CN207758901U - Robot - Google Patents
Robot Download PDFInfo
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- CN207758901U CN207758901U CN201820105747.7U CN201820105747U CN207758901U CN 207758901 U CN207758901 U CN 207758901U CN 201820105747 U CN201820105747 U CN 201820105747U CN 207758901 U CN207758901 U CN 207758901U
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- movement
- main body
- arm
- robot
- foot
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Abstract
The utility model provides a kind of robot, including：Main body rack (1)；Can be relative to the movement foot (2) that the main body rack (1) is swung, the quantity of the movement foot (2) is multiple, and the support end of the movement foot (2) has idler wheel (29).Robot provided by the utility model is swung relative to main body rack by moving foot, realizes the operation of robot ambulation so that robot is with stepwise motion mode operation.By the way that idler wheel is arranged so that robot can be run with wheeled rolling mode.Pass through above-mentioned setting so that robot can choose different motion pattern under different surface relief structures, and then adapt to complicated geographical environment, improve the versatility and the speed of service of robot.
Description
Technical field
The utility model is related to robot device's technical field, more particularly to a kind of robot.
Background technology
Current robot type is various, there is service robot, educational robot and military robot etc., each robot
There is the application environment of oneself.In robot carries out the operations such as site environment prospecting, that is, need quickly to run, it is also desirable to
Adapt to the robot of complicated geographical environment.
But current robot is mainly wheeled construction robot and legged mobile robot.Wheeled construction robot is applicable in
In the relatively flat environment of topography, the speed of travel is fast but is used in the uneven environment in ground limited；Legged mobile robot can be with
Walking is on uneven road, but the speed of travel is slower.Therefore, versatility is not high.
Therefore, the versatility and the speed of service for how improving robot, are the technical problem to be solved by the personnel in the art.
Utility model content
In view of this, the utility model provides a kind of robot, to improve the versatility and the speed of service of robot.
In order to achieve the above object, the utility model provides the following technical solutions：
A kind of robot, including：
Main body rack；
Can be relative to the movement foot that the main body rack is swung, the quantity of the movement foot is multiple, the movement foot
Support end have idler wheel.
Preferably, in above-mentioned robot, the lateral surface of the movement foot has arcwall face, the two neighboring movement foot
Arcwall face can be close by the adjusting of the movement foot.
Preferably, in above-mentioned robot, the arcwall face of multiple movement foots can be by the adjusting of the movement foot
On same spherical surface.
Preferably, in above-mentioned robot, the movement further includes the sufficient main body of movement, the first plane structure and the second plane enough
Structure, the idler wheel are set in the sufficient main body of the movement；
The first plane structure has with relatively-stationary first fixed arm of the first plane structure and relative to institute
State the first regulating arm of the first plane structure rotation；
The second plane structure has with relatively-stationary second fixed arm of the second plane structure and relative to institute
State the second regulating arm of the second plane structure rotation, angle and first regulating arm rotation of the second regulating arm rotation
Angle is mutually perpendicular to；
First fixed arm is fixedly connected with an arm in first regulating arm with the main body rack, and described
Two fixed arms are fixedly connected with an arm in second regulating arm with the sufficient main body of the movement, second fixed arm and institute
Another arm stated in the second regulating arm is fixedly connected with first fixed arm with another arm in first regulating arm.
Preferably, in above-mentioned robot, the movement foot further includes the inside for being set to the sufficient main body of the movement, for driving
The driving motor of the dynamic idler wheel rotation.
Preferably, in above-mentioned robot, first regulating arm and first fixed arm are U-shaped connector, both ends
It is connect with the first plane structure；
Second fixed arm and second regulating arm are U-shaped connector, and both ends connect with the second plane structure
It connects.
Preferably, in above-mentioned robot, the U-shaped connector is metal connecting piece made of being bent by metallic plate.
Preferably, in above-mentioned robot, the lateral surface of the movement foot has arcwall face, the two neighboring movement foot
Arcwall face can be close by the adjusting of the movement foot；
Side of the sufficient main body of the movement far from the main body rack is provided with support construction；The support construction is backwards to institute
The one side for stating main body rack is the arcwall face.
Preferably, in above-mentioned robot, the idler wheel is circle wheel or polygonal wheel.
Preferably, in above-mentioned robot, the main body rack is disc structure or double leval jib frame structure.
Robot provided by the utility model is swung relative to main body rack by moving foot, realizes robot ambulation
Operation so that robot is with stepwise motion mode operation.By the way that idler wheel is arranged so that robot can be with wheeled rolling mould
Formula is run.Pass through above-mentioned setting so that robot can choose different motion pattern under different surface relief structures, and then adapt to multiple
Miscellaneous geographical environment improves the versatility and the speed of service of robot.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other drawings may also be obtained based on these drawings.
Fig. 1 is the first structural schematic diagram for the robot that the utility model embodiment provides；
Fig. 2 is the dimensional structure diagram for the movement foot that the utility model embodiment provides；
Fig. 3 is the main structure diagram for the movement foot that the utility model embodiment provides.
Specific implementation mode
The utility model provides a kind of robot, to improve the versatility and the speed of service of robot.
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
It please refers to Fig.1 and Fig. 2, the utility model embodiment provides a kind of robot, including main body rack 1 and movement foot
2.The quantity of movement foot 2 is multiple and can be swung relative to main body rack 1.The quantity of movement foot 2 is multiple, moves foot 2
Support end has idler wheel 29.
The robot that the utility model embodiment provides is swung relative to main body rack 1 by moving foot 2, realizes machine
The operation of device people walking so that robot is with stepwise motion mode operation.Pass through and idler wheel 29 is set so that robot can be with
Wheeled rolling mode operation.Passing through above-mentioned setting so that robot can choose different motion pattern under different surface relief structures,
And then complicated geographical environment is adapted to, improve the versatility and the speed of service of robot.
Preferably, there is the lateral surface of movement foot 2 arcwall face 21, the arcwall face 21 of two neighboring movement foot 2 can pass through
Movement 2 adjusting of foot and it is close.In the lateral surface of movement foot 2, arcwall face 21,21 energy of arcwall face of two neighboring movement foot 2 are set
It is enough close by moving the adjusting of foot 2 so that the arcwall face 21 of multiple movement foots 2 can be formed by gathering with shell
The structure of function, it is ensured that the protection of robot interior structure in robot operational process, effectively increase service life
And safety in utilization；Also haved the function that reduce robot volume, in order to suitable for narrow working environment, expand
The scope of application.
It is understood that since the movement foot 2 in robot needs to play walking function, movement foot 2 being capable of phase
For 1 adjusting position of main body rack, during adjusting position, the arcwall face 21 for having reached two neighboring movement foot 2 can
Close operation by moving the adjusting of foot 2.
Further, the arcwall face 21 of multiple movement foots 2 can be located at by moving the adjusting of foot 2 on same spherical surface.
That is, by the adjusting of multiple movement foots 2, gathering for the arcwall face 21 of multiple movement foots 2 is realized, and then formed and be similar to spherical surface
Structure.
The arcwall face 21 of multiple movement foots 2 can also be enable to be located on same class spherical surface by moving the adjusting of foot 2.
Wherein, class spherical surface can be polyhedron globe structure, or be similar to pumpkin sphere structure, not repeated them here and
Within protection domain.
As shown in Figures 2 and 3, movement foot 2 further includes 2 main bodys 28 of movement foot, the first plane structure 25 and the second plane knot
Structure 22；Idler wheel 29 is set in movement foot main body 28.First plane structure 25 has relatively-stationary with the first plane structure 25
First fixed arm 24 and the first regulating arm 23 rotated relative to the first plane structure 25；Second plane structure 22 has and second
22 relatively-stationary second fixed arm 26 of plane structure and the second regulating arm 27 rotated relative to the second plane structure 22, second
The angle that the angle that regulating arm 27 rotates is rotated with the first regulating arm 23 is mutually perpendicular to；First fixed arm 24 and the first regulating arm 23
In an arm be fixedly connected with main body rack 1, an arm in the second fixed arm 26 and the second regulating arm 27 and movement foot are main
Body 28 is fixedly connected, the second fixed arm 26 and another arm in the second regulating arm 27 and the first fixed arm 24 and the first regulating arm
Another arm in 23 is fixedly connected.Pass through above-mentioned setting so that the first plane structure 25 and the second plane structure 22 exist respectively
Two adjusting sides are adjusted up movement foot 2 and run.
Can also plane structure only be set up an adjusting side, another adjusting side sets up electric rotating machine or tooth
Drive mechanism etc. is taken turns, no longer meaning is tired herein states.
Movement foot further includes the inside for being set to movement foot main body 28, the driving motor for driving idler wheel 29 to rotate.It is logical
Above-mentioned setting is crossed, on the basis of ensuring 29 rotational stability of idler wheel, improves the structural compactness of robot.
For the ease of processing, the first regulating arm 23 and the first fixed arm 24 are U-shaped connector, both ends and the first plane knot
Structure 25 connects；Second fixed arm 26 and the second regulating arm 27 are U-shaped connector, and both ends are connect with the second plane structure 22.
Further, U-shaped connector is metal connecting piece made of being bent by metallic plate.Preferably, metallic plate is 2mm left
Right aluminium sheet.Other materials or the metallic plate of other thickness can also be used.
In the robot that the utility model embodiment provides, moves side of the sufficient main body 28 far from main body rack 1 and be provided with
Support construction；Support construction is arcwall face 21 backwards to the one side of main body rack 1.That is, in the present embodiment, the lateral surface of movement foot 2
With arcwall face 21, the arcwall face 21 of two neighboring movement foot 2 can be close by moving the adjusting of foot 2.It is set by above-mentioned
It sets, has both ensured the structural strength of movement foot main body 28, be also convenient for the setting of arcwall face 21.
