CN118270148A - Wheel-track composite walking robot - Google Patents
Wheel-track composite walking robot Download PDFInfo
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- CN118270148A CN118270148A CN202410651555.6A CN202410651555A CN118270148A CN 118270148 A CN118270148 A CN 118270148A CN 202410651555 A CN202410651555 A CN 202410651555A CN 118270148 A CN118270148 A CN 118270148A
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- 239000002131 composite material Substances 0.000 title description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 85
- 150000001875 compounds Chemical class 0.000 claims abstract description 10
- 230000035939 shock Effects 0.000 claims description 8
- 230000003139 buffering effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 14
- 238000013016 damping Methods 0.000 description 11
- 239000002689 soil Substances 0.000 description 5
- 230000005484 gravity Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
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Abstract
The invention discloses a wheel-track compound walking robot, which relates to the technical field of walking robots and comprises a support frame, wherein a first moving mechanism is fixedly connected to the inner wall of the support frame, and a second moving mechanism is fixedly connected to the inner wall of the first moving mechanism; through setting up third moving mechanism, as auxiliary moving mechanism for the robot in the switching process removes more steadily, strengthens walking robot's adaptability, and in the robot moving process third moving mechanism is as auxiliary supporting point.
Description
Technical Field
The invention relates to the technical field of walking robots, in particular to a wheel-track composite walking robot.
Background
The small ground mobile robot for dangerous operations such as fire disaster, mine disaster, nuclear leakage and the like has the characteristics of small volume, low cost, strong survivability, flexible movement and the like, and becomes a further hot spot in the research field of mobile robots, and the most basic walking modes of the mobile robots comprise three modes of wheels, crawler belts and legs, wherein the wheels have stable and high-speed and high-efficiency running, but the obstacle crossing capability and the capability of adapting to complex terrains are very limited; the crawler-type running gear has small ground specific pressure and can adapt to soft terrains such as sandy soil, mud and the like, but has the defects of poor cornering performance, low speed and efficiency and the like; the leg structure has the advantages of strong obstacle crossing capability and good adaptability, but has low travelling speed and high energy consumption.
Integrates the advantages of the wheel type, the track type and the leg type movement modes, and achieves the purposes of simple structure, smaller volume, more stable movement, automatic switching between the wheel type mode and the crawler type mode and automatic obstacle avoidance.
The wheel type robot is easy to cause unstable gravity center of the robot when facing changeable terrains, the crawler type robot is relatively heavy on self weight, the requirement on a motor is very high when climbing stairs, the walking speed is relatively slow, when the existing wheel-track composite walking robot is used for switching wheel tracks, the robot is extremely unstable in the switching process and cannot transport objects due to the fact that the supporting points of the robot need to be changed, meanwhile, the robot is easy to incline and overturn, and when the robot decelerates or accelerates in the moving process, the robot is easy to overturn due to heavy self under the inertia of moving forward, so that damage is caused.
Disclosure of Invention
Based on the above, the invention aims to provide a wheel-track composite walking robot so as to solve the technical problems in the background.
In order to achieve the above purpose, the present invention provides the following technical solutions: the wheel-track composite walking robot comprises a support frame, wherein the inner wall of the support frame is fixedly connected with a first moving mechanism, the inner wall of the first moving mechanism is fixedly connected with a second moving mechanism, the outer wall of the second moving mechanism is fixedly connected with a third moving mechanism, and one side of the third moving mechanism is rotatably connected with a buffer mechanism; the first moving mechanism comprises a locating plate fixedly connected with a supporting frame, an arc-shaped groove is formed in the locating plate, an adjusting component is connected in the arc-shaped groove in a sliding mode, one side of the adjusting component is rotationally connected with a short shaft, the outer wall of the short shaft is rotationally connected with a front crawler wheel, the front crawler wheel is meshed with a moving crawler wheel, the rear crawler wheel is meshed with the moving crawler wheel, the short shaft, the front crawler wheel and the moving crawler wheel are respectively provided with two groups, the short shaft, the front crawler wheel and the moving crawler wheel are symmetrically arranged on two sides of the locating plate, and the inner wall of the rear crawler wheel is fixedly connected with a second moving mechanism.
As a preferable technical scheme of the invention, the adjusting component comprises a limiting block which is in sliding connection with the arc-shaped groove, one side of the limiting block is rotationally connected with a rotating block, the inner wall of the rotating block is in threaded connection with a threaded rod, the outer wall of the threaded rod is fixedly connected with a first bevel gear, the first bevel gear is meshed with a second bevel gear, the inner wall of the second bevel gear is fixedly connected with an adjusting shaft, the outer wall of the adjusting shaft is rotationally connected with an L-shaped block, the L-shaped block is rotationally connected with the threaded rod, two groups of rotating blocks are arranged, and the two groups of rotating blocks are symmetrically arranged on two sides of the limiting block.
As a preferable technical scheme of the invention, the second moving mechanism comprises a long shaft fixedly connected with the inner wall of a rear crawler wheel, the outer wall of the long shaft is fixedly connected with wheels, the wheels are provided with four groups, the outer wall of each wheel is fixedly connected with a first sprocket, the outer wall of each first sprocket is meshed with a first chain, the first sprockets are provided with two groups, the inner wall of each first sprocket is fixedly connected with a first rotating shaft, one end of each first rotating shaft is fixedly connected with the output end of a motor, the outer wall of each first rotating shaft is fixedly connected with a third moving mechanism, the inner wall of each supporting frame is rotatably connected with a directional shaft, the bottom end of each directional shaft is fixedly connected with a steering block, the inner wall of each steering block is rotatably connected with a steering shaft, the steering shafts are fixedly connected with the wheels, and the outer wall of each wheel is fixedly connected with a damping component.
As a preferable technical scheme of the invention, the third moving mechanism comprises a second sprocket fixedly connected with the outer wall of the first rotating shaft, a second chain is meshed with the second sprocket, the second chain is meshed with the third sprocket, the inner wall of the third sprocket is fixedly connected with a second rotating shaft, the outer wall of the second rotating shaft is rotatably connected with a supporting plate, the outer wall of the second rotating shaft is fixedly connected with a moving assembly, a sliding groove is formed in the supporting frame, the bottom end of the moving assembly is fixedly connected with a supporting pad, two groups of the third sprocket, the second rotating shaft, the supporting plate and the sliding groove are respectively arranged, four groups of the moving assembly and the supporting pad are respectively arranged, and one side of the supporting plate is fixedly connected with a buffer mechanism.
As a preferable technical scheme of the invention, the moving assembly comprises a first rotating rod fixedly connected with the outer wall of a second rotating shaft, a first connecting shaft is fixedly connected to one side of the first rotating rod, a second rotating rod is rotatably connected to the outer wall of the first connecting shaft, a third connecting shaft is fixedly connected to the inner wall of the second rotating rod, a supporting rod is rotatably connected to the outer wall of the third connecting shaft, a supporting pad is fixedly connected to the bottom end of the supporting rod, a sliding block is slidably connected to the outer wall of the supporting rod, the sliding block is slidably connected with a sliding groove, a second connecting shaft is fixedly connected to the inner wall of the second rotating rod, a third connecting shaft is rotatably connected to one end of the second connecting shaft, a positioning shaft is rotatably connected to the inner wall of the third connecting shaft, and the positioning shaft is fixedly connected with the supporting plate.
As a preferred technical scheme of the invention, the buffer mechanism comprises a supporting shaft fixedly connected with one side of a supporting plate, a supporting block is fixedly connected to the outer wall of the supporting shaft, a bottom plate is fixedly connected to the top end of the supporting block, a storage box is fixedly connected to the top end of the bottom plate, a buffer assembly is fixedly connected to one side of the storage box, a fixing plate is fixedly connected to one end of the buffer assembly, a limit column is fixedly connected to one side of the fixing plate, two groups of fixing plates, the buffer assembly and the limit column are symmetrically arranged on two sides of the bottom plate, and a support frame is fixedly connected to the bottom end of the fixing plate.
As a preferred technical scheme of the invention, the buffer assembly comprises a connecting block fixedly connected with one side of a bottom plate, a reset spring is fixedly connected with the bottom end of the connecting block, a connecting plate is fixedly connected with the bottom end of the reset spring, a connecting rod is fixedly connected with one end of the connecting plate, a first limit groove is formed in the connecting rod, a second limit groove is formed in the top end of the connecting rod, a second limit shaft is connected in the groove of the first limit groove in a sliding manner, the second limit shaft is fixedly connected with the fixing plate, a first limit shaft is connected in the groove of the second limit groove in a sliding manner, and the first limit shaft is fixedly connected with the connecting block.
As a preferred technical scheme of the invention, the damping component comprises a connecting strip fixedly connected with the outer wall of the wheel, a yielding groove is formed in the connecting strip, a first spring is fixedly connected in the yielding groove, a sliding rod is fixedly connected to the top end of the first spring, the sliding rod is in sliding connection with the yielding groove, a damping block is fixedly connected to the outer wall of the sliding rod, a second spring is sleeved on the outer wall of the sliding rod, one end of the second spring is fixedly connected with the damping block, the other end of the second spring is fixedly connected with the connecting strip, a plurality of groups of the yielding grooves, the first spring, the sliding rod and the second spring are arranged, and a plurality of groups of damping components are arranged in a circumferential array by taking the center of the wheel as the center of the axle.
In summary, the invention has the following advantages:
According to the invention, the first moving mechanism and the second moving mechanism are arranged, so that the moving mechanisms can be switched according to actual road conditions, the robot can move and walk by virtue of the wheels of the second moving mechanism, the robot can walk more flexibly, quickly and efficiently, and when encountering soft terrains such as sandy soil, muddy soil and the like, the driving piece connected with the adjusting shaft is controlled by the controller of the robot to start, so that the first moving mechanism is driven to become a new main moving mechanism, and the movement of the robot is more stable;
According to the invention, the third moving mechanism is arranged and used as an auxiliary moving mechanism, so that the movement of the robot in the switching process is more stable, the adaptability of the walking robot is enhanced, and the third moving mechanism is used as an auxiliary supporting point in the moving process of the robot, so that the third moving mechanism can increase the stability in the moving process and does not need an additional power source no matter the first moving mechanism or the second moving mechanism is used as a main moving mechanism of the robot;
According to the invention, the buffer mechanism is arranged, the controller of the robot or an article to be transported can be arranged in the storage box, when the robot decelerates or accelerates in the moving process, the robot is easy to overturn under the forward inertia, the support frame can enable the inclined storage box to reset rapidly under the drive of the buffer mechanism, the materials in the storage box are protected, and meanwhile, the robot is switched to a balanced state rapidly, so that the whole robot is more stable and balanced in the moving process.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic view of the first and second moving mechanisms of the present invention;
FIG. 4 is a schematic view of the structure of the adjusting assembly of the present invention;
FIG. 5 is a schematic view of a third moving mechanism according to the present invention;
FIG. 6 is a schematic view of a buffer mechanism according to the present invention;
FIG. 7 is a schematic view of a buffer assembly according to the present invention;
FIG. 8 is a cross-sectional view of a shock absorbing assembly of the present invention.
In the figure:
100. a support frame; 200. a first moving mechanism; 300. a second moving mechanism; 400. a third movement mechanism; 500. a buffer mechanism; 600. a motor;
210. a positioning plate; 220. an arc-shaped groove; 230. an adjustment assembly; 240. a short shaft; 250. a front crawler wheel; 260. a moving track; 270. a rear crawler wheel;
231. a limiting block; 232. a rotating block; 233. a threaded rod; 234. an L-shaped block; 235. a first bevel gear; 236. a second bevel gear; 237. an adjusting shaft;
310. a long axis; 320. a wheel; 330. a first sprocket; 340. a first chain; 350. a first rotating shaft; 360. a directional axis; 370. a steering block; 380. a steering shaft; 390. a shock absorbing assembly;
391. A connecting strip; 392. a relief groove; 393. a first spring; 394. a slide bar; 395. a damper block; 396. a second spring;
410. A second sprocket; 420. a second chain; 430. a third sprocket; 440. a second rotating shaft; 450. a support plate; 460. a moving assembly; 470. a support pad; 480. a chute;
461. A first rotating lever; 462. a first connecting shaft; 463. a second rotating lever; 464. a second connecting shaft; 465. a third rotating lever; 466. a third connecting shaft; 467. a support rod; 468. a slide block; 469. positioning a shaft;
510. A support shaft; 520. a support block; 530. a bottom plate; 540. a storage box; 550. a fixing plate; 560. a buffer assembly; 570. a limit column;
561. A connecting block; 562. a return spring; 563. a connecting plate; 564. a connecting rod; 565. a first limit groove; 566. the second limit groove; 567. a first limiting shaft; 568. and the second limiting shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
Hereinafter, an embodiment of the present invention will be described in accordance with its entire structure.
1-8, The wheel-track compound walking robot comprises a support frame 100, wherein the inner wall of the support frame 100 is fixedly connected with a first moving mechanism 200, the inner wall of the first moving mechanism 200 is fixedly connected with a second moving mechanism 300, the outer wall of the second moving mechanism 300 is fixedly connected with a third moving mechanism 400, and one side of the third moving mechanism 400 is rotatably connected with a buffer mechanism 500; the first moving mechanism 200 comprises a positioning plate 210 fixedly connected with the support frame 100, an arc-shaped groove 220 is formed in the positioning plate 210, an adjusting component 230 is connected in a sliding manner in the arc-shaped groove 220, one side of the adjusting component 230 is rotatably connected with a short shaft 240, the outer wall of the short shaft 240 is rotatably connected with a front crawler wheel 250, the front crawler wheel 250 is meshed with a moving crawler 260, the moving crawler 260 is meshed with a rear crawler wheel 270, the short shaft 240, the front crawler wheel 250 and the moving crawler 260 are respectively provided with two groups, the short shaft 240, the front crawler wheel 250 and the moving crawler 260 are symmetrically arranged on two sides of the positioning plate 210, and the inner wall of the rear crawler wheel 270 is fixedly connected with a second moving mechanism 300; the adjusting component 230 comprises a limiting block 231 which is slidably connected with the arc-shaped groove 220, one side of the limiting block 231 is rotatably connected with a rotating block 232, the inner wall of the rotating block 232 is in threaded connection with a threaded rod 233, the outer wall of the threaded rod 233 is fixedly connected with a first bevel gear 235, the first bevel gear 235 is meshed with a second bevel gear 236, the inner wall of the second bevel gear 236 is fixedly connected with an adjusting shaft 237, the outer wall of the adjusting shaft 237 is rotatably connected with an L-shaped block 234, the L-shaped block 234 is rotatably connected with the threaded rod 233, two groups of rotating blocks 232 are arranged, and the two groups of rotating blocks 232 are symmetrically arranged on two sides of the limiting block 231; the second moving mechanism 300 comprises a long shaft 310 fixedly connected with the inner wall of the rear crawler wheel 270, the outer wall of the long shaft 310 is fixedly connected with wheels 320, four groups of wheels 320 are arranged, the outer wall of each wheel 320 is fixedly connected with a first sprocket 330, the outer wall of each first sprocket 330 is meshed with a first chain 340, the first sprockets 330 are provided with two groups, the inner wall of each first sprocket 330 is fixedly connected with a first rotating shaft 350, one end of each first rotating shaft 350 is fixedly connected with the output end of a motor 600, the outer wall of each first rotating shaft 350 is fixedly connected with a third moving mechanism 400, the inner wall of each supporting frame 100 is rotationally connected with a steering shaft 360, the bottom end of each steering shaft 360 is fixedly connected with a steering block 370, the inner wall of each steering block 370 is rotationally connected with a steering shaft 380, each steering shaft 380 is fixedly connected with each wheel 320, and the outer wall of each wheel 320 is fixedly connected with a damping component.
When the robot walks, the starting motor 600 drives the first rotating shaft 350 to rotate, so that a group of first chain wheels 330 connected with the first rotating shaft 350 are driven to rotate by taking the first rotating shaft 350 as the axis, and then the first chain 340 is driven to move, and simultaneously, another group of first chain wheels 330 connected with the long shaft 310 are driven to rotate, so that the wheels 320 are driven to rotate, and then the robot is driven to integrally move, at the moment, the robot moves and walks by the wheels, so that the robot walks more flexibly and efficiently, when encountering soft terrains such as sandy soil, muddy soil and the like, the controller of the robot controls the driving piece connected with the adjusting shaft 237 to start, the adjusting shaft 237 rotates under the driving of the driving piece, so that the second bevel gear 236 is driven to rotate, the first bevel gear 235 is driven to rotate, the threaded rod 233 is driven to rotate, and the rotating block 232 is driven to move, the arc-shaped groove 220 limits the movement track of the limiting block 231 and limits the movement track of the rotating block 232 at the same time, the part of the rotating block 232 connected with the threaded rod 233 is provided with threads matched with the outer wall of the threaded rod 233, the threaded rod 233 rotates to drive the rotating block 232 to move so as to drive the limiting block 231 to move along the arc-shaped groove 220 and further drive the short shaft 240 to move, when the height of the front crawler wheel 250 is adjusted to be consistent with that of the rear crawler wheel 270, the moving crawler 260 contacts with the ground so as to drive the robot to move more stably, wherein the long shaft 310 rotates under the drive of the motor 600 so as to drive the rear crawler wheel 270 to rotate and further drive the moving crawler 260 to drive the robot to move, when steering is performed, the control mechanism controls the moving crawler 260 to rotate so as to drive the steering block 370 to rotate and further drive the steering shaft 380 to rotate, meanwhile, the robot is driven to integrally steer.
Referring to fig. 2 and 5, the third moving mechanism 400 includes a second sprocket 410 fixedly connected to the outer wall of the first rotating shaft 350, the second sprocket 410 is meshed with a second chain 420, the second chain 420 is meshed with a third sprocket 430, the inner wall of the third sprocket 430 is fixedly connected with a second rotating shaft 440, the outer wall of the second rotating shaft 440 is rotatably connected with a supporting plate 450, the outer wall of the second rotating shaft 440 is fixedly connected with a moving assembly 460, the supporting frame 100 is provided with a sliding groove 480, the bottom end of the moving assembly 460 is fixedly connected with a supporting pad 470, the third sprocket 430, the second rotating shaft 440, the supporting plate 450 and the sliding groove 480 are respectively provided with two groups, the moving assembly 460 and the supporting pad 470 are respectively provided with four groups, and one side of the supporting plate 450 is fixedly connected with a buffer mechanism 500; the moving assembly 460 includes a first rotating rod 461 fixedly connected with the outer wall of the second rotating shaft 440, a first connecting shaft 462 is fixedly connected to one side of the first rotating rod 461, a second rotating rod 463 is rotatably connected to the outer wall of the first connecting shaft 462, a third connecting shaft 466 is fixedly connected to the inner wall of the second rotating rod 463, a supporting rod 467 is rotatably connected to the outer wall of the third connecting shaft 466, a supporting pad 470 is fixedly connected to the bottom end of the supporting rod 467, a sliding block 468 is slidably connected to the outer wall of the supporting rod 467, a sliding connection is provided between the sliding block 468 and the sliding groove 480, a second connecting shaft 464 is fixedly connected to the inner wall of the second rotating rod 463, a third connecting shaft 466 is rotatably connected to one end of the second connecting shaft 464, a positioning shaft 469 is rotatably connected to the inner wall of the third connecting shaft 466, and the positioning shaft 469 is fixedly connected to the supporting plate 450.
When the first moving mechanism 200 and the second moving mechanism 300 are used as the main mechanisms of the robot to move and switch back and forth, the third moving mechanism 400 can be used as a moving auxiliary mechanism, so that the robot moves more stably in the switching process, the adaptability of the walking robot is enhanced, specifically, the first rotating shaft 350 rotates to drive the second sprocket 410 to rotate, thereby driving the second chain 420 to move, further driving the third sprocket 430 to rotate, simultaneously driving the second rotating shaft 440 to rotate, two groups of third sprockets 430 simultaneously rotate under the driving of the second chain 420, and driving the first rotating rod 461 to rotate, thereby driving the first connecting shaft 462 to move, further driving the second rotating rod 463 to move, the second rotating rod 463 to drive the second connecting shaft 464 and the third connecting shaft 466 to move along the movement track of the second rotating rod 463, the third rotating rod 465 is driven to rotate around the positioning shaft 469 as an axis, meanwhile, the supporting rod 467 moves along with the third connecting shaft 466, and due to the limitation of the sliding groove 480 on the movement track of the sliding block 468, the sliding block 468 can only move transversely along the sliding groove 480, so that the supporting rod 467 is driven to move longitudinally along with the third connecting shaft 466 and also move transversely along with the sliding block 468, wherein the movement tracks of the two diagonal groups of supporting rods 467 are the same and move upwards or downwards, the sliding blocks 468 in the same sliding groove 480 move in opposite directions and move close to or away from each other, the two groups of sliding blocks 468 on the other side of the supporting frame 100 move in opposite directions with the corresponding sliding blocks 468, so that the supporting frame 100 is driven to move horizontally when the sliding blocks 468 reciprocate along the sliding groove 480 each time, the supporting pad 470 serves as an auxiliary supporting point in the moving process of the robot, so that the third moving mechanism 400 can increase stability during movement without an additional power source regardless of whether the first moving mechanism 200 or the second moving mechanism 300 is a main mechanism for robot movement.
Referring to fig. 6 and 7, the buffer mechanism 500 includes a support shaft 510 fixedly connected to one side of the support plate 450, a support block 520 is fixedly connected to an outer wall of the support shaft 510, a bottom plate 530 is fixedly connected to a top end of the support block 520, a storage box 540 is fixedly connected to a top end of the bottom plate 530, a buffer assembly 560 is fixedly connected to one side of the storage box 540, one end of the buffer assembly 560 is fixedly connected to a fixing plate 550, one side of the fixing plate 550 is fixedly connected to a limiting column 570, two groups of fixing plates 550, buffer assemblies 560 and limiting columns 570 are symmetrically arranged on two sides of the bottom plate 530, and a support frame 100 is fixedly connected to a bottom end of the fixing plate 550; the buffer component 560 comprises a connecting block 561 fixedly connected with one side of the bottom plate 530, a return spring 562 is fixedly connected with the bottom end of the connecting block 561, a connecting plate 563 is fixedly connected with the bottom end of the return spring 562, a connecting rod 564 is fixedly connected with one end of the connecting plate 563, a first limit groove 565 is formed in the connecting rod 564, a second limit groove 566 is formed in the top end of the connecting rod 564, a second limit shaft 568 is slidably connected in the groove of the first limit groove 565, a first limit shaft 567 is slidably connected in the groove of the second limit groove 566, and a first limit shaft 567 is fixedly connected with the connecting block 561.
The controller of the robot or the articles to be transported can be placed in the storage box 540, when the robot is decelerated or accelerated in the moving process, the support frame 100 tilts towards the moving direction and the robot is overturned under the inertia of the moving forward, the buffer mechanism 500 can enable the inclined storage box 540 to be quickly reset under the drive of the support frame 100, the whole center of the robot is not tilted and is quickly switched to a balanced state, the whole robot is more stable and balanced in the moving process, the materials in the storage box 540 and the whole robot are protected, specifically, when the bottom plate 530 is tilted at the lower side of the inertia than the center of gravity of the other side, the bottom plate 530 drives the supporting block 520 to rotate by taking the supporting shaft 510 as the axis, thereby driving the supporting shaft 510 to rotate, at the moment, the connecting block 561 connected at the lower side of the bottom plate 530 rotates by taking the supporting shaft 510 as the axis, thereby driving the first limiting shaft 567 to move downwards, the connecting rod 564 is further pushed to move downwards, the second limiting shaft 568 moves in the first limiting groove 565 while the connecting rod 564 is moved and limited by the second limiting shaft 568, because the first limiting shaft 567 and the connecting part of the return spring 562 and the connecting block 561 are driven by the connecting block 561 to rotate by taking the supporting shaft 510 as the axis, the first limiting shaft 567 is farther away from the rotating axis of the connecting block 561, when the connecting rod 564 is driven by the first limiting shaft 567 to move downwards for a certain distance, the return spring 562 is driven to be stretched, the return spring 562 is reset under the self elasticity quickly, the connecting plate 563 is driven to return, the connecting rod 564 is driven to return, the first limiting shaft 567 is further driven to move upwards, the connecting block 561 is driven to return, the return spring 562 connected with the connecting block 561 on the higher side of the bottom plate 530 is also fast reset through self elasticity after being stretched, the supporting block 520 which is inclined originally is changed into a balanced state from a tilting state in the moving direction, so that the gravity center of the storage box 540 is quickly reset, and is not easy to tilt, wherein the limiting column 570 limits the movement range of the connecting block 561.
Referring to fig. 3 and 8, the shock absorbing assembly 390 includes a connecting bar 391 fixedly connected to the outer wall of the wheel 320, a relief groove 392 is formed in the connecting bar 391, a first spring 393 is fixedly connected to the inside of the relief groove 392, a slide bar 394 is fixedly connected to the top end of the first spring 393, the slide bar 394 is slidably connected to the relief groove 392, a shock absorbing block 395 is fixedly connected to the outer wall of the slide bar 394, a second spring 396 is sleeved on the outer wall of the slide bar 394, one end of the second spring 396 is fixedly connected to the shock absorbing block 395, the other end of the second spring 396 is fixedly connected to the connecting bar 391, a plurality of groups of the relief grooves 392, the first springs 393, the slide bar 394 and the second springs 396 are all arranged, and the shock absorbing assembly 390 is provided with a plurality of groups of shock absorbing assemblies 390 in a circumferential array with the center of the wheel 320 as an axis.
When the second moving mechanism 300 is used as a main mechanism for moving a robot, the wheels 320 drive the robot to move in the rotating process, the wheels 320 rotate to drive the damping blocks 395 to rotate to be attached to the ground, the slide bars 394 are driven to move towards the first springs 393 along the yielding grooves 392, the first springs 393 and the second springs 396 buffer the force of the slide bars 394 to move, so that the moving amplitude of the slide bars 394 is reduced, the bumping amplitude of the wheels 320 is driven to be reduced, the damping effect on the robot is further achieved, the multiple groups of damping components 390 are arranged around the outer walls of the wheels 320, and when the wheels 320 rotate, the damping blocks 395 are in contact with the ground, so that the overall damping effect is better, the stability of the second moving mechanism 300 as a moving main mechanism is improved, and the device does not have the same parts as or can be realized by adopting the prior art.
Although embodiments of the invention have been shown and described, the detailed description is to be construed as exemplary only and is not limiting of the invention as the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples, and modifications, substitutions, variations, etc. may be made in the embodiments as desired by those skilled in the art without departing from the principles and spirit of the invention, provided that such modifications are within the scope of the appended claims.
Claims (8)
1. The utility model provides a compound walking robot of wheel track, includes support frame (100), its characterized in that: the inner wall of the supporting frame (100) is fixedly connected with a first moving mechanism (200), the inner wall of the first moving mechanism (200) is fixedly connected with a second moving mechanism (300), the outer wall of the second moving mechanism (300) is fixedly connected with a third moving mechanism (400), and one side of the third moving mechanism (400) is rotatably connected with a buffer mechanism (500);
The first moving mechanism (200) comprises a positioning plate (210) fixedly connected with a supporting frame (100), an arc-shaped groove (220) is formed in the positioning plate (210), an adjusting component (230) is connected in a sliding mode in the arc-shaped groove (220), one side of the adjusting component (230) is rotationally connected with a short shaft (240), the outer wall of the short shaft (240) is rotationally connected with a front crawler wheel (250), the front crawler wheel (250) is meshed with a moving crawler (260), the moving crawler wheel (260) is meshed with a rear crawler wheel (270), the short shaft (240), the front crawler wheel (250) and the moving crawler (260) are all provided with two groups, the short shaft (240), the front crawler wheel (250) and the moving crawler (260) are symmetrically arranged on two sides of the positioning plate (210), and the inner wall of the rear crawler wheel (270) is fixedly connected with a second moving mechanism (300).
2. The wheel-track compound walking robot of claim 1, wherein: the adjusting component (230) comprises a limiting block (231) which is slidably connected with the arc-shaped groove (220), one side of the limiting block (231) is rotationally connected with a rotating block (232), the inner wall of the rotating block (232) is in threaded connection with a threaded rod (233), the outer wall of the threaded rod (233) is fixedly connected with a first bevel gear (235), the first bevel gear (235) is meshed with a second bevel gear (236), the inner wall of the second bevel gear (236) is fixedly connected with an adjusting shaft (237), the outer wall of the adjusting shaft (237) is rotationally connected with an L-shaped block (234), the L-shaped block (234) is rotationally connected with the threaded rod (233), and the rotating block (232) is provided with two groups, and the two groups of the rotating blocks (232) are symmetrically arranged on two sides of the limiting block (231).
3. The wheel-track compound walking robot of claim 1, wherein: the second moving mechanism (300) comprises a long shaft (310) fixedly connected with the inner wall of a rear crawler wheel (270), wheels (320) are fixedly connected with wheels (320) on the outer wall of the long shaft (310), four groups of wheels (320) are arranged, first chain wheels (330) are fixedly connected with the outer wall of the wheels (320), first chains (340) are meshed with the outer wall of the first chain wheels (330), the first chain wheels (330) are provided with two groups, the inner wall of the first chain wheels (330) is fixedly connected with a first rotating shaft (350), one end of the first rotating shaft (350) is fixedly connected with the output end of a motor (600), a third moving mechanism (400) is fixedly connected with the outer wall of the first rotating shaft (350), a steering block (370) is fixedly connected with the inner wall of the supporting frame (100), a steering shaft (380) is rotatably connected with the inner wall of the steering block (370), the steering shaft (380) is fixedly connected with the outer wall of the wheels (320), and the outer wall of the wheels (320) is fixedly connected with a shock absorbing component (390).
4. A wheel-track compound walking robot according to claim 3, characterized in that: the third moving mechanism (400) comprises a second sprocket (410) fixedly connected with the outer wall of the first rotating shaft (350), the second sprocket (410) is meshed with a second chain (420), the second chain (420) is meshed with a third sprocket (430), the inner wall of the third sprocket (430) is fixedly connected with a second rotating shaft (440), the outer wall of the second rotating shaft (440) is rotationally connected with a supporting plate (450), the outer wall of the second rotating shaft (440) is fixedly connected with a moving assembly (460), a sliding groove (480) is formed in the supporting frame (100), a supporting pad (470) is fixedly connected to the bottom end of the moving assembly (460), two groups of the third sprocket (430), the second rotating shaft (440), the supporting plate (450) and the sliding groove (480) are all arranged, and the moving assembly (460) and the supporting pad (470) are all provided with four groups, and one side of the supporting plate (450) is fixedly connected with a buffer mechanism (500).
5. The wheel-track compound walking robot of claim 4, wherein: the movable assembly (460) comprises a first rotating rod (461) fixedly connected with the outer wall of a second rotating shaft (440), a first connecting shaft (462) is fixedly connected to one side of the first rotating rod (461), a second rotating rod (463) is rotatably connected to the outer wall of the first connecting shaft (462), a third connecting shaft (466) is fixedly connected to the inner wall of the second rotating rod (463), a supporting rod (467) is rotatably connected to the outer wall of the third connecting shaft (466), a supporting pad (470) is fixedly connected to the bottom end of the supporting rod (467), a sliding block (468) is slidably connected to the outer wall of the supporting rod (467), a second connecting shaft (464) is fixedly connected to the outer wall of the second rotating rod (463), a third connecting shaft (466) is rotatably connected to one end of the second connecting shaft (464), a positioning shaft (469) is rotatably connected to the inner wall of the third connecting shaft (466), and the positioning shaft (469) is fixedly connected to the supporting plate (450).
6. The wheel-track compound walking robot of claim 4, wherein: the utility model provides a buffering mechanism (500) is including supporting axle (510) with one side fixed connection of backup pad (450), the outer wall fixedly connected with supporting shoe (520) of supporting axle (510), top fixedly connected with bottom plate (530) of supporting shoe (520), the top fixedly connected with storage tank (540) of bottom plate (530), one side fixedly connected with buffer module (560) of storage tank (540), one end fixedly connected with fixed plate (550) of buffer module (560), one side fixedly connected with spacing post (570) of fixed plate (550), buffer module (560) and spacing post (570) all are provided with two sets of, two sets of fixed plate (550), buffer module (560) and spacing post (570) symmetry set up in the both sides of bottom plate (530), the bottom fixedly connected with support frame (100) of fixed plate (550).
7. The wheel-track compound walking robot of claim 6, wherein: the buffer assembly (560) comprises a connecting block (561) fixedly connected with one side of a bottom plate (530), a return spring (562) is fixedly connected with the bottom end of the connecting block (561), a connecting plate (563) is fixedly connected with the bottom end of the return spring (562), a connecting rod (564) is fixedly connected with one end of the connecting plate (563), a first limit groove (565) is formed in the connecting rod (564), a second limit groove (566) is formed in the top end of the connecting rod (564), a second limit shaft (568) is connected in the groove of the first limit groove (565) in a sliding mode, a first limit shaft (567) is connected in the groove of the second limit groove (566) in a sliding mode, and the first limit shaft (567) is fixedly connected with the connecting block (561).
8. A wheel-track compound walking robot according to claim 3, characterized in that: the shock-absorbing assembly (390) comprises a connecting strip (391) fixedly connected with the outer wall of the wheel (320), a yielding groove (392) is formed in the connecting strip (391), a first spring (393) is fixedly connected in the groove of the yielding groove (392), a sliding rod (394) is fixedly connected to the top end of the first spring (393), the sliding rod (394) is slidably connected with the yielding groove (392), a shock-absorbing block (395) is fixedly connected to the outer wall of the sliding rod (394), a second spring (396) is sleeved on the outer wall of the sliding rod (394), one end of the second spring (396) is fixedly connected with the shock-absorbing block (395), the other end of the second spring (396) is fixedly connected with the connecting strip (391), a plurality of groups are arranged in the yielding groove (392), the first spring (393), the sliding rod (394) and the second spring (396), the plurality of groups are arranged in a circle center of the wheel (320) and are arranged in a circle array.
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| CN202410651555.6A CN118270148B (en) | 2024-05-24 | 2024-05-24 | Wheel-track composite walking robot |
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| CN202410651555.6A CN118270148B (en) | 2024-05-24 | 2024-05-24 | Wheel-track composite walking robot |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080135312A1 (en) * | 2006-11-20 | 2008-06-12 | Ryosuke Nakamura | Mobile robot |
| CN103010329A (en) * | 2012-11-28 | 2013-04-03 | 北京交通大学 | Biped walking movement mechanism |
| CN108974177A (en) * | 2018-08-30 | 2018-12-11 | 广东宏穗晶科技服务有限公司 | A kind of robot ambulation driving mechanism |
| WO2023131210A1 (en) * | 2022-01-04 | 2023-07-13 | 冯春魁 | Movable device, control method, control apparatus, storage medium and mobile platform |
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- 2024-05-24 CN CN202410651555.6A patent/CN118270148B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080135312A1 (en) * | 2006-11-20 | 2008-06-12 | Ryosuke Nakamura | Mobile robot |
| CN103010329A (en) * | 2012-11-28 | 2013-04-03 | 北京交通大学 | Biped walking movement mechanism |
| CN108974177A (en) * | 2018-08-30 | 2018-12-11 | 广东宏穗晶科技服务有限公司 | A kind of robot ambulation driving mechanism |
| WO2023131210A1 (en) * | 2022-01-04 | 2023-07-13 | 冯春魁 | Movable device, control method, control apparatus, storage medium and mobile platform |
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