CN207120809U - A kind of new walking robot structure - Google Patents
A kind of new walking robot structure Download PDFInfo
- Publication number
- CN207120809U CN207120809U CN201720684209.3U CN201720684209U CN207120809U CN 207120809 U CN207120809 U CN 207120809U CN 201720684209 U CN201720684209 U CN 201720684209U CN 207120809 U CN207120809 U CN 207120809U
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- China
- Prior art keywords
- cursor
- servomotor
- walking robot
- motor
- robot structure
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Abstract
It the utility model is related to a kind of new walking robot structure, including body, the front openings of body, it is internally provided with dividing plate, internal body is divided into motor cavity and battery cavities by dividing plate, the left and right servomotor with motor shaft is mounted with motor cavity, left and right encoder is mounted with the servomotor of left and right respectively, power module is mounted with battery cavities, left and right pedipulator is mounted with respectively on the outside of the servomotor of left and right, left and right pedipulator includes cursor and support feet setting up and down, cursor setting up and down is connected in support feet by installing rotating shaft, turn hole is equipped with cursor setting up and down, rotation section setting up and down is equipped with left and right sides of body, set on motor shaft and motor shaft is stretched out in upper rotation section and connects the turn hole that cursor is provided with, lower rotation section is socketed in the turn hole that lower cursor is set；The utility model is simple in construction to be simplified, and left and right support feet can be controlled respectively, realizes robot straight trip run trace.
Description
Technical field
Robot is the utility model is related to, more particularly to a kind of new walking robot structure.
Background technology
Walking robot is one kind of robot, and its mechanical construction and control system is complicated, and walking robot is by double
Sufficient footrace, act to advance, retreat, walk upright to complete footrace task, be generally used for robot match, existing vehicle with walking machine
In the process, because structure is relative complex, build is big by device people, and support feet is coordinated unstable during straight trip, unstable so as to control, and exists
That controlling is low, reliability is poor, efficiency is low.
Utility model content
The utility model is in order to solve problem of the prior art, there is provided a kind of mounting structure is simply simplified, can be to left and right
Support feet controls respectively, it is achieved thereby that the new walking robot structure of robot straight trip run trace.
Concrete technical scheme of the present utility model is as follows：A kind of new walking robot structure, including body, the body
Front openings, be internally provided with dividing plate, internal body is divided into motor cavity and battery cavities by the dividing plate, in the motor cavity
The left and right servomotor with motor shaft is mounted with, left and right encoder, the electricity are mounted with respectively on the left and right servomotor
Power module is mounted with cell cavity, left and right pedipulator, the left and right pedipulator are mounted with respectively on the outside of the left and right servomotor
Including cursor and support feet setting up and down, the cursor setting up and down is connected to support feet by installing fixing axle
On, turn hole is equipped with the cursor setting up and down, rotation section setting up and down is equipped with left and right sides of the body,
Set on motor shaft and motor shaft is stretched out in upper rotation section and connects the turn hole that cursor is provided with, lower rotation section is socketed in lower cursor and set
In the turn hole put；
The top surface of the body is provided with a circuit board, is mounted with to switch on the circuit board, master controller, side-to-side movement control
Device processed, left and right motor servo driver, obliquity sensor and gyro sensor, the master controller connect side-to-side movement respectively
Controller, obliquity sensor and gyro sensor, the side-to-side movement controller are connected, the side-to-side movement controller,
Left and right motor servo driver, left and right servomotor are sequentially connected, and the left and right encoder connects motion controller, and position is believed
Number feed back to side-to-side movement controller, the left and right servomotor, left and right encoder, obliquity sensor and gyro sensor point
Power module, the power module connecting valve, switch connection master controller are not connected.
It is attached technical scheme of the present utility model below.
Preferably, the motor cavity is located at the top of battery cavities.
Preferably, the front of the battery cavities is provided with two groups of clamps being oppositely arranged, and every group is provided with two pieces of clamps,
It is respectively provided at the left and right sides of battery cavities.
Preferably, the power module is single-unit 15C2200mah electrokinetic cells, sustainable output Max60A's
Operating current, it is sufficient to ensure electric current during motor work.