Preferably, idler wheel 29 is circle wheel or polygonal wheel.Wherein, polygonal wheel is preferably regular polygon.
Further, main body rack 1 is disc structure or double leval jib frame structure.In order to facilitate setting, preferably by main body
Holder 1 is set as double leval jib frame structure.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use this practicality new
Type.Various modifications to these embodiments will be apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest range consistent with features of novelty.
Claims (10)
1. a kind of robot, which is characterized in that including：
Main body rack (1)；
Can be relative to the movement foot (2) that the main body rack (1) is swung, the quantity of the movement foot (2) is multiple, the fortune
The support end of action spot (2) has idler wheel (29).
2. robot according to claim 1, which is characterized in that the lateral surface of the movement foot (2) has arcwall face
(21), the arcwall face (21) of the two neighboring movement foot (2) can be close by the adjusting of the movement foot (2).
3. robot according to claim 2, which is characterized in that the arcwall face (21) of multiple movement foots (2) can
It is located on same spherical surface by the adjusting of the movement foot (2).
4. robot according to claim 1, which is characterized in that movement foot (2) further include the sufficient main body (28) of movement,
First plane structure (25) and the second plane structure (22), the idler wheel (29) are set on the sufficient main body (28) of the movement；
The first plane structure (25) have with relatively-stationary first fixed arm (24) of the first plane structure (25) and
The first regulating arm (23) relative to the first plane structure (25) rotation；
The second plane structure (22) have with relatively-stationary second fixed arm (26) of the second plane structure (22) and
Relative to the second regulating arm (27) of the second plane structure (22) rotation, the angle of second regulating arm (27) rotation with
The angle of first regulating arm (23) rotation is mutually perpendicular to；
First fixed arm (24), which is fixed with an arm in first regulating arm (23) with the main body rack (1), to be connected
It connects, second fixed arm (26), which is fixed with an arm in second regulating arm (27) with the sufficient main body (28) of the movement, to be connected
It connects, another arm in second fixed arm (26) and second regulating arm (27) and first fixed arm (24) and institute
Another arm stated in the first regulating arm (23) is fixedly connected.
5. robot according to claim 4, which is characterized in that the movement foot (2) further includes being set to the movement
The inside of sufficient main body (28), the driving motor for driving the idler wheel (29) to rotate.
6. robot according to claim 5, which is characterized in that first regulating arm (23) and first fixed arm
(24) it is U-shaped connector, both ends are connect with the first plane structure (25)；
Second fixed arm (26) and second regulating arm (27) are U-shaped connector, both ends and the second plane knot
Structure (22) connects.
7. robot according to claim 6, which is characterized in that the U-shaped connector is made of being bent by metallic plate
Metal connecting piece.
8. robot according to claim 4, which is characterized in that the lateral surface of the movement foot (2) has arcwall face
(21), the arcwall face (21) of the two neighboring movement foot (2) can be close by the adjusting of the movement foot (2)；
The sufficient side of the main body (28) far from the main body rack (1) of movement is provided with support construction；The support construction back of the body
It is the arcwall face (21) to the one side of the main body rack (1).
9. robot according to claim 1, which is characterized in that the idler wheel (29) is circle wheel or polygonal wheel.
10. robot according to claim 1, which is characterized in that the main body rack (1) is disc structure or double leval jib
Frame structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820105747.7U CN207758901U (en) | 2018-01-22 | 2018-01-22 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820105747.7U CN207758901U (en) | 2018-01-22 | 2018-01-22 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207758901U true CN207758901U (en) | 2018-08-24 |
Family
ID=63181402
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820105747.7U Expired - Fee Related CN207758901U (en) | 2018-01-22 | 2018-01-22 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207758901U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278886A (en) * | 2018-09-30 | 2019-01-29 | 北京航空航天大学 | A kind of four-part form omnidirectional, which creeps, rolls quadruped robot |
| CN109278885A (en) * | 2018-09-30 | 2019-01-29 | 北京航空航天大学 | A kind of two-part rolls quadruped robot |
| CN117340887A (en) * | 2023-11-16 | 2024-01-05 | 泰州学院 | Computer remote operation robot |
-
2018
- 2018-01-22 CN CN201820105747.7U patent/CN207758901U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278886A (en) * | 2018-09-30 | 2019-01-29 | 北京航空航天大学 | A kind of four-part form omnidirectional, which creeps, rolls quadruped robot |
| CN109278885A (en) * | 2018-09-30 | 2019-01-29 | 北京航空航天大学 | A kind of two-part rolls quadruped robot |
| CN109278885B (en) * | 2018-09-30 | 2021-01-19 | 北京航空航天大学 | Two-section type rollable quadruped robot |
| CN117340887A (en) * | 2023-11-16 | 2024-01-05 | 泰州学院 | Computer remote operation robot |
| CN117340887B (en) * | 2023-11-16 | 2024-05-17 | 泰州学院 | Computer remote operation 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: 20180824 Termination date: 20200122 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |