CN114475112B - Robot capable of adapting to all-terrain walking - Google Patents
Robot capable of adapting to all-terrain walking Download PDFInfo
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- CN114475112B CN114475112B CN202210252321.5A CN202210252321A CN114475112B CN 114475112 B CN114475112 B CN 114475112B CN 202210252321 A CN202210252321 A CN 202210252321A CN 114475112 B CN114475112 B CN 114475112B
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- walking robot
- robot base
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- air cushion
- wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
- B60F3/0038—Flotation, updrift or stability devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/021—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a coil spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/28—Amphibious vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/02—Transmitting power from propulsion power plant to propulsive elements with mechanical gearing
- B63H2023/0291—Trolling gears, i.e. mechanical power transmissions comprising controlled slip clutches, e.g. for low speed propulsion
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot capable of adapting to all-terrain walking, which comprises a walking robot base, wherein a placing groove is formed in the walking robot base, the placing groove is formed in the walking robot base, an integral stable supporting mechanism is arranged at two ends of the walking robot base, a driving motor drives a rotating rod to rotate, power is transmitted through the cooperation of a driving gear, a driven gear, a chain wheel and a chain, an air cushion wheel is driven to rotate, the walking robot base is pushed to move, the robot is scientific and reasonable in structure and safe and convenient to use, an integral stable supporting mechanism is arranged, the driving motor drives a rotating rod to rotate, the power is transmitted through the cooperation of the driving gear and the driven gear, the chain wheel and the chain are driven to rotate, the power is further transmitted again, the air cushion wheel is driven to rotate, the walking robot base is pushed to move, the top plate and a supporting vertical rod are pulled to slide through the telescopic characteristic of a reset spring, and the positions of a fixed plate and the air cushion wheel are changed.
Description
Technical Field
The invention relates to the technical field of walking robots, in particular to a robot capable of adapting to all-terrain walking.
Background
As robots come closer to the lives of people, the requirements of people on robots are higher and higher, and besides traditional industrial robots, household robots and medical robots, robots capable of completing work under complex conditions become the focus of attention of scientific researchers;
however, the existing walking robot cannot flexibly move under the rugged terrain condition, so that the moving and working efficiency of the walking robot is reduced, and therefore, in order to avoid the technical problems, it is necessary to provide a robot adaptable to all-terrain walking to overcome the defects in the prior art.
Disclosure of Invention
The invention provides a robot adaptable to all-terrain walking, which can effectively solve the problems that the robot cannot flexibly move under the rugged terrain condition and the walking robot moves and works at low efficiency.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an adaptable all terrain walking's robot, includes walking robot base, the inside standing groove of seting up of walking robot base, the standing groove, walking robot base both ends all are provided with whole steady supporting mechanism, and driving motor drives the bull stick and rotates to through driving gear, driven gear, sprocket and chain's cooperation, transmit power, drive the air cushion wheel and rotate, promote walking robot base and remove, and in the in-process that removes, utilize the flexible characteristic of reset spring, drive roof, supporting montant, fixed plate and the removal of air cushion wheel, make the air cushion wheel remain laminating with the road surface all the time;
the floating anti-tilting mechanisms are arranged at the middle positions of the two ends of the walking robot base, the air cushion, the first air bag and the second air bag are matched to support the walking robot base, the walking robot base floats on the water surface conveniently, the rotating motor drives the vertical cylinder and the push rod to rotate, the lifting grid and the air cushion are pushed to move, the lifting grid is forced to push the extension plate and the rotating plate to rotate, and the first air bag is opened at the two sides of the walking robot base;
the walking robot base bottom is provided with water propulsion mechanism, utilizes the cooperation of driving gear and driven gear, drives the horizontal pole rotatory to through the cooperation of worm and worm wheel, drive transfer line and water wheels rotation, produce thrust, make things convenient for walking robot base to remove on the surface of water, adjust the rotational speed of two horizontal poles as required, changed the rotational speed of two water wheels.
According to the technical scheme, the integral stable supporting mechanism comprises a mounting plate, a supporting vertical rod, a top plate, a reset spring, a fixing plate, an air cushion wheel, a transmission cavity, a driving motor, a rotating rod, a driving gear, a driven gear, a sliding chute, an adjusting block, a tensioning spring, a chain wheel and a chain;
the two ends of the walking robot base are fixedly connected with mounting plates through bolts, the top ends of the mounting plates are symmetrically and movably connected with supporting vertical rods, the top ends of the supporting vertical rods are clamped with top plates, reset springs are sleeved between the corresponding top plates and the mounting plates outside the supporting vertical rods, the bottom ends of the supporting vertical rods are clamped with fixing plates, and one ends of the fixing plates are rotationally connected with air cushion wheels;
the walking robot base is characterized in that a transmission cavity is formed in each corner position of the inside of the walking robot base, a driving motor is symmetrically embedded in the placing groove, an output shaft of the driving motor is connected with a rotating rod, the bottom end of the rotating rod is clamped with a driving gear corresponding to the position of the inside of the transmission cavity, the inner wall of the transmission cavity is connected with a driven gear in a rotating mode corresponding to the position of one side of the driving gear, sliding grooves are formed in the two ends of the walking robot base corresponding to the position of one side of the driven gear, an adjusting block is movably connected inside the sliding grooves, tension springs are symmetrically clamped at one end of the adjusting block corresponding to the position of the inside of the sliding grooves, one end of the adjusting block is rotatably connected with a sprocket, one end of a rotating shaft of the driven gear and one end of an air cushion wheel are clamped with sprockets, and a chain is sleeved outside the sprocket.
According to the technical scheme, the bottom of supporting the montant runs through the bottom of mounting panel, driving motor passes through internal power supply and supplies power, driving motor totally four.
According to the technical scheme, the driving gear and the driven gear are bevel gears, the driving gear is meshed with the driven gear, and the outer side of the chain wheel is meshed with the inner wall of the chain.
According to the technical scheme, the floating anti-tilting mechanism comprises a storage groove, a notch, a rotating plate, an extension plate, a connecting plate, a rotating motor, a vertical cylinder, a push rod, a lifting grid, an air cushion, a supporting plate, a first air bag, a mounting frame and a second air bag;
the walking robot comprises a walking robot base, wherein a storage groove is formed in the bottom end of the walking robot base, a notch is symmetrically formed in the inner wall of the storage groove, a rotating plate is rotationally connected to the inner wall of the notch, an extension plate is fixedly connected to the top position of one end of the rotating plate through a bolt, a connecting plate is hinged to the other end of the extension plate, a rotating motor is fixedly connected to the central position of the inside of the storage groove through a bolt, a vertical cylinder is clamped at the position of an output shaft of the rotating motor corresponding to the inside of the storage groove, a push rod is connected to the bottom end of the vertical cylinder through threads, a lifting grid is rotationally connected to the bottom end of the push rod corresponding to the inside of the storage groove, an air cushion is fixedly connected to the bottom end of the lifting grid through a bolt, and both ends of the lifting grid are rotationally connected with one end of the connecting plate;
the walking robot comprises a rotating plate, a supporting plate, a first air bag, a mounting frame and a second air bag, wherein the bottom end of the rotating plate is fixedly connected with the supporting plate through bolts, the top end of the supporting plate is fixedly connected with the first air bag through bolts, the two ends of the walking robot base are fixedly connected with the mounting frame through bolts, and the second air bag is clamped inside the mounting frame.
According to the technical scheme, the width of the width equidistant notch of the rotating plate, the included angle between the extending plate and the rotating plate is ninety degrees, and the rotating motor is powered by an internal power supply.
According to the technical scheme, the lifting grid outside symmetry butt fusion has the stopper, accomodate groove inner wall and correspond stopper one side position department and seted up the spacing groove, stopper one end and spacing groove inner wall sliding connection, the lifting grid outside is laminated mutually with accomodate groove inner wall, the layer board top is laminated mutually with walking robot base bottom.
According to the technical scheme, the water propulsion mechanism comprises a bottom groove, a vertical plate, a transverse plate, a transmission rod, a water wheel, a worm wheel, a fixed shaft seat, a transverse rod and a worm;
the walking robot base bottom corresponds the inboard position department of second gasbag and has seted up the kerve, the inside riser that is connected with of kerve through bolt fixedly connected with riser, riser one end bottom position department is through bolt fixedly connected with diaphragm, diaphragm one end corresponds riser both sides position department and all rotates and be connected with the transfer line, two transfer line one end equal joint has the water wheel, two the transfer line other end corresponds the equal joint of diaphragm inboard position department has the worm wheel, riser inner wall joint has fixed axle bed, fixed axle bed both ends all rotate and are connected with the horizontal pole, the horizontal pole outside corresponds the fixed worm that has cup jointed of kerve inside position department.
According to the technical scheme, the walking robot base is penetrated through one end of the cross rod and is connected with one end of the driving gear in a clamping mode, and the waterproof rubber ring is sleeved at the joint of the outer side of the cross rod and the inner wall of the walking robot base.
According to the technical scheme, the rotation directions of the two water wheels are opposite, and the worm wheel is meshed with the worm.
Compared with the prior art, the invention has the beneficial effects that: the invention has scientific and reasonable structure and safe and convenient use:
1. the whole stable supporting mechanism is arranged, the rotating rod is driven to rotate through the driving motor, the driving gear and the driven gear are matched, the power is transmitted, the chain wheel and the chain are driven to rotate, the power is further transmitted again, the air cushion wheel is driven to rotate, the walking robot base is pushed to move, the top plate and the supporting vertical rod are pulled to slide through the telescopic characteristic of the reset spring, the positions of the fixed plate and the air cushion wheel are changed, the air cushion wheel is kept attached to a road surface in a missing mode, the phenomenon of suspension is prevented, and the moving effect can be guaranteed on the rugged road surface;
in addition, through the flexible characteristic of tensioning spring, pulling regulating block slides in the spout to adjusted the position of sprocket, made the chain remain throughout and tighten, be convenient for transmit power, guaranteed walking robot's removal effect, carry out independent control to four air cushion wheels respectively through four driving motors simultaneously, can guarantee the rotatory effect of air cushion wheel on different road conditions.
2. The floating anti-tilting mechanism is arranged, the walking robot base is supported through the cooperation of the air cushion, the first air bag and the second air bag, the walking robot base floats on the water surface conveniently, the rotating motor is used for driving the vertical barrel to rotate, the push rod, the lifting grating and the air cushion are pushed to move inside the storage groove, meanwhile, in the descending process of the lifting grating, the extension plate and the rotating plate are pushed to rotate through the cooperation of the connecting plate, the rotating plate is driven to rotate with the supporting plate and the first air bag, the first air bag is opened on two sides of the walking robot base, the walking robot base is further supported, the walking robot base is prevented from deviating, and the floating stability is improved.
3. The water propulsion mechanism is arranged, the power is transmitted through the cooperation of the driving gear and the driven gear, the cross rod is driven to rotate with the worm, then the power is transmitted again through the cooperation of the worm wheel, the transmission rod is driven to rotate and the water wheel is driven to rotate, the thrust is generated, the walking robot base is forced to move on the water surface, the adaptability of the walking robot is improved, and the walking robot can move on the water surface and the land respectively;
in addition, through the separation of the fixed shaft seat to the cross bars, the two cross bars can rotate without interference, so that the rotating speeds of the two cross bars can be conveniently adjusted according to the needs, the rotating speeds of the two water wheels are changed, and the moving direction of the walking robot base is adjusted.
Comprehensive the floating anti-tilting mechanism and the water propulsion mechanism are mutually matched, so that the walking robot can not only run on land, but also move on the water surface, the walking robot can move and work on different road conditions, adaptability is improved, and meanwhile, the effect of grabbing the ground is guaranteed in the moving process of the walking robot through the integral stable supporting mechanism, and moving stability is improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
In the drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the mounting structure of the chain of the present invention;
FIG. 3 is a schematic view of the overall smooth support mechanism of the present invention;
FIG. 4 is a schematic view of the mounting structure of the air mattress of the present invention;
FIG. 5 is a schematic view of the structure of the floating anti-tilt mechanism of the present invention;
FIG. 6 is a schematic view of the structure of the water propulsion mechanism of the present invention;
fig. 7 is a schematic view of an installation structure of the fixing shaft seat of the present invention.
Reference numerals in the drawings: 1. a walking robot base; 2. a placement groove;
3. an integral stable supporting mechanism; 301. a mounting plate; 302. a supporting vertical rod; 303. a top plate; 304. a return spring; 305. a fixing plate; 306. an air cushion wheel; 307. a transmission cavity; 308. a driving motor; 309. a rotating rod; 310. a drive gear; 311. a driven gear; 312. a chute; 313. an adjusting block; 314. tensioning a spring; 315. a sprocket; 316. a chain;
4. a floating anti-tilting mechanism; 401. a storage groove; 402. a notch; 403. a rotating plate; 404. an extension plate; 405. a connecting plate; 406. a rotating electric machine; 407. a vertical tube; 408. a push rod; 409. lifting the grille; 410. an air cushion; 411. a supporting plate; 412. a first air bag; 413. a mounting frame; 414. a second air bag;
5. a water propulsion mechanism; 501. a bottom groove; 502. a riser; 503. a cross plate; 504. a transmission rod; 505. a water wheel; 506. a worm wheel; 507. fixing the shaft seat; 508. a cross bar; 509. a worm.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Examples: as shown in fig. 1-7, the invention provides a technical scheme, which is applicable to all-terrain walking and comprises a walking robot base 1, wherein a placing groove 2 is formed in the walking robot base 1, the placing groove 2 is formed in the walking robot base 1, an integral stable supporting mechanism 3 is arranged at both ends of the walking robot base 1, a driving motor 308 drives a rotating rod 309 to rotate, power is transmitted through the cooperation of a driving gear 310, a driven gear 311, a chain wheel 315 and a chain 316, an air cushion wheel 306 is driven to rotate, the walking robot base 1 is pushed to move, and in the moving process, the movement of a top plate 303, a supporting vertical rod 302, a fixed plate 305 and the air cushion wheel 306 is driven by utilizing the telescopic characteristic of a reset spring 304, so that the air cushion wheel 306 is always kept in fit with a road surface;
the floating anti-tilting mechanisms 4 are arranged at the middle positions of the two ends of the walking robot base 1, the air cushion 410, the first air bag 412 and the second air bag 414 are matched to support the walking robot base 1, the walking robot base 1 floats on the water surface conveniently, the rotating motor 406 rotates with the vertical cylinder 407 and the push rod 408 to push the lifting grid 409 and the air cushion 410 to move, the lifting grid 409 is forced to push the extension plate 404 and the rotating plate 403 to rotate, and the first air bag 412 is opened at the two sides of the walking robot base 1;
the bottom end of the walking robot base 1 is provided with a water propulsion mechanism 5, the cross rod 508 is driven to rotate by utilizing the cooperation of the driving gear 310 and the driven gear 311, and the transmission rod 504 and the water wheels 505 are driven to rotate by the cooperation of the worm 509 and the worm wheel 506, so that thrust is generated, the walking robot base 1 can conveniently move on the water surface, the rotating speeds of the two transverse plates 503 are adjusted according to the requirement, and the rotating speeds of the two water wheels 505 are changed;
the integral stable supporting mechanism 3 comprises a mounting plate 301, a supporting vertical rod 302, a top plate 303, a return spring 304, a fixing plate 305, an air cushion wheel 306, a transmission cavity 307, a driving motor 308, a rotating rod 309, a driving gear 310, a driven gear 311, a sliding chute 312, an adjusting block 313, a tensioning spring 314, a sprocket 315 and a chain 316;
the two ends of the walking robot base 1 are fixedly connected with mounting plates 301 through bolts, the top ends of the mounting plates 301 are symmetrically and movably connected with supporting vertical rods 302, the top ends of the supporting vertical rods 302 are clamped with top plates 303, reset springs 304 are sleeved between the corresponding top plates 303 on the outer sides of the supporting vertical rods 302 and the mounting plates 301, the bottom ends of the supporting vertical rods 302 are clamped with fixing plates 305, one ends of the fixing plates 305 are rotationally connected with air cushion wheels 306, transmission cavities 307 are formed in the inner corners of the walking robot base 1, driving motors 308 are symmetrically embedded and installed in the placing grooves 2, and in order to support the walking robot base 1, the bottom ends of the supporting vertical rods 302 penetrate through the bottom ends of the mounting plates 301, the driving motors 308 are powered through internal power supplies, and the total number of the driving motors 308 is four;
the output shaft of the driving motor 308 is connected with a rotating rod 309, a driving gear 310 is clamped at the bottom end of the rotating rod 309 corresponding to the position inside the transmission cavity 307, a driven gear 311 is rotatably connected at the position of the inner wall of the transmission cavity 307 corresponding to one side of the driving gear 310, sliding grooves 312 are formed at the positions of two ends of the walking robot base 1 corresponding to one side of the driven gear 311, an adjusting block 313 is movably connected inside the sliding grooves 312, tensioning springs 314 are symmetrically clamped at the position of one end of the adjusting block 313 corresponding to the inner position of the sliding grooves 312, one end of the adjusting block 313 is rotatably connected with a chain wheel 315, one end of a rotating shaft of the driven gear 311 and one end of an air cushion wheel 306 are respectively clamped with a chain wheel 315, a chain 316 is sleeved outside the chain wheel 315, the driving gear 310 and the driven gear 311 are bevel gears, the driving gear 310 and the driven gear 311 are meshed with each other, and the outer side of the chain wheel 315 is meshed with the inner wall of the chain 316;
the floating anti-tilting mechanism 4 includes a receiving groove 401, a notch 402, a rotating plate 403, an extension plate 404, a connecting plate 405, a rotating motor 406, a vertical cylinder 407, a push rod 408, a lifting grid 409, an air cushion 410, a pallet 411, a first air bag 412, a mounting frame 413, and a second air bag 414;
the bottom end of the walking robot base 1 is provided with a storage groove 401, the inner wall of the storage groove 401 is symmetrically provided with a notch 402, the inner wall of the notch 402 is rotationally connected with a rotating plate 403, the top position of one end of the rotating plate 403 is fixedly connected with an extension plate 404 through a bolt, the other end of the extension plate 404 is hinged with a connecting plate 405, the center position of the inside of the storage groove 2 is fixedly connected with a rotating motor 406 through a bolt, an output shaft of the rotating motor 406 is correspondingly clamped with a vertical cylinder 407 at the inner position of the storage groove 401, the bottom end of the vertical cylinder 407 is connected with a push rod 408 through a thread, the bottom end of the push rod 408 is correspondingly rotationally connected with a lifting grid 409 in the storage groove 401, the bottom end of the lifting grid 409 is fixedly connected with an air cushion 410 through a bolt, both ends of the lifting grid 409 are rotationally connected with one end of the connecting plate 405, in order to facilitate the rotation of the rotating plate 403, the width of the rotating plate 403 is equidistant to the width of the notch 402, an included angle between the extension plate 404 and the rotating plate 403 is ninety degrees, and the rotating motor 406 is powered by an internal power supply;
the bottom end of the rotating plate 403 is fixedly connected with a supporting plate 411 through bolts, the top end of the supporting plate 411 is fixedly connected with a first air bag 412 through bolts, both ends of the walking robot base 1 are fixedly connected with a mounting frame 413 through bolts, a second air bag 414 is clamped inside the mounting frame 413, in order to limit the lifting grid 409, limiting blocks are symmetrically welded on the outer side of the lifting grid 409, limiting grooves are formed in the positions, corresponding to the limiting blocks, of the inner walls of the storage grooves 401, one end of each limiting block is in sliding connection with the inner walls of the limiting grooves, the outer side of the lifting grid 409 is attached to the inner walls of the storage grooves 401, and the top end of the supporting plate 411 is attached to the bottom end of the walking robot base 1;
the water propulsion mechanism 5 comprises a bottom groove 501, a vertical plate 502, a transverse plate 503, a transmission rod 504, a water wheel 505, a worm wheel 506, a fixed shaft seat 507, a transverse rod 508 and a worm 509;
the bottom groove 501 is formed in the position, corresponding to the inner side of the second air bag 414, of the bottom end of the walking robot base 1, the vertical plate 502 is fixedly connected to the bottom groove 501 through bolts, the transverse plate 503 is fixedly connected to the bottom position of one end of the vertical plate 502 through bolts, the transmission rods 504 are rotatably connected to the positions, corresponding to the two sides of the vertical plate 502, of one end of each of the transverse plates 503, the worm wheels 505 are clamped to the positions, corresponding to the inner sides of the transverse plates 503, of the other ends of the two transmission rods 504, the worm wheels 506 are clamped to the positions, corresponding to the inner sides of the transverse plates 503, of the two transmission rods 504, the fixed shaft seat 507 is clamped to the fixed shaft seat 507, two ends of the fixed shaft seat 507 are rotatably connected with the cross rods 508, in order to improve the power utilization rate, one end of the cross rods 508 penetrates through the walking robot base 1 and is clamped to one end of the driving gear 310, a waterproof rubber ring is sleeved at the connecting position of the outer side of the cross rods 508 and the inner wall of the walking robot base 1, a worm 509 is fixedly sleeved to the position, corresponding to the inner position of the bottom groove 501, the worm 509 is sleeved to the outer side of the worm wheels 505, and the worm wheels 505 are conveniently move on water, and the directions of rotation of the two water wheels 505 are opposite, and the directions of rotation are meshed with the worm wheels 509.
The working principle and the using flow of the invention are as follows: firstly, a driving motor 308 is started, so that the driving motor 308 drives a rotating rod 309 to rotate, then a component is formed by matching a driving gear 310 with a driven gear 311, power is transmitted, a chain wheel 315 is driven to rotate, then the power is further transmitted by matching the chain wheel 315 with a chain 316, an air cushion wheel 306 is driven to rotate, the base 1 of the walking robot is conveniently pushed to move, in addition, in the moving process, a top plate 303 is pulled through the telescopic characteristic of a return spring 304, the top plate 303 is pushed to move by the supporting vertical rod 302, the positions of a fixing plate 305 and the air cushion wheel 306 are changed, the air cushion wheel 306 can be kept attached to a rugged road surface, the phenomenon of suspension is prevented, the moving efficiency of the walking robot is improved, the moving speed of the walking robot can be ensured on different road surfaces, meanwhile, the vibration of the base 1 of the walking robot can be slowed down in the fast moving process, the base 1 of the walking robot is prevented from being damaged, and the service life is prolonged;
then, when the support vertical rod 302 pushes the fixing plate 305 and the air cushion wheels 306 to move, the adjusting block 313 is pulled to slide in the sliding groove 312 through the expansion and contraction characteristics of the tensioning spring 314, so that the position of the chain wheel 315 is adjusted, the chain 316 is always kept tight, the power is conveniently transmitted, the moving effect of the walking robot is ensured, in addition, the four air cushion wheels 306 are respectively and independently controlled through the four driving motors 308, and the rotating effect of the air cushion wheels 306 can be ensured on different road conditions;
then, the air cushion 410, the first air bag 412 and the second air bag 414 are matched to support the walking robot base 1, so that the walking robot base 1 floats on the water surface conveniently, meanwhile, the rotating motor 406 is started, the rotating motor 406 drives the vertical cylinder 407 to rotate, so that the push rod 408 is pushed to descend, the positions of the lifting grid 409 and the air cushion 410 in the storage groove 401 are adjusted, in addition, in the descending process of the lifting grid 409, the extension plate 404 and the rotating plate 403 are pushed to rotate through the matching of the connecting plate 405, the rotating plate 403 drives the supporting plate 411 and the first air bag 412 to rotate, the first air bag 412 is opened at two sides of the walking robot base 1, the walking robot base 1 is further supported, the walking robot base 1 is prevented from deviating, the floating stability is improved, and the first air bag 412 and the air cushion 410 are folded in the storage groove 401 again through the reverse rotation of the rotating motor 406, so that the walking robot base 1 can move on land conveniently;
finally, when the walking robot base 1 floats on water, the driving gear 310 and the driven gear 311 are matched to transfer power, the cross rod 508 is driven to rotate, the cross rod 508 is forced to rotate with the worm 509 to further transfer power, the worm wheel 506 and the transmission rod 504 are driven to rotate, the water wheel 505 is forced to rotate, propelling force is generated, the walking robot base 1 is convenient to move on the water surface, adaptability of the walking robot is improved, the walking robot can move on the water surface and the land respectively, in addition, the cross rod 508 can be separated by the fixed shaft seat 507, the two cross rods 508 can rotate without interference, the rotating speeds of the two cross rods 508 can be conveniently adjusted according to the requirement, the rotating speeds of the two water wheels 505 are changed, and the moving direction of the walking robot base 1 is adjusted.
Finally, it should be noted that: the foregoing is merely a preferred example of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an adaptable all terrain walking's robot, includes walking robot base (1), its characterized in that: the walking robot base (1) is internally provided with a placing groove (2), the placing groove (2) is formed in the two ends of the walking robot base (1) are respectively provided with an integral stable supporting mechanism (3), a driving motor (308) drives a rotating rod (309) to rotate, power is transmitted through the cooperation of a driving gear (310), a driven gear (311), a chain wheel (315) and a chain (316), an air cushion wheel (306) is driven to rotate, the walking robot base (1) is pushed to move, and in the moving process, the movement of a top plate (303), a supporting vertical rod (302), a fixing plate (305) and the air cushion wheel (306) is driven by the telescopic characteristic of a return spring (304), so that the air cushion wheel (306) is always kept in fit with a road surface;
the floating anti-tilting mechanism (4) is arranged at the middle positions of two ends of the walking robot base (1), the air cushion (410), the first air bag (412) and the second air bag (414) are matched to support the walking robot base (1), the walking robot base (1) floats on the water surface conveniently, the rotating motor (406) drives the vertical cylinder (407) and the push rod (408) to rotate, the lifting grid (409) and the air cushion (410) are pushed to move, the lifting grid (409) is forced to push the extension plate (404) and the rotation plate (403) to rotate, and the first air bag (412) is opened at two sides of the walking robot base (1);
the walking robot base (1) bottom is provided with water propulsion mechanism (5), utilizes the cooperation of driving gear (310) and driven gear (311), drives horizontal pole (508) rotation to through the cooperation of worm (509) and worm wheel (506), drive transfer line (504) and water wheels (505) rotation, produce thrust, make things convenient for walking robot base (1) to remove on the surface of water, adjust the rotational speed of two diaphragm (503) as required, changed the rotational speed of two water wheels (505).
2. An all-terrain walking adaptable robot as defined in claim 1, wherein: the integral stable supporting mechanism (3) comprises a mounting plate (301), a supporting vertical rod (302), a top plate (303), a reset spring (304), a fixing plate (305), an air cushion wheel (306), a transmission cavity (307), a driving motor (308), a rotating rod (309), a driving gear (310), a driven gear (311), a sliding groove (312), an adjusting block (313), a tensioning spring (314), a chain wheel (315) and a chain (316);
the walking robot base (1) is characterized in that mounting plates (301) are fixedly connected to two ends of the walking robot base through bolts, supporting vertical rods (302) are symmetrically and movably connected to the top ends of the mounting plates (301), top plates (303) are clamped to the top ends of the supporting vertical rods (302), reset springs (304) are sleeved between the corresponding top plates (303) on the outer sides of the supporting vertical rods (302) and the mounting plates (301), fixing plates (305) are clamped to the bottom ends of the supporting vertical rods (302), and air cushion wheels (306) are rotatably connected to one ends of the fixing plates (305);
the walking robot base (1) is inside each corner position department has all offered drive chamber (307), driving motor (308) are installed in inside symmetry embedding of standing groove (2), driving motor (308) output shaft has bull stick (309), bull stick (309) bottom corresponds drive chamber (307) inside position department joint and has driving gear (310), driving chamber (307) inner wall corresponds driving gear (310) one side position department rotation and is connected with driven gear (311), spout (312) have been seted up at walking robot base (1) both ends corresponding driven gear (311) one side position department, spout (312) inside swing joint has regulating block (313), and regulating block (313) one end corresponds spout (312) inside position department symmetry joint have tensioning spring (314), regulating block (313) one end rotation is connected with sprocket (315), driven gear (311) pivot one end and air cushion wheel (306) one end all joint have sprocket (315), sprocket (315) outside has cup jointed chain (316).
3. An all-terrain walking robot as defined in claim 2, wherein: the bottom of support montant (302) runs through the bottom of mounting panel (301), driving motor (308) are supplied power through internal power source, driving motor (308) are four altogether, driving gear (310) and driven gear (311) are the bevel gear, and driving gear (310) and driven gear (311) intermeshing, sprocket (315) outside and chain (316) inner wall meshing.
4. An all-terrain walking robot as defined in claim 2, wherein: one end of the cross rod (320) is clamped with one end of the driving gear (310), and a waterproof lantern ring is sleeved at the joint of the cross rod (320) and the walking robot base (1).
5. An all-terrain walking adaptable robot as defined in claim 1, wherein: the floating anti-tilting mechanism (4) comprises a storage groove (401), a notch (402), a rotating plate (403), an extension plate (404), a connecting plate (405), a rotating motor (406), a vertical cylinder (407), a push rod (408), a lifting grid (409), an air cushion (410), a supporting plate (411), a first air bag (412), a mounting frame (413) and a second air bag (414);
the walking robot base (1) bottom has been seted up and has been accomodate groove (401), accomodate groove (401) inner wall symmetry and seted up notch (402), notch (402) inner wall rotation is connected with rotor plate (403), rotor plate (403) one end top position department is through bolt fixedly connected with extension board (404), the extension board (404) other end articulates there is connecting plate (405), the inside central point department of standing groove (2) is through bolt fixedly connected with rotating electrical machines (406), rotating electrical machines (406) output shaft corresponds to accomodate groove (401) inside position department joint has vertical cylinder (407), vertical cylinder (407) bottom is through threaded connection there is push rod (408), push rod (408) bottom corresponds to accomodate groove (401) inside rotation and is connected with lifting grid (409), lifting grid (409) bottom is through bolt fixedly connected with air cushion (410), lifting grid (409) both ends all rotate with connecting plate (405) one end;
the walking robot base is characterized in that the bottom end of the rotating plate (403) is fixedly connected with a supporting plate (411) through bolts, the top end of the supporting plate (411) is fixedly connected with a first air bag (412) through bolts, two ends of the walking robot base (1) are fixedly connected with mounting frames (413) through bolts, and second air bags (414) are clamped inside the mounting frames (413).
6. An all-terrain walking robot as defined in claim 5, wherein: the width of the rotating plate (403) is equal to the width of the notch (402), the included angle between the extending plate (404) and the rotating plate (403) is ninety degrees, and the rotating motor (406) is powered by an internal power supply.
7. An all-terrain walking robot as defined in claim 5, wherein: the lifting grating (409) is symmetrically welded with a limiting block, a limiting groove is formed in the position of one side of the inner wall of the storage groove (401) corresponding to the limiting block, one end of the limiting block is slidably connected with the inner wall of the limiting groove, the outer side of the lifting grating (409) is attached to the inner wall of the storage groove (401), and the top end of the supporting plate (411) is attached to the bottom end of the walking robot base (1).
8. An all-terrain walking robot as defined in claim 5, wherein: the battery dampproof and buffering mechanism (5) is arranged in the placing groove (2), and the battery dampproof and buffering mechanism (5) comprises a bottom groove (501), a vertical plate (502), a transverse plate (503), a transmission rod (504), a water wheel (505), a worm wheel (506), a fixed shaft seat (507), a transverse rod (508) and a worm (509);
the walking robot base (1) bottom corresponds second gasbag (414) inboard position department and has seted up kerve (501), inside through bolt fixedly connected with riser (502) of kerve (501), riser (502) one end bottom position department passes through bolt fixedly connected with diaphragm (503), diaphragm (503) one end corresponds riser (502) both sides position department and all rotates and be connected with transfer line (504), two transfer line (504) one end equal joint has water wheels (505), two transfer line (504) other end corresponds that the equal joint of diaphragm (503) inboard position department has worm wheel (506), riser (502) inner wall joint has fixed axle bed (507), fixed axle bed (507) both ends all rotate and are connected with horizontal pole (508), worm (509) have been cup jointed in the horizontal pole (508) outside corresponding kerve (501) inside position department.
9. An all-terrain walking robot as defined in claim 7, wherein: one end of the cross rod (508) penetrates through the walking robot base (1) and is connected with one end of the driving gear (310) in a clamping mode, and a waterproof rubber ring is sleeved at the joint of the outer side of the cross rod (508) and the inner wall of the walking robot base (1).
10. An all-terrain walking robot as defined in claim 8, wherein: the rotation directions of the two water wheels (505) are opposite, and the worm wheel (506) is meshed with the worm (509).
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| CN202210252321.5A CN114475112B (en) | 2022-03-15 | 2022-03-15 | Robot capable of adapting to all-terrain walking |
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| CN114793309B (en) * | 2022-06-22 | 2022-09-27 | 山东交通职业学院 | Foldable voice box rack of accomodating convenient to remove installation on stage |
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