Preferably, the left and right servomotor is provided with motor shaft and lower rotation section and is equipped with spacing collar.
Preferably, the top surface of the body there is also mounted a transparent protective shield, and the transparent protective shield is covered in circuit
On plate.
Preferably, the rear end of the transparent protective shield is provided with two shafts, and the top surface of the body is matched somebody with somebody provided with one
Socket part, it is equipped with the turn hole being connected, rotating shaft is inserted in the turn hole.
Preferably, the support feet includes support bar and is welded on the bottom plate of support bar bottom.
Technique effect of the present utility model：The utility model can be by control system that circuit board is provided with to left and right servo
Motor is driven, and so as to cause left and right support feet walking, the bottom plate that left and right support foot bottom is provided with causes walking to keep steady
It is fixed, it there is also mounted transparent cover on the circuit board so that circuit board avoids dust from invading, and effectively maintains cleaning, passes through left and right
Motion controller control servomotor driving energy make it that left and right support feet respectively forwardly staggers to the right walking, so as to keep robot
Walking is stable, and the robot mounting structure is simply simplified, by controlling respectively left and right support feet, it is achieved thereby that robot is straight
Row run trace.
Brief description of the drawings
Fig. 1 is the decomposition texture schematic diagram of the new walking robot structure of the utility model.
Fig. 2 is the structural representation of the new walking robot structure of the utility model.
Fig. 3 is the built-in system control block diagram of the new walking robot structure of the utility model.
In figure：Body 1, dividing plate 11, motor cavity 2, left servomotor 21, right servomotor 22, left encoder 23, right coding
Device 24, motor shaft 25, battery cavities 3, clamp 31, power module 32, left pedipulator 4, right pedipulator 41, cursor 42, turn hole
421, upper cursor 422, lower cursor 423, fixing axle 43, support feet 44, bottom plate 45, rotation section 46, upper rotation section 462, under
Rotation section 463, support bar 47, spacing collar 48, circuit board 5, switch 51, master controller 52, left movement controller 53, right motion control
Device 54 processed, left motor servo driver 57, right motor servo driver 58, obliquity sensor 59, gyro sensor 60 are transparent
Cover body 7, shaft 71, mating part 72, rotating shaft 73.
Embodiment
The utility model is described further below in conjunction with the accompanying drawings.
As shown in Figure 1 to Figure 3, a kind of new walking robot structure of the present embodiment, including body 1, the body 1
Front openings, are internally provided with dividing plate 11, and the dividing plate 11 will be divided into motor cavity 2 and battery cavities 3, the electricity inside body 1
It is mounted with the left servomotor 21 with motor shaft 25 in machine cavity 2, right servomotor 22, pacifies respectively on the left and right servomotor
Left encoder 23, right encoder 24 are filled, encoder is used for measuring.Encoder is spindle-type encoder, can install additional connector with
Motor coaxle couples or is attached on motor shaft.Power module 3, the left and right servomotor outside are mounted with the battery cavities 3
Be mounted with left pedipulator 4 respectively, right pedipulator 41, left and right pedipulator in one forward, another foot path backward, the left and right
Pedipulator includes cursor 42 and support feet 44 setting up and down, and the cursor 42 setting up and down is fixed by installing respectively
Axle 43 is connected in support feet 44, and when left and right driving motor can drive left pedipulator to travel forward respectively, right pedipulator is transported backward
It is dynamic, or left pedipulator is backward, right pedipulator travels forward so that the held stationary during robot ambulation, it is described setting up and down
Cursor 42 be equipped with a turn hole 421, the left and right sides of the body 4 is equipped with rotation section 46 setting up and down, upper rotation
Portion is hollow rotation section, and motor shaft 26 is socketed in upper rotation section 462, and turn that upper cursor 422 is provided with has been socketed on motor shaft 26
Hole 421；Servo motor shaft is stretched out on rotation section so that the rotation of the servomotor powered rotatable arm, lower cursor 423
The turn hole 421 being provided with is socketed in lower rotation section 463, when upper cursor rotates, lower cursor can synergic rotation, and left and right support
To stagger motion, that is, when left support pin travels forward, right support pin moves pin backward.
The top surface of the body 1 is provided with a circuit board 5, and switch 51, master controller 52, a left side are mounted with the circuit board 5
Motion controller 53, right motion controller 54, right control module for servo motor 56, left servomotor drive module 57, inclination angle pass
Sensor 59 and gyro sensor 60, the master controller 52 connect side-to-side movement controller, switch 51, obliquity sensor respectively
59 and gyro sensor 60, the side-to-side movement controller is connected with each other, for coordinating left and right support feet forward or backward
Motion, the side-to-side movement controller, left and right motor servo driver, left and right servomotor are sequentially connected, the left and right coding
Device connects side-to-side movement controller, and position signalling is fed back into side-to-side movement controller, the left and right servomotor, left and right coding
Device, obliquity sensor 59 and gyro sensor 60 connect power module 32, the connecting valve 51 of power module 32 respectively.Electricity
Source module provides voltage needed for each unit；Obliquity sensor, gyro sensor and encoder, respectively robot measurement incline vertically
Rake angle, vertical horizontal angle and the respective position of two motors and turn, data are passed to motion controller.Motion controller
It is the IPM100 all-digital intelligent servo-drivers based on DSP, embeds high-caliber Technosoft motion language, can be according to
Internal EEROM program independent operating, or using serial communication operation command program under the supervision of master controller, by interior
If closed path ring, position ring and electric current loop, the accurate working condition for controlling servomotor
The motor cavity 2 is located at the top of battery cavities 3, for installing two servomotors, may be such that walking before and after mechanical pin
Motion.
The front of the battery cavities 3 is provided with clamp 31, and the clamp 31 is provided with four pieces, two pieces is provided with per side, for blocking electricity
Source module so that it places stable in battery cavities.
The power module 32 is single-unit 15C2200mah electrokinetic cells, and sustainable output Max 60A operating current is sufficient
To ensure electric current during motor work, can be taken off charging.
The left and right servomotor is provided with motor shaft 25 and lower rotation section 463 and is equipped with spacing collar 48, for by turn hole
It is movable to be stuck in spacing collar.
The top surface of the body 1 there is also mounted a transparent protective shield 7, and the transparent protective shield 7 is covered on circuit board 5, is used for
For the anti-gray proofing dust and protecting of circuit board.
The rear end of the transparent protective shield 7 is provided with two shafts 71, and the top surface of the body 1 is provided with a mating part 72, its
The turn hole (not shown) being connected is equipped with, rotating shaft 73 is inserted in the turn hole, transparent protective shield can be opened, is easy to maintenance electricity
Part on the plate of road.
The support feet 44 includes support bar 47 and is welded on the bottom plate 48 of the bottom of support bar 47, when left support pin is transported backward
When dynamic, right support pin is travelled forward, and bottom plate is played a supporting role.
Based on above-mentioned technical proposal, utility model works principle is, power supply is installed in the battery cavities that body is provided with
Module, by pressing switch, now system works, and master controller connects side-to-side movement controller, side-to-side movement controller respectively
Left and right motor servo driver is connected to drive left and right servomotor, left and right servomotor is mounted with left and right encoder respectively, its
Feed back the position of left and right servomotor and the signal such as rotating speed give the control of side-to-side movement controller, at the same can by obliquity sensor and
Gyro sensor carrys out correction during to whole robot ambulation, now, is connected with each other by side-to-side movement controller and by leading
Controller coordinate handles the walking of left and right support feet.
The utility model can be driven by the control system that circuit board is provided with to left and right servomotor, so as to make
The walking of left and right support feet is obtained, the bottom plate that left and right support foot bottom is provided with causes walking to keep stabilization, there is also mounted on the circuit board
Transparent cover so that circuit board avoids dust from invading, and effectively maintains cleaning, and servomotor is controlled by side-to-side movement controller
Driving energy make it that left and right support feet respectively forwardly staggers to the right walking, so as to keep robot ambulation stable, robot installation
It is simple in construction to simplify, by controlling respectively left and right support feet, the run trace it is achieved thereby that robot keeps straight on.
It is pointed out that above-mentioned preferred embodiment is only to illustrate technical concepts and features of the present utility model, its purpose
It is to allow person skilled in the art to understand content of the present utility model and implements according to this, this reality can not be limited with this
With new protection domain.All equivalent change or modifications made according to the utility model Spirit Essence, should all cover in this reality
Within new protection domain.
Claims (8)
1. a kind of new walking robot structure, including body, it is characterised in that：The front openings of the body, set inside it
There is dividing plate, internal body is divided into motor cavity and battery cavities, is mounted with there is motor shaft in the motor cavity by the dividing plate
Left and right servomotor, left and right encoder is mounted with respectively on the left and right servomotor, power supply mould is mounted with the battery cavities
Block, the left and right servomotor outside are mounted with left and right pedipulator respectively, and the left and right pedipulator includes rotation setting up and down
Arm and support feet, the cursor setting up and down is connected in support feet by installing fixing axle, described setting up and down
Turn hole is equipped with cursor, rotation section setting up and down is equipped with left and right sides of the body, stretches out electricity in upper rotation section
Set connects the turn hole that cursor is provided with arbor and motor shaft, and lower rotation section is socketed in the turn hole that lower cursor is set；
The top surface of the body is provided with a circuit board, is mounted with to switch on the circuit board, master controller, side-to-side movement control
Device, left and right motor servo driver, obliquity sensor and gyro sensor, the master controller connect side-to-side movement control respectively
Device processed, obliquity sensor and gyro sensor, the side-to-side movement controller are connected, the side-to-side movement controller, left
Right motor servo driver, left and right servomotor are sequentially connected, and the left and right encoder connects motion controller, by position signalling
Feed back to side-to-side movement controller, the left and right servomotor, left and right encoder, obliquity sensor and gyro sensor difference
Connect power module, the power module connecting valve, switch connection master controller.
2. new walking robot structure as claimed in claim 1, it is characterised in that：The motor cavity is located at the upper of battery cavities
Side.
3. new walking robot structure as claimed in claim 2, it is characterised in that：The front of the battery cavities is provided with relative
The two groups of clamps set, every group is provided with two pieces of clamps, and it is respectively provided at the left and right sides of battery cavities.
4. new walking robot structure as claimed in claim 1, it is characterised in that：The power module is single-unit
15C2200mah electrokinetic cells, sustainable output Max 60A operating current, it is sufficient to ensure electric current during motor work.
5. new walking robot structure as claimed in claim 1, it is characterised in that：The left and right servomotor is provided with motor
Spacing collar is equipped with axle and lower rotation section.
6. new walking robot structure as claimed in claim 1, it is characterised in that：The top surface of the body there is also mounted one
Transparent protective shield, the transparent protective shield lid is on circuit boards.
7. new walking robot structure as claimed in claim 6, it is characterised in that：The rear end of the transparent protective shield is provided with
Two shafts, the top surface of the body are provided with a mating part, and it is equipped with the turn hole being connected, and rotating shaft is inserted in the turn hole.
8. new walking robot structure as claimed in claim 1, it is characterised in that：The support feet includes support bar and weldering
It is connected on the bottom plate of support bar bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720684209.3U CN207120809U (en) | 2017-06-13 | 2017-06-13 | A kind of new walking robot structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720684209.3U CN207120809U (en) | 2017-06-13 | 2017-06-13 | A kind of new walking robot structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207120809U true CN207120809U (en) | 2018-03-20 |
Family
ID=61615073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720684209.3U Expired - Fee Related CN207120809U (en) | 2017-06-13 | 2017-06-13 | A kind of new walking robot structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207120809U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114867400A (en) * | 2022-03-25 | 2022-08-05 | 深圳市智意科技有限公司 | Running gear and cleaning robot |
-
2017
- 2017-06-13 CN CN201720684209.3U patent/CN207120809U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114867400A (en) * | 2022-03-25 | 2022-08-05 | 深圳市智意科技有限公司 | Running gear and cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180320 Termination date: 20190613 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |