CN115972229A - Robot telescoping device and robot that can move fast - Google Patents
Robot telescoping device and robot that can move fast Download PDFInfo
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- CN115972229A CN115972229A CN202310269719.4A CN202310269719A CN115972229A CN 115972229 A CN115972229 A CN 115972229A CN 202310269719 A CN202310269719 A CN 202310269719A CN 115972229 A CN115972229 A CN 115972229A
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Abstract
The invention discloses a robot telescoping device capable of quickly acting, which comprises a fixed frame, wherein the fixed frame comprises a mounting bottom plate, a top plate and two mounting side plates at two sides, a head mounting piece for mounting a head is arranged at the inner side of the top plate, and the top plate is provided with a head avoiding hole for the head to pass through; the inner side of the mounting side plate is provided with a limb mounting piece for mounting a limb, and the mounting side plate is provided with a limb avoiding hole for the limb to pass through; the fixed frame is internally provided with a driving device which is used for driving the head installation part and the limb installation part to move so as to enable at least part of the head and the limb to retract into the fixed frame, and the driving device comprises a steering engine fixed on the mounting base plate and a rotating frame which is driven by the steering engine to rotate so as to drive the head installation part and the limb installation part to move.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot telescopic device capable of quickly acting and a robot.
Background
At present, in the field of intelligent learning robots for children, a large number of robots with the shapes of anthropomorphic robots or animal-like robots appear, the robots with the shapes have convex parts such as heads and upper limbs, and the convex parts can be easily damaged in the process of falling or falling of the robots.
There is a children learning robot that chinese patent that publication number is CN109015695A discloses among the prior art, including the activity robot fuselage, the lower extreme surface of activity robot fuselage is provided with the robot unable adjustment base, robot unable adjustment base's anterior segment surface fixed mounting has the hand heating installation that prevents frostbite, the both sides surface of activity robot fuselage all is provided with hides stationery receiving mechanism, the rear end surface of activity robot fuselage is provided with hides flexible learning lighting device: hide stationery receiving mechanism's both sides and all be provided with the robot activity palm, the outer fixed surface in lower extreme one side of robot activity palm installs the robot activity arm, the one end surface of robot activity arm is provided with the robot arm rotation axis, the middle part outer fixed surface of robot activity arm is connected with swing joint pole, swing joint pole's one end outer fixed surface is connected with and rotates the rotation axis, the upper end that rotates the rotation axis is provided with hides stationery and accomodates the movable cover, the lower extreme surface that hides stationery and accomodates the movable cover is provided with the hidden stationery storage cylinder of robot, it accomodates and is provided with the rotation axis No. one between the movable cover to rotate the connecting rod and hide the stationery, the lower extreme surface that rotates the connecting rod is through a rotation axis and the one end surface swing joint who rotates the connecting rod, the middle part internal surface that rotates the connecting rod and the surface swing joint that rotates the rotation axis, it is provided with the rotation axis No. two to rotate between connecting rod and the swing joint pole, the other end surface that rotates the connecting rod is through No. two rotation axes and the one end surface swing joint of swing joint pole, be provided with No. three rotation axes between swing joint pole and the robot activity arm, the other end surface of swing joint pole through No. three rotation axis and robot activity arm, the other end surface of swing joint pole and robot activity arm of swing joint pole. Adopt the lower extreme at the robot to set up unable adjustment base, reduce the scheme of the focus of robot and reduce the probability that falls, falls of robot, but this can lead to the mechanism overall arrangement of robot to be restricted.
In the prior art, a children communication learning robot disclosed in chinese patent with publication number CN109940637A includes a monitoring camera, a screen, a switch panel, a body, a somatosensory interactive support, a speaker, and a spherical head, wherein the top end of the body is provided with the spherical head, the front end of the spherical head is provided with the screen, the monitoring camera is installed on the screen, the switch panel is arranged at the front end of the body, the two sides of the body are provided with the speaker, the speaker and the body are in interference fit, and the bottom of the body is provided with the somatosensory interactive support; the somatosensory interactive support comprises a somatosensory feedback mechanism, a turntable, a positioning mechanism and a sucker, wherein the turntable is arranged at the top of the positioning mechanism and is movably connected with the positioning mechanism, the sucker is arranged at the bottom of the positioning mechanism, and the somatosensory feedback mechanism is arranged at the top of the turntable; the body feeling feedback mechanism consists of an elastic reset support, a universal movable support, a support and a second bearing ring, the second bearing ring is arranged at the bottom of the support, the universal movable support is arranged at the top of the support, and the elastic reset support is arranged at the top of the universal movable support. The robot is prevented from falling down by adopting the scheme of designing the robot into a tumbler structure, but the whole mass of the robot is increased, and the robot is difficult to carry and move.
Although the robot disclosed in the above two patents can prevent the robot from falling down and falling down to some extent, once the robot falls down and falls down, the protruding part of the robot can be damaged, and the head and/or limbs of the robot with such a structure are always in a protruding state, which can lead to the disadvantage of packaging and transportation in the robot.
In addition, in the prior art, a robot is designed into an oval shape, but the robot with the shape is not suitable for being used as a child intelligent learning robot.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a robot telescopic device capable of quickly acting and a robot.
A robot telescoping device capable of quickly acting comprises a fixed frame, wherein the fixed frame comprises a mounting bottom plate, a top plate and two mounting side plates at two sides, a head mounting piece for mounting a head is arranged at the inner side of the top plate, and the top plate is provided with a head avoiding hole for the head to pass through; a limb mounting piece for mounting limbs is arranged on the inner side of the mounting side plate, and the mounting side plate is provided with a limb avoiding hole for the limbs to pass through;
the driving device is used for driving the head installation part and the limb installation part to move so as to enable the head and the limb to be at least partially retracted into the fixing frame, and comprises a steering engine and a rotating frame, wherein the steering engine is fixed on the mounting base plate and provided with a cliff sensor, and the rotating frame is driven by the steering engine to rotate so as to drive the head installation part and the limb installation part to move.
Specifically, the steering engine is started to drive the rotating frame to rotate back and forth, the rotating frame rotates back and forth to drive the head mounting piece and the limb mounting piece to do telescopic movement, and the movement directions of the head mounting piece and the limb mounting piece are mutually perpendicular; the head and the limbs of the robot can move linearly in two directions perpendicular to each other by using one steering engine; the limbs and the head of the robot are respectively fixed with the limb mounting piece and the head mounting piece, and the mounting side plate and the top plate are respectively provided with a limb avoiding hole and a head avoiding hole, namely, the head and the limbs of the robot can be retracted into the fixed frame or can be extended out of the fixed frame; therefore, when the robot falls or falls down, the cliff sensor sends a trigger signal to the main control board after detecting the suspended or toppled state of the robot, the main control board controls the steering engine to rotate rapidly, the limbs and the head are retracted into the fixed frame, the limbs and the head are prevented from being damaged, and the limbs and the head can be retracted into the fixed frame in the transportation process, so that the robot is convenient to package and transport.
Compared with the structure that a high-speed direct current servo motor is combined with a ball screw to drive the rotating frame to rotate, the steering engine is adopted to drive the rotating frame to rotate, so that the cost is lower; compared with the traditional structure that a direct current servo motor is combined with a reduction gearbox to drive the rotating frame to rotate, the steering engine is smaller in size and more convenient to install; therefore, the steering engine is the best scheme for driving the rotating frame to rotate in comprehensive consideration.
In addition, in order to conform to the appearance of the robot, the top plate is connected with the installation side plate through a shoulder connecting plate, and the shoulder connecting plate is inclined downwards from the top plate to the installation side plate.
Preferably, the rotating frames comprise two rotating frames arranged on two opposite sides of the steering engine, the two rotating frames are respectively close to the side face of the fixed frame, which is not provided with the installation side plate, and the head installation part and the limb installation part are driven by the two rotating frames.
Particularly, the limb mounting part and the head mounting part are both plate-type structures, and the stability and consistency of the limb mounting part and the head mounting part in the movement process can be effectively ensured by utilizing the structure that the two rotating frames drive the limb mounting part and the head mounting part to move; thereby ensuring the motion stability and consistency of the limb arranged on the limb installation part and the head arranged on the head installation part.
Preferably, the head mounting part is movably connected with the rotating frame through a head connecting part, and the limb mounting part is movably connected with the rotating frame through a limb connecting part;
the head connecting piece and the limb connecting piece are both H-shaped and comprise two connecting plates and a transition plate, the two connecting plates are respectively fixed with two ends of the transition plate, and the two connecting plates are respectively movably fixed with different rotating frames.
The H-shaped limb connecting piece and the head connecting piece are more convenient to fix with the two rotating frames, the limb connecting piece and the head connecting piece can rotate in the moving process, and the limb connecting piece and the head connecting piece are arranged in the H shape, so that interference between the limb connecting piece and the head connecting piece and the rotating frames, the steering engine and the like can be effectively prevented in the rotating process.
Preferably, the head connecting piece is movably connected with the fixing frame through a head guide mechanism, the head guide mechanism comprises two head guide posts, two ends of each head guide post are respectively fixed with the top plate and the mounting bottom plate, the head guide posts are perpendicular to the mounting bottom plate, and the two head guide posts are respectively arranged on two side faces of the fixing frame, which are not provided with the mounting side plates; the head mounting piece is movably connected with the head guide post through the head sliding seat.
Specifically, under this kind of structure, the steering wheel starts the back, because the head seat of sliding cup joints on head guide post, consequently, head installed part area head along the axial motion of head guide post, can effectively guarantee the stability of head installed part motion, guarantee the direction motion of head installed part along the perpendicular to roof promptly, prevent to install the head on the head installed part and head and dodge the pore wall in hole and take place to interfere, cause the head and the head to dodge the two-way damage of the pore wall in hole.
Preferably, the limb installation part is movably connected with the fixed frame through a limb guide mechanism, the limb guide mechanism comprises a bracket which is arranged in parallel with the installation side plate and is fixed on the installation bottom plate, and limb guide columns of which two ends are respectively fixed with the bracket and the installation side plate, the limb guide columns are parallel with the installation bottom plate, each limb guide mechanism comprises two limb guide columns, and the two limb guide columns of the same limb guide mechanism are respectively arranged on two side faces of the fixed frame which are not provided with the installation side plate; the limb installation piece and the limb guide post are movably connected through a limb sliding seat.
Specifically, under this kind of structure, under the drive of steering wheel, limbs installed part area limbs along the axial motion of limbs guide post, the effectual stability of guaranteeing limbs installed part direction of motion, prevent to install limbs on the limbs installed part and limbs and avoid taking place to interfere between the pore wall in hole, cause limbs and limbs to avoid the two-way damage of the pore wall in hole, in addition, because limbs guide post and head guide post mutually perpendicular, consequently guaranteed that the direction of motion of limbs installed part and the direction of motion of head installed part are mutually perpendicular always.
In addition, the limb guide column is parallel to the mounting base plate, and the head guide column is perpendicular to the mounting base plate, so that the faults of movement blocking and rotation blocking damage of the steering engine in the movement process of the whole device can be effectively prevented.
Preferably, the head sliding seat and the limb sliding seat are sleeved on the limb guide post and the head guide post through linear bearings, and axial check rings for axial positioning are arranged between the head sliding seat, the limb sliding seat and the corresponding linear bearings.
Specifically, the head sliding seat and the limb sliding seat are movably connected with the head guide post and the limb guide post through the linear bearings, so that the head sliding seat and the limb sliding seat can slide on the head guide post and the limb guide post more conveniently, namely the limb mounting part and the head mounting part can move more conveniently; meanwhile, if in the process of movement, the head sliding seat and/or the limb sliding seat and the corresponding linear bearings are connected unstably or even fall off, the movement of the head installation part and/or the limb installation part can be seriously influenced, even the head installation part and/or the limb installation part are blocked, and then the whole telescopic device cannot move.
Preferably, rubber columns for buffering are arranged on the limb guide column and the head guide column.
It is specific, the rotation of steering wheel can drive the limbs seat of sliding and the head seat of sliding slides on limbs guide post and head guide post, the limbs seat of sliding and the motion of head seat of sliding, drive the motion of limbs installed part and head installed part, but slide the gliding in-process of seat and head seat of sliding at the limbs, the limbs slide the seat and the head seat of sliding or can take place the striking with installation curb plate and roof, if take place the striking, can lead to whole telescoping device to take place obvious vibrations on the one hand, on the other hand can lead to the two-way harm to appear between the part of striking, and then shorten the life of whole device, and set up the structure of rubber column on limbs guide post and head guide post, can prevent effectively that the limbs from sliding the seat and the head and sliding and taking place the striking between seat and installation curb plate and the roof, and then prolong the life of whole device.
Preferably, the head sliding seat and the limb sliding seat both comprise an adapter plate and a sleeve plate, the adapter plate and the sleeve plate are mutually fixed into an L shape, the end part of the adapter plate is fixed with the limb mounting part or the head mounting part, and the sleeve plate is provided with a sleeve hole sleeved with the limb guide column or the head guide column.
Preferably, the steering engine is provided with a rudder disc, the rotating frame is fixed on the rudder disc, and the rotating frame is cross-shaped or inverted T-shaped.
Specifically, the steering wheel can quickly transmit the rotary motion of the steering engine, and meanwhile, the rotating frame is fixed on the steering wheel, namely the steering wheel can drive the rotating frame to rotate back and forth, so that the head installation part and the limb installation part are driven to move; the cross-shaped or inverted T-shaped rotating frame can effectively reduce the weight of the rotating frame and is more convenient for the rotating frame to rotate, and meanwhile, the cross-shaped or inverted T-shaped rotating frame can effectively reduce the possibility of interference between the rotating frame and the limb connecting piece and the head connecting piece;
in addition, the rotating frame is designed into a cross-shaped or T-shaped structure, so that the included angle between the limb connecting frame connected to the rotating frame and the head connecting frame is 90 degrees, and the included angle between the two limb connecting frames connected to the rotating frame is 180 degrees.
A robot capable of fast acting adopts the robot telescopic device capable of fast acting.
Specifically, when the robot with the structure falls or falls, the cliff sensor sends a trigger signal to the main control board after detecting the suspended or falling state of the robot, the main control board controls the steering engine to rotate rapidly, the rotating frame starts to rotate, the rotating frame rotates to drive the limb connecting piece and the head connecting piece to move together, the limb connecting piece and the head connecting piece drive the limb mounting piece and the head mounting piece to do linear motion towards the direction close to the steering engine, the limb mounting piece is fixed with a limb, and the head is fixed on the head mounting piece, so that the limb mounting piece and the head mounting piece drive the limb and the head to retract into the fixed frame, the head and the limb of the robot retracting into the fixed frame cannot be strongly collided with a wall, the ground and the like, and the possibility that the head and the limb of the robot are damaged due to falling or falling is greatly reduced.
Compared with the prior art, the invention has the advantages that:
(1) The rotation of the rotating frame of the driving device drives the limb mounting part and the head mounting part to do telescopic motion towards the mutually perpendicular directions, namely, the linear motion in two mutually perpendicular directions is realized by utilizing one steering engine.
(2) The limbs and the head of the robot are respectively fixed with the limb mounting piece and the head mounting piece, the mounting side plates and the top plate are respectively provided with a limb avoiding hole and a head avoiding hole, and the head and the limbs of the robot can be retracted into the fixed frame or can extend out of the fixed frame; when the robot falls or falls down, the steering engine is rapidly started, the limbs and the heads retract into the fixed frames, the limbs and the heads are prevented from being damaged, and meanwhile, the limbs and the heads can also retract into the fixed frames in the transportation process, so that the robot is convenient to package and transport.
Drawings
Fig. 1 is a schematic perspective view of a robot retractor device capable of fast movement according to the present invention;
FIG. 2 is a schematic diagram of a limb linkage structure of the robot retractor device capable of fast movement according to the present invention;
fig. 3 is a schematic diagram of a driving device and a head linkage structure of a robot telescopic device capable of fast acting according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
As shown in fig. 1, the robot telescoping device capable of fast acting comprises a fixed frame, the fixed frame comprises a mounting bottom plate 11, a top plate 13 and two mounting side plates 12 at two sides, a head mounting piece 32 for mounting a head is arranged at the inner side of the top plate 13, and the top plate 13 is provided with a head avoiding hole 15 for the head to pass through; the mounting side plate 12 is provided with a limb mounting member 43 for mounting a limb on the inner side thereof, and the mounting side plate 12 is provided with a limb escape hole 14 through which the limb passes.
The fixed frame is internally provided with a driving device which is used for driving the head installation piece 32 and the limb installation piece 43 to move so as to enable the head and the limb to be at least partially retracted into the fixed frame, the driving device comprises a steering engine 21 which is fixed on the installation bottom plate 11 and is provided with a cliff sensor, and a rotating frame 22 which is driven by the steering engine 21 to rotate so as to drive the head installation piece 32 and the limb installation piece 43 to move.
The steering engine 21 is started to drive the rotating frame 22 to rotate back and forth, the head mounting piece 32 and the limb mounting piece 43 are driven to do telescopic motion by the back and forth rotation of the rotating frame 22, and the motion directions of the head mounting piece 32 and the limb mounting piece 43 are mutually vertical; that is, the head and the limbs of the robot can move linearly in two directions perpendicular to each other by using one steering engine 21; the limbs and the head of the robot are respectively fixed with the limb mounting piece 43 and the head mounting piece 32, and the mounting side plates 12 and the top plate 13 are respectively provided with a limb avoiding hole 14 and a head avoiding hole 15, namely, the head and the limbs of the robot can be retracted into the fixed frame or extended out of the fixed frame; therefore, when the robot falls or falls down, the cliff sensor sends a trigger signal to the main control board after detecting the state that the robot is suspended or falls down, the main control board controls the steering engine 21 to rotate rapidly, and the limbs and the head retract into the fixed frame to prevent the limbs and the head from being damaged.
In addition, in order to conform to the shape of the robot, the top plate 13 and the mounting side plate 12 are connected by a shoulder connecting plate 16, and the shoulder connecting plate 16 is inclined downward from the top plate 13 toward the mounting side plate 12.
The rotating frames 22 comprise two rotating frames 22 arranged on two opposite sides of the steering engine 21, the two rotating frames 22 are respectively arranged close to the side face of the fixed frame, which is not provided with the installation side plate 12, and the head installation piece 32 and the limb installation piece 43 are driven by the two rotating frames 22.
The limb mounting part 43 and the head mounting part 32 are both plate-type structures, and the stability and consistency of the limb mounting part 43 and the head mounting part 32 during movement can be effectively ensured by utilizing the structure that the two rotating frames 22 drive the limb mounting part 43 and the head mounting part 32 to move; thereby ensuring stability and consistency of movement of the limb mounted on the limb mount 43 and the head mounted on the head mount 32.
As shown in fig. 3, the head mount 32 is movably connected to the turret 22 by a head link 31. As shown in figure 2, the limb attachment member 43 is movably connected to the turret 22 by a limb connector 42.
The head connecting part 31 and the limb connecting part 42 are both H-shaped and comprise two connecting plates and a transition plate, the two connecting plates are respectively fixed with two ends of the transition plate, and the two connecting plates are respectively movably fixed with different rotating frames 22.
The H-shaped limb connecting piece 42 and the head connecting piece 31 are more convenient to fix with the two rotating frames 22, in the moving process, the limb connecting piece 42 and the head connecting piece 31 can rotate, and the limb connecting piece 42 and the head connecting piece 31 are set to be H-shaped, so that interference between the limb connecting piece 42 and the head connecting piece 31 and the structures such as the rotating frames 22 and the steering engine 21 can be effectively prevented in the rotating process. The head mounting piece 32 is movably connected with the fixing frame through a head guide mechanism, the head guide mechanism comprises two head guide posts 33, two ends of each head guide post 33 are respectively fixed with the top plate 13 and the mounting bottom plate 11, the head guide posts 33 are perpendicular to the mounting bottom plate 11, the two head guide posts 33 are respectively arranged on two side faces, which are not provided with the mounting side plates 12, of the fixing frame; the head mounting part 32 is movably connected with the head guide post 33 through a head sliding seat 34.
Under this kind of structure, steering wheel 21 starts the back, because the head seat 34 that slides cup joints on head guide post 33, consequently, head installed part 32 takes the head along the axial motion of head guide post 33, can the stability of the motion of effectual assurance head installed part 32, guarantee that head installed part 32 moves along the direction of perpendicular to roof 13 promptly, prevent to install head and head on head installed part 32 and dodge the pore wall of hole 15 and take place to interfere, cause the head and the head to dodge the two-way damage of the pore wall of hole 15.
The limb installation part 43 is movably connected with the fixed frame through a limb guide mechanism, the limb guide mechanism comprises a bracket 41 which is arranged in parallel with the installation side plate 12 and is fixed on the installation bottom plate 11, and limb guide columns 44 of which two ends are respectively fixed with the bracket 41 and the installation side plate 12, the limb guide columns 44 are parallel with the installation bottom plate 11, each limb guide mechanism comprises two limb guide columns 44, and the two limb guide columns 44 of the same limb guide mechanism are respectively arranged on two side surfaces of the fixed frame which are not provided with the installation side plate 12; the limb mounting piece 43 is movably connected with the limb guide post 44 through a limb sliding seat 45.
Under the structure, under the driving of the steering engine 21, the limb installation piece 43 drives the limb to move along the axial direction of the limb guide post 44, so that the stability of the movement direction of the limb installation piece 43 is effectively ensured, the interference between the limb installed on the limb installation piece 43 and the hole wall of the limb avoidance hole 14 is prevented, and the bidirectional damage of the limb and the hole wall of the limb avoidance hole 14 is prevented, and in addition, the limb guide post 44 is vertical to the head guide post 33, so that the movement direction of the limb installation piece 43 and the movement direction of the head installation piece 32 are always vertical to each other.
In addition, the limb guide column 44 is parallel to the mounting base plate 11, and the head guide column 33 is perpendicular to the mounting base plate 11, so that the faults of movement jamming and steering engine 21 blocking and rotating damage in the movement process of the whole device can be effectively prevented.
The head sliding seat 34 and the limb sliding seat 45 are sleeved on the limb guide post 44 and the head guide post 33 through a linear bearing 51, and a shaft retainer ring 52 for axial positioning is arranged between the head sliding seat 34 and the limb sliding seat 45 and the corresponding linear bearing 51.
The head sliding seat 34 and the limb sliding seat 45 are movably connected with the head guide post 33 and the limb guide post 44 through the linear bearing 51, so that the head sliding seat 34 and the limb sliding seat 45 can slide on the head guide post 33 and the limb guide post 44 more conveniently, namely the limb mounting part 43 and the head mounting part 32 can move more conveniently; meanwhile, if the head sliding seat 34 and/or the limb sliding seat 45 and the corresponding linear bearing 51 are connected unstably or even fall off in the moving process, the movement of the head mounting piece 32 and/or the limb mounting piece 43 can be seriously affected, even the head mounting piece 32 and/or the limb mounting piece 43 are blocked, and further the whole telescopic device cannot move, and the structure of the shaft retainer ring 52 is arranged, so that the stability of connection between the head sliding seat 34 and the limb sliding seat 45 and the corresponding linear bearing 51 can be improved, and the problem that the head sliding seat 34 and/or the limb sliding seat 45 and the corresponding linear bearing 51 fall off in the moving process can be effectively prevented.
The rotation of steering wheel 21 can drive limbs installed part 43 and head installed part 32 and slide on limbs sliding seat 45 and head sliding seat 34, the motion of limbs sliding seat 45 and head sliding seat 34, drive the motion of limbs installed part 43 and head installed part 32, but at the gliding in-process of limbs sliding seat 45 and head sliding seat 34, limbs sliding seat 45 and head sliding seat 34 can take place the striking with installation curb plate 12 and roof 13, if take place to strike, can lead to whole telescoping device to take place obvious vibrations on the one hand, on the other hand can lead to the parts of striking to appear two-way harm, and then shorten the life of whole device, and set up the structure of rubber column 53 on limbs guide post 44 and head guide post 33, can prevent effectively that the limbs sliding seat 45 and head sliding seat 34 from taking place to strike between installation curb plate 12 and the roof 13, and then prolong the life of whole device.
The head sliding seat 34 and the limb sliding seat 45 both comprise an adapter plate and a socket plate, the adapter plate and the socket plate are mutually fixed into an L shape, the end part of the adapter plate is fixed with the limb mounting part 43 or the head mounting part 32, and the socket plate is provided with socket holes which are in socket joint with the limb guide column 44 or the head guide column 33.
The steering engine 21 is provided with a steering wheel 23, the rotating frame 22 is fixed on the steering wheel 23, and the rotating frame 22 is cross-shaped.
The steering wheel 23 can quickly transmit the rotation motion of the steering engine 21, and meanwhile, the rotating frame 22 is fixed on the steering wheel 23, namely the steering wheel 23 can drive the rotating frame 22 to rotate back and forth, so that the head installation part 32 and the limb installation part 43 are driven to move; the cross-shaped rotating frame 22 can effectively reduce the weight of the rotating frame 22 and facilitate the rotation of the rotating frame 22, and meanwhile, the cross-shaped rotating frame 22 can effectively reduce the possibility of interference between the rotating frame 22 and the limb connecting piece 42 and the head connecting piece 31.
In addition, the rotating frame 22 is designed to be a cross-shaped or t-shaped structure, so that it can be further ensured that the included angle between the limb connecting frame 42 connected to the rotating frame 22 and the head connecting frame 31 is 90 °, and the included angle between the two limb connecting frames 42 connected to the rotating frame 22 is 180 °.
A robot capable of fast action adopts the robot telescopic device capable of fast action.
The robot with the structure falls or falls, after the cliff sensor detects the suspended or fallen state of the robot, the cliff sensor sends a trigger signal to the main board, the main control board controls the steering engine 21 to rotate rapidly, the rotating frame 22 starts to rotate, the rotation of the rotating frame 22 drives the limb connecting piece 42 and the head connecting piece 31 to move together, the limb connecting piece 42 and the head connecting piece 31 drive the limb mounting piece 43 and the head mounting piece 32 to do linear motion towards the direction close to the steering engine 21, the limb mounting piece 43 is fixed with a limb, and the head is fixed on the head mounting piece 32, so the limb mounting piece 43 and the head mounting piece 32 drive the limb and the head to retract into the fixed frame, the head and the limb of the robot retracting into the fixed frame cannot be strongly impacted with a wall, the ground and the like, and the possibility that the head and the limb of the robot are damaged due to falling or falling is greatly reduced.
Claims (10)
1. A robot telescoping device capable of rapidly acting comprises a fixed frame and is characterized in that the fixed frame comprises a mounting bottom plate, a top plate and two mounting side plates on two sides, a head mounting piece for mounting a head is arranged on the inner side of the top plate, and the top plate is provided with a head avoiding hole for the head to pass through; the inner side of the mounting side plate is provided with a limb mounting piece for mounting a limb, and the mounting side plate is provided with a limb avoiding hole for the limb to pass through;
the driving device is used for driving the head installation part and the limb installation part to move so as to enable the head and the limb to be at least partially retracted into the fixing frame, and comprises a steering engine and a rotating frame, wherein the steering engine is fixed on the mounting base plate and provided with a cliff sensor, and the rotating frame is driven by the steering engine to rotate so as to drive the head installation part and the limb installation part to move.
2. The robot telescoping device capable of fast acting according to claim 1, wherein the two rotating frames are disposed on opposite sides of the steering engine, the two rotating frames are respectively disposed near the side of the fixed frame where the side plate is not disposed, and the head mounting member and the limb mounting member are both driven by the two rotating frames.
3. The fast-acting robotic expansion device of claim 2, wherein the head mount is movably connected to the turret by a head connector, and the limb mount is movably connected to the turret by a limb connector;
the head connecting piece and the limb connecting piece are both H-shaped and comprise two connecting plates and a transition plate, the two connecting plates are respectively fixed with two ends of the transition plate, and the two connecting plates are respectively movably fixed with different rotating frames.
4. The telescopic device of a robot capable of fast acting as claimed in claim 1, wherein the head connecting member is movably connected to the fixing frame through a head guiding mechanism, the head guiding mechanism comprises two head guiding posts, two ends of the head guiding posts are respectively fixed to the top plate and the mounting bottom plate, the two head guiding posts are perpendicular to the mounting bottom plate, and the two head guiding posts are respectively arranged on two side surfaces of the fixing frame, which are not provided with the mounting side plate; the head installation piece is movably connected with the head guide post through the head sliding seat.
5. The telescopic device of a robot capable of fast movement according to claim 4, wherein the limb mounting member is movably connected to the fixing frame through a limb guide mechanism, the limb guide mechanism comprises a bracket arranged in parallel with the mounting side plate and fixed on the mounting base plate, and a limb guide post having two ends respectively fixed to the bracket and the mounting side plate, the limb guide post is parallel with the mounting base plate, each limb guide mechanism comprises two limb guide posts, and the two limb guide posts of the same limb guide mechanism are respectively arranged on two side surfaces of the fixing frame not provided with the mounting side plate; the limb installation part is movably connected with the limb guide column through the limb sliding seat.
6. A robot retractor device as claimed in claim 5 wherein the head and limb gliders are sleeved on the limb guide post and the head guide post by linear bearings, and axial retainers for axial positioning are provided between the head and limb gliders and the linear bearings.
7. A fast acting robotic telescopic device according to claim 5, wherein rubber posts for cushioning are provided on both the limb guide post and the head guide post.
8. The telescopic device of a robot capable of acting rapidly according to claim 5, wherein the head sliding seat and the limb sliding seat each include an adapter plate and a socket plate, the adapter plate and the socket plate are fixed to each other in an "L" shape, the end of the adapter plate is fixed to the limb mounting member or the head mounting member, and the socket plate is provided with socket holes for socket connection with the limb guide posts or the head guide posts.
9. The robot retractor device capable of acting rapidly according to claim 1, wherein the steering engine is provided with a rudder disc, the rotating frame is fixed on the rudder disc, and the rotating frame is cross-shaped or T-shaped.
10. A fast acting robot, characterized in that it employs a fast acting robot pantograph as claimed in any one of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310269719.4A CN115972229B (en) | 2023-03-14 | 2023-03-14 | But robot telescoping device and robot of fast action |
| PCT/CN2023/101040 WO2024187620A1 (en) | 2023-03-14 | 2023-06-19 | Robotic extension and retraction apparatus capable of rapid movement and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310269719.4A CN115972229B (en) | 2023-03-14 | 2023-03-14 | But robot telescoping device and robot of fast action |
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| CN115972229A true CN115972229A (en) | 2023-04-18 |
| CN115972229B CN115972229B (en) | 2023-07-18 |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115972229B (en) | 2023-07-18 |
| WO2024187620A1 (en) | 2024-09-19 |
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