CN209112326U - A kind of robot walking device freely turned to - Google Patents
A kind of robot walking device freely turned to Download PDFInfo
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- CN209112326U CN209112326U CN201821850776.2U CN201821850776U CN209112326U CN 209112326 U CN209112326 U CN 209112326U CN 201821850776 U CN201821850776 U CN 201821850776U CN 209112326 U CN209112326 U CN 209112326U
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- fixed
- chassis
- driving wheel
- walking device
- robot walking
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Abstract
The utility model discloses a kind of robot walking devices freely turned to, including obstacle avoidance sensor, hydraulic jack, limit clamping plate and driving chassis, the both ends of the two sides on the driving chassis are mounted on driving wheel, and driving wheel side wall is internally provided with enhancement layer, the inside of the enhancement layer is evenly arranged with preformed groove, and the inside of preformed groove is provided with spiral reinforcing rod, the two sides of the enhancement layer are provided with resistance to compression layer, rubber wear-resisting layer is provided on the outside of the driving wheel, the bottom end on the driving chassis is welded with fixed block, and the bottom end of fixed block is equipped with clump weight, both ends at the top of the mounting plate pass through fixing bolt and are fixed with baffle, and limit clamping plate is evenly arranged between baffle.The utility model avoids top-heavy phenomenon occur when installing some heavier robot body parts by being equipped with fixed block, card slot, fixture block and clump weight, clump weight convenient for the stability on guarantee device chassis.
Description
Technical field
The utility model relates to robotic technology field, specially a kind of robot walking device freely turned to.
Background technique
With the continuous development of society, people's lives are horizontal quickly improves, and while development, science and technology also exists
It is constantly progressive, in order to mitigate the work and life burden of people, the robot instead of people's labour occurs, such as warehouse is removed
Robot either clean robot etc. is transported, with the rapid development of computer technology and artificial intelligence technology, robot is in function
It can be also required to be correspondingly improved with the hierarchy of skill.
The most structure of robot walking device at this stage is simple, has a single function, and can meet during robot work
To many barriers, device can not freely turn to cause to collide, and will cause the damage of device, while such dress over time
It sets and is not easy to that installation and limit adjusting is fixed with robot body part, height can not also be adjusted, in actual use office
It is sex-limited more, and the main part heavier-weight of partial robotic, it is easy to appear top-heavy phenomenon, it is easy to it turns upside down,
It causes device to damage, while such device travels on the road surface jolted in injustice for a long time, be easy to cause robot interior circuit
Structural damage, influence the stability of equipment, therefore be badly in need of a kind of robot walking device freely turned to meet people
Demand.
Utility model content
The purpose of this utility model is to provide a kind of robot walking devices freely turned to, to solve above-mentioned background skill
The existing robot walking device proposed in art can not free haul off barrier, be not easy to fixed limit robot body
Part is easy tipping and the problem of the road traveling to jolt is easy to cause the structural damage of internal circuit.
To achieve the above object, the utility model provides the following technical solutions: a kind of robot ambulation dress freely turned to
It sets, including obstacle avoidance sensor, hydraulic jack, limit clamping plate and driving chassis, the both ends of the two sides on the driving chassis are pacified
Equipped with driving wheel, and driving wheel side wall is internally provided with enhancement layer, and the inside of the enhancement layer is evenly arranged with preformed groove, and
The inside of preformed groove is provided with spiral reinforcing rod, and the two sides of the enhancement layer are provided with resistance to compression layer, the driving wheel it is outer
Side is provided with rubber wear-resisting layer, and the bottom end on the driving chassis is welded with fixed block, and the bottom end of fixed block is equipped with clump weight,
The top on the driving chassis is equipped with buffering plate, and shell, the shell are fixed on the driving chassis below buffering plate
The one end in internal portion is fixed with battery, and the other end of enclosure interior is fixed with single-chip microcontroller, in the buffering plate side
Centre is fixed with obstacle avoidance sensor at position, and the both ends at the top of the buffering plate are fixed with hydraulic jack, and hydraulic jack
Top be fixed with mounting plate, the both ends at the top of the mounting plate pass through fixing bolt and are fixed with baffle, and between baffle
It is even to be provided with limit clamping plate.
Preferably, the top of the mounting plate is provided with sliding rail, and the bottom end of the limit clamping plate is provided with and sliding rail phase
The sliding block mutually cooperated, and limit clamping plate and pass through sliding block and sliding rail composition sliding equipment.
Preferably, the bottom end of the fixed block is provided with card slot, and the top of the clump weight is provided with and card slot phase interworking
The fixture block of conjunction, and the lateral wall of fixture block is provided with external screw thread, the inner sidewall of card slot is provided with and the mutually matched interior spiral shell of external screw thread
Line, the clump weight and fixed block constitute installing and dismounting structure.
Preferably, the top inside the buffering plate is evenly arranged with damping spring, and damping spring is in " X " type knot
Structure.
Preferably, the inside of the resistance to compression layer is evenly arranged with rubber tube, and the rubber tube is in corrugated tube shape, the spiral
Angle between reinforcing rib and rubber tube is 90 degree.
Preferably, the preformed groove equally arranges, and is parallel to each other between preformed groove.
Compared with prior art, the utility model has the beneficial effects that the robot walking device freely turned to passes through
Fixed block, card slot, fixture block and clump weight are installed, clump weight avoids convenient for the stability on guarantee device chassis in installation one
There is top-heavy phenomenon when a little heavier robot body parts, while being threadedly coupled between card slot and fixture block, is made when it's convenient
In installation and removal clump weight, it is conveniently replaceable, meets a variety of demands, while device is by being equipped with obstacle avoidance sensor and monolithic
Machine, so that signal is passed into single-chip microcontroller in time convenient for sensing in front of traveling there are when barrier, the bottom of control driving later
Drive system in disk is turned to, avoiding obstacles, avoids hitting and device is caused to damage, while device is by being equipped with installation
Plate, baffle, sliding rail, sliding block and limit clamping plate, so that convenient for robot functional part of different specifications and sizes is fixedly mounted, it is right
It carries out clamping limit, while by being equipped with mounting plate, hydraulic jack and mounting plate, so that convenient for adjusting robot master
The height of body portion, in order to be suitable for different working regions, while device passes through being internally provided in driving wheel side wall
Enhancement layer and resistance to compression layer are less likely to be damaged it convenient for improving the structural strength and compressive property of driving wheel, extend and use the longevity
Life.
Detailed description of the invention
Fig. 1 faces the schematic diagram of the section structure for the utility model；
Fig. 2 is amplification profile structural schematic diagram at A in Fig. 1 of the utility model；
Fig. 3 is amplification profile structural schematic diagram at B in Fig. 1 of the utility model；
Fig. 4 is the driving wheel side wall the schematic diagram of the section structure of the utility model.
In figure: 1, driving wheel；2, clump weight；3, battery；4, obstacle avoidance sensor；5, hydraulic jack；6, baffle；7, sliding
Rail；8, clamping plate is limited；9, sliding block；10, mounting plate；11, shell；12, single-chip microcontroller；13, chassis is driven；14, fixed block；15, block
Slot；16, fixture block；17, damping spring；18, buffering plate；19, rubber wear-resisting layer；20, resistance to compression layer；21, rubber tube；22, reinforce
Layer；23, preformed groove；24, spiral reinforcing rod.
Specific embodiment
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
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-4 is please referred to, a kind of embodiment provided by the utility model: a kind of robot walking device freely turned to,
Including obstacle avoidance sensor 4, hydraulic jack 5, limit clamping plate 8 and driving chassis 13, the both ends of the two sides on chassis 13 is driven to pacify
Equipped with driving wheel 1, and 1 side wall of driving wheel is internally provided with enhancement layer 22, and the inside of enhancement layer 22 is evenly arranged with preformed groove
23, and the inside of preformed groove 23 is provided with spiral reinforcing rod 24, preformed groove 23 equally arranges, and phase between preformed groove 23
It is mutually parallel, convenient for guaranteeing that spiral reinforcing rod 24 is on same straight line, guarantee the uniformity of device, the two sides of enhancement layer 22 are all provided with
It is equipped with resistance to compression layer 20, the inside of resistance to compression layer 20 is evenly arranged with rubber tube 21, and rubber tube 21 is in corrugated tube shape, spiral reinforcing rod 24
Angle between rubber tube 21 is 90 degree, increases device compressive property and torsional, the outside of driving wheel 1 are provided with
The bottom end of rubber wear-resisting layer 19, driving chassis 13 is welded with fixed block 14, and the bottom end of fixed block 14 is equipped with clump weight 2, Gu
The bottom end for determining block 14 is provided with card slot 15, and the top of clump weight 2 is provided with and the mutually matched fixture block 16 of card slot 15, and fixture block 16
Lateral wall be provided with external screw thread, the inner sidewall of card slot 15 is provided with and the mutually matched internal screw thread of external screw thread, clump weight 2 and solid
Determine block 14 and constitute installing and dismounting structure, the clump weight 2 of replacement different weight easy to disassemble, the top on driving chassis 13 is equipped with slow
Pedestal 18 is rushed, the top inside buffering plate 18 is evenly arranged with damping spring 17, and damping spring 17 is in " X " type structure, is risen
The effect shockproof to damping avoids causing since road bumps cause device to vibrate at work device inner body loosely very
It is fixed with shell 11 to damage, and on the driving chassis 13 of 18 lower section of buffering plate, one end inside shell 11 is fixed with electric power storage
Pond 3, and the other end inside shell 11 is fixed with single-chip microcontroller 12, the model of single-chip microcontroller 12 can be ZYWYKJ, buffering plate 18 1
The central position of side is fixed with obstacle avoidance sensor 4, and the model of obstacle avoidance sensor 4 can be UP0043,18 top of buffering plate
Both ends are fixed with hydraulic jack 5, and the top of hydraulic jack 5 is fixed with mounting plate 10, and the both ends at 10 top of mounting plate are equal
It is fixed with baffle 6 by fixing bolt, and is evenly arranged with limit clamping plate 8 between baffle 6, the top of mounting plate 10 is provided with cunning
Rail 7, the bottom end of limit clamping plate 8 be provided with the mutually matched sliding block 9 of sliding rail 7, and limit clamping plate 8 by sliding block 9 and sliding
Rail 7 constitutes sliding equipment, clamps robot body part of different specifications and sizes convenient for limit.
Working principle: in use, robot body part is fixed on mounting plate 10 first, by sliding on sliding rail 7
Robot body part is carried out limit clamping by dynamic limit clamping plate 8, avoids sideslip and displacement, while can also fix different size
The robot body of size, the hydraulic jack 5 of 10 lower section of mounting plate are convenient for adjusting the height of robot body part, in order to
Suitable for different working regions, battery 3 provides electric power for device, and the driving device in chassis 13 is driven to make driving wheel 1
Rotation, device start work of walking, and the obstacle avoidance sensor 4 being arranged on buffering plate 18 is convenient for sensing in front of traveling in the presence of barrier
When hindering object, signal is passed into single-chip microcontroller 12 in time, the drive system in the chassis 13 of control driving later is turned to, and avoids hindering
Hinder object, avoids hitting and device is caused to damage, be internally provided with enhancement layer 22 and resistance to compression layer 20 in 1 side wall of driving wheel, be convenient for
The structural strength and compressive property for improving driving wheel 1, are less likely to be damaged it, while being provided with rubber in the outside of driving wheel 1
Wearing layer 19 avoids the surface wear for travelling driving wheel 1 for a long time serious, extends the service life of device, buffering plate 18
Interior damping spring 17 can guarantee device stability, avoid the vibration due to caused by road bumps, make zero inside robot body
Part loosely even damages, and influences using clump weight 2 avoids installing some heavier machines convenient for the stability of guarantee device
Occur top-heavy phenomenon when human agent part, avoids turning upside down.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting
Related claim.
Claims (6)
1. a kind of robot walking device freely turned to, including obstacle avoidance sensor (4), hydraulic jack (5), limit clamping plate
(8) and chassis (13) being driven, it is characterised in that: the both ends of the two sides of driving chassis (13) are mounted on driving wheel (1), and
Driving wheel (1) side wall is internally provided with enhancement layer (22), and the inside of the enhancement layer (22) is evenly arranged with preformed groove (23),
And the inside of preformed groove (23) is provided with spiral reinforcing rod (24), the two sides of the enhancement layer (22) are provided with resistance to compression layer
(20), it is provided with rubber wear-resisting layer (19) on the outside of the driving wheel (1), the bottom end of driving chassis (13) is welded with fixation
Block (14), and the bottom end of fixed block (14) is equipped with clump weight (2), the top of driving chassis (13) is equipped with buffering plate
(18), it is fixed with shell (11) on the driving chassis (13) and below buffering plate (18), the internal one end of the shell (11)
It is fixed with battery (3), and the other end of shell (11) inside is fixed with single-chip microcontroller (12), buffering plate (18) side
Central position is fixed with obstacle avoidance sensor (4), and the both ends at the top of the buffering plate (18) are fixed with hydraulic jack (5),
And the top of hydraulic jack (5) is fixed with mounting plate (10), the both ends at the top of the mounting plate (10) pass through fixing bolt
It is fixed with baffle (6), and is evenly arranged with limit clamping plate (8) between baffle (6).
