipe, and make the inside volume of hydraulic pressure case diminish, and then make solution enter into solution tank through the connecting pipe inside, and enter into the central siphon through the solution tank, enter into the inside in solution chamber through the central siphon afterwards, pass through the through-hole at last. Slide the slide along the outside of spout to outwards prop out the landing leg, make a plurality of landing leg be an annular wheel structure, when receiving up, pack up the hydraulic cylinder body of rod, the volume grow of hydraulic pressure incasement portion, and form the negative pressure, and under the elasticity resilience effort of piston and extension spring, make the landing leg accomodate to the draw-in groove completion and accomodate, whole simple to use, the operation of being convenient for has reduced manufacturing cost.

2. When the landing leg stretches out, landing leg and solution intracavity portion form a hydraulic structure this moment, when the landing leg of bottom and ground contact, this moment under perpendicular effort, make spring elastic contraction, form a directional power with perpendicular effort, play the cushioning effect, meanwhile, when bottom landing leg atress, make the slide to the direction extrusion of through-hole, and make the solution of solution intracavity portion support to other slides at the top, and cushion this effort under the effect of extension spring, and be the annular structure effect and disperse, the absorbing effect is better and more even, and then keep the stable effect when marcing.

Drawings

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

FIG. 2 is a schematic view of an extended leg configuration of the present invention;

FIG. 3 is a schematic illustration of an explosive structure according to the present invention;

FIG. 4 is a schematic illustration of an exploded leg configuration of the present invention;

FIG. 5 is a cross-sectional structural view of a leg of the present invention;

FIG. 6 is a radial cross-sectional view of the main body wheel of the present invention;

fig. 7 is a schematic cross-sectional structure of the present invention.

Wherein:

1. a modular robot; 11. a housing;

2. an expansion damping wheel assembly; 21. a main body wheel; 211. a card slot; 212. a chute; 213. a guide rail groove; 214. a solution chamber; 215. a through hole; 22. a support leg; 23. a limiting pipe; 231. a limiting hole; 24. a slide plate; 241. a guide rail; 25. a spring; 251. a limiting rod; 26. a tension spring;

3. a hydraulic assembly; 31. a hydraulic tank; 311. a connecting pipe; 312. a piston; 32. a solution tank; 33. a hydraulic cylinder; 34. an axle tube.

Detailed Description

The present invention will be further described with reference to specific embodiments for the purpose of facilitating an understanding of technical means, characteristics of creation, objectives and functions realized by the present invention, but the following embodiments are only preferred embodiments of the present invention, and are not intended to be exhaustive. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention. The experimental methods in the following examples are conventional methods unless otherwise specified, and materials, reagents and the like used in the following examples are commercially available unless otherwise specified.

Example (b):

as shown in fig. 1-7, the present invention provides a modular robot, comprising a modular robot 1, wherein the modular robot 1 comprises a housing 11; a plurality of expansion damping wheel assemblies 2 are rotatably connected to two sides of the bottom of the shell 11, each expansion damping wheel assembly 2 comprises a plurality of main body wheels 21 rotatably connected with the shell 11, a plurality of support legs 22 capable of radially sliding are annularly arrayed on the plurality of main body wheels 21, a solution cavity 214 is formed in each main body wheel 21, and each solution cavity 214 is communicated with the inner sides of the support legs 22; the plurality of solution cavities 214 are connected with a hydraulic assembly 3, the hydraulic assembly 3 comprises a hydraulic tank 31 which is filled with solution and can be pressed, and the hydraulic tank 31 is communicated with the solution cavities 214.

When the device is used, the hydraulic tank 31, the connecting pipe 311, the solution tank 32, the shaft pipe 34 and the solution chamber 214 are filled with a solution, when the piston 312 is arranged at the upper end of the hydraulic tank 31, the sliding plate 24 is free from external acting force, and under the stretching action of the tension spring 26, the supporting leg 22 is accommodated in the clamping groove 211 and forms a wheel structure with a closed structure together with the main wheel 21;

when the height of the housing 11 needs to be adjusted, the rod body of the hydraulic cylinder 33 extends outwards, the piston 312 moves towards the connecting pipe 311, the volume inside the hydraulic tank 31 is reduced, and the solution enters the solution tank 32 through the connecting pipe 311, enters the shaft pipe 34 through the solution tank 32, then enters the solution cavity 214 through the shaft pipe 34, and finally passes through the through hole 215. Sliding the sliding plate 24 along the outside of the sliding groove 212 and extending the supporting legs 22 outward, so that a plurality of supporting legs 22 are in an annular wheel structure (as shown in fig. 2);

when the support leg is folded, the rod body of the hydraulic oil cylinder 33 is folded, the volume inside the hydraulic tank 31 is increased, negative pressure is formed, and the support leg 22 is accommodated in the clamping groove 211 to be accommodated (as shown in fig. 1) under the elastic resilience acting force of the piston 312 and the tension spring 26.

In other embodiments, the main body wheel 21 is annularly provided with a plurality of slots 211 adapted to the support legs 22, the main body wheel 21 is radially provided with a sliding groove 212 along the slots 211, and a through hole 215 is formed between the sliding groove 212 and the solution chamber 214.

When the supporting leg structure is used, the supporting leg 22 slides in a matched mode with the clamping groove 211, the sliding groove 212 is communicated with the communicated through hole 215 to form a hydraulic body structure under the action of the sliding groove 212, and the supporting leg 22 is supported out when solution is filled through the through hole 215.

In other embodiments, the supporting leg 22 includes a limiting tube 23 adapted to slide with the sliding groove 212, one end of the limiting tube 23, which is far away from the supporting leg 22, is provided with a limiting hole 231 along the sliding direction, the limiting tube 23 slides along the sliding groove 212, so as to facilitate the extension and the storage of the supporting leg 22, and under the action of the solution, a movable plug structure is formed between the limiting tube 23 and the sliding groove 212, so as to extrude and support the supporting leg 22.

In other embodiments, a sliding plate 24 connected by a spring 25 is arranged between the limiting tube 23 and the through hole 215, the sliding plate 24 and the chute 212 slide in a sealing manner, and a tension spring 26 is connected between the sliding plate 24 and the through hole 215.

When landing leg 22 stretches out, landing leg 22 and the inside hydraulic structure that forms of solution chamber 214 this moment, when landing leg 22 and the ground contact of bottom, this moment under vertical acting force, make spring 25 elastic contraction, form a directional power with vertical acting force, play the cushioning effect, meanwhile, when bottom landing leg 22 atress, make slide 24 to the direction extrusion of through-hole 215, and make the inside solution of solution chamber 214 support to other slide 24 in top, and cushion this effort under extension spring 26's effect, and it diverges to be the annular structure effect, absorbing effect is better and more even, and then keep the stable effect when advancing.

In other embodiments, a limiting rod 251 inserted into the limiting hole 231 is installed at one end of the sliding plate 24 close to the limiting tube 23 to prevent the supporting leg 22 from deviating during the process of extending and rolling, thereby improving stability.

In other embodiments, the inner side of the sliding slot 212 is symmetrically provided with guide rail grooves 213 along the sliding direction, and the two sides of the sliding plate 24 are provided with guide rails 241 adapted to the guide rail grooves 213 for sliding, so as to prevent the sliding plate 24 from being separated from the sliding slot 212.

In other embodiments, the hydraulic tank 31 includes a solution tank 32 installed at the bottom of the housing 11, a shaft tube 34 is rotatably connected between the solution tank 32 and the main body wheel 21, one end of the shaft tube 34 is communicated with the solution chamber 214, the other end of the shaft tube is rotatably connected with the solution tank 32, a connecting tube 311 is arranged between the hydraulic tank 31 and the two solution tanks 32, and a piston 312 is axially slidably connected inside the hydraulic tank 31.

The rod body of the hydraulic cylinder 33 is extended outward, and the piston 312 is moved toward the connection pipe 311, and the volume inside the hydraulic pressure tank 31 is reduced, so that the solution enters the inside of the solution tank 32 through the connection pipe 311, passes through the solution tank 32, enters the shaft pipe 34, then passes through the shaft pipe 34, enters the inside of the solution chamber 214, and finally passes through the through hole 215. The slide plate 24 is slid along the outside of the slide groove 212 and the leg 22 is pushed out.

In other embodiments, the piston 312 is axially provided with a hydraulic cylinder 33, the rod body of the hydraulic cylinder 33 is fixed with the piston 312, and the cylinder body is fixedly arranged with the upper inner wall of the shell 11 to provide power for the up-and-down movement of the piston 312.

In other embodiments, the restraining tube 23 is rectangular in configuration, preventing the restraining tube 23 from rotating within the chute 212.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A modular robot, comprising a modular robot (1), characterized in that: the module robot (1) comprises a shell (11);

a plurality of expansion damping wheel assemblies (2) are rotatably connected to two sides of the bottom of the shell (11), each expansion damping wheel assembly (2) comprises a plurality of main body wheels (21) rotatably connected with the shell (11), a plurality of support legs (22) capable of sliding radially are arranged on the plurality of main body wheels (21) in an annular array mode, a solution cavity (214) is formed in each main body wheel (21), and the solution cavity (214) is communicated with the inner sides of the support legs (22);

the solution cavities (214) are connected with a hydraulic assembly (3), the hydraulic assembly (3) comprises a hydraulic tank (31) which is filled with solution and can be pressed, and the hydraulic tank (31) is communicated with the solution cavities (214).

2. The modular robot of claim 1, wherein: the main body wheel (21) is annularly provided with a plurality of clamping grooves (211) matched with the supporting legs (22), the main body wheel (21) is radially provided with sliding grooves (212) along the clamping grooves (211), and through holes (215) are formed between the sliding grooves (212) and the solution cavity (214).

3. The modular robot of claim 1, wherein: the landing leg (22) is including spacing pipe (23) with spout (212) adaptation gliding, spacing pipe (23) keep away from landing leg (22) one end and seted up spacing hole (231) along the slip direction.

4. A modular robot as claimed in claim 3, wherein: be provided with slide plate (24) of connecting through spring (25) between spacing pipe (23) and through-hole (215), slide plate (24) and spout (212) airtight slip, be connected with extension spring (26) between slide plate (24) and through-hole (215).

5. The modular robot of claim 4, wherein: and one end of the sliding plate (24) close to the limiting pipe (23) is provided with a limiting rod (251) which is spliced with the limiting hole (231).

6. A modular robot as claimed in claim 2, wherein: the slide way (212) inboard has seted up guide rail groove (213) along the sliding direction symmetry, and slide (24) both sides are installed and are slided with guide rail groove (213) adaptation guide rail (241).

7. The modular robot of claim 1, wherein: hydraulic tank (31) is including installing solution tank (32) in casing (11) bottom, it is connected with central siphon (34) to rotate between solution tank (32) and main part wheel (21), and central siphon (34) one end and solution chamber (214) intercommunication, the other end and solution tank (32) rotate and be connected, be provided with connecting pipe (311) that communicate each other between hydraulic tank (31) and two solution tank (32), the inside axial sliding connection of hydraulic tank (31) has piston (312).

8. The modular robot of claim 7, wherein: the hydraulic cylinder (33) is axially installed on the piston (312), the rod body of the hydraulic cylinder (33) is fixed with the piston (312), and the cylinder body is fixedly installed on the upper inner wall of the shell (11).

9. A modular robot as claimed in claim 3, wherein: the limiting pipe (23) is of a rectangular structure.