2. a kind of robot walking device freely turned to according to claim 1, it is characterised in that: the mounting plate
(10) top is provided with sliding rail (7), and the bottom end of limit clamping plate (8) is provided with and sliding rail (7) mutually matched sliding block
(9), and limit clamping plate (8) constitutes sliding equipment by sliding block (9) and sliding rail (7).
3. a kind of robot walking device freely turned to according to claim 1, it is characterised in that: the fixed block
(14) bottom end is provided with card slot (15), and the top of the clump weight (2) is provided with and card slot (15) mutually matched fixture block
(16), and the lateral wall of fixture block (16) is provided with external screw thread, and the inner sidewall of card slot (15) is provided with mutually matched with external screw thread
Internal screw thread, the clump weight (2) and fixed block (14) constitute installing and dismounting structure.
4. a kind of robot walking device freely turned to according to claim 1, it is characterised in that: the buffering plate
(18) internal top is evenly arranged with damping spring (17), and damping spring (17) is in " X " type structure.
5. a kind of robot walking device freely turned to according to claim 1, it is characterised in that: the resistance to compression layer
(20) inside is evenly arranged with rubber tube (21), the rubber tube (21) be in corrugated tube shape, the spiral reinforcing rod (24) with
Angle between rubber tube (21) is 90 degree.
6. a kind of robot walking device freely turned to according to claim 1, it is characterised in that: the preformed groove
(23) it equally arranges, and is parallel to each other between preformed groove (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821850776.2U CN209112326U (en) | 2018-11-02 | 2018-11-02 | A kind of robot walking device freely turned to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821850776.2U CN209112326U (en) | 2018-11-02 | 2018-11-02 | A kind of robot walking device freely turned to |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209112326U true CN209112326U (en) | 2019-07-16 |
Family
ID=67204584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821850776.2U Expired - Fee Related CN209112326U (en) | 2018-11-02 | 2018-11-02 | A kind of robot walking device freely turned to |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209112326U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110002208A (en) * | 2019-04-18 | 2019-07-12 | 吉林省德伟米业有限公司 | A kind of paddy transport feeding inclined plate structure |
| CN110525186A (en) * | 2019-08-27 | 2019-12-03 | 南京涵曦月自动化科技有限公司 | A kind of robot power chassis |
| CN111874125A (en) * | 2020-08-11 | 2020-11-03 | 行星算力(深圳)科技有限公司 | Wheeled robot with parking function |
| CN115330945A (en) * | 2022-08-12 | 2022-11-11 | 南京三万物联网科技有限公司 | Robot autonomous cruise and three-dimensional reconstruction device and method |
-
2018
- 2018-11-02 CN CN201821850776.2U patent/CN209112326U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110002208A (en) * | 2019-04-18 | 2019-07-12 | 吉林省德伟米业有限公司 | A kind of paddy transport feeding inclined plate structure |
| CN110525186A (en) * | 2019-08-27 | 2019-12-03 | 南京涵曦月自动化科技有限公司 | A kind of robot power chassis |
| CN111874125A (en) * | 2020-08-11 | 2020-11-03 | 行星算力(深圳)科技有限公司 | Wheeled robot with parking function |
| CN111874125B (en) * | 2020-08-11 | 2023-08-18 | 行星算力(深圳)科技有限公司 | Wheeled robot with parking function |
| CN115330945A (en) * | 2022-08-12 | 2022-11-11 | 南京三万物联网科技有限公司 | Robot autonomous cruise and three-dimensional reconstruction device and method |
| CN115330945B (en) * | 2022-08-12 | 2023-09-08 | 南京三万物联网科技有限公司 | Robot autonomous cruising and three-dimensional reconstruction device and method |
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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: 20190716 Termination date: 20211102 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |