CN209364630U - A kind of robot - Google Patents

Abstract

The utility model discloses a kind of robots, are related to field of intelligent control.It include: robot body, chassis and wing, wing is set to robot body, and robot body is equipped with swing mechanism；Swing mechanism includes: first support, driving assembly, drive rod, connecting rod, oscillating rod and limit assembly；Connecting rod is articulated with first support, and one end of drive rod is articulated with driving assembly, and the other end of drive rod is articulated with the one end of connecting rod far from first support, and the plane of movement of connecting rod is parallel to the plane of movement of drive rod；Driving assembly is moved for driving the drive rod far from one end of connecting rod along the direction close to or far from connecting rod；Oscillating rod is articulated with connecting rod, and the plane of movement of oscillating rod is parallel to the plane of movement of connecting rod, and wing is installed on oscillating rod；One end of limit assembly is set to oscillating rod, and the other end of limit assembly is set to first support, and limit assembly is used to adjust the angle of oscillating rod and connecting rod.

Description

A kind of robot

Technical field

The utility model relates to field of intelligent control, espespecially a kind of robot.

Background technique

As robot performance constantly improve, will be used wider and wider for robot is general, not only in industry, agricultural, doctor It is widely used in the industries such as treatment, service, and is obtained very well in occasions such as urban safety, national defence and space exploration fields Application.

Currently, the existing function of fluttering its wings up and down of robot needs to realize by four axis robots or six axis robot, cost is high Expensive, the function of fluttering its wings up and down of robot is difficult to batch and uses；Or by cylinder or the driving of push-rod electric machine isoline in device, by robot Wing directly raise up, but in the wing lifting process of robot, the motion process of wing is more single, and the fortune of wing Dynamic process is difficult to adjust, and reduces the Experience Degree of user.

Summary of the invention

The purpose of the utility model is to provide a kind of robot, the position of wing can be adjusted jointly according to Multiple factors, Enrich the motion process of wing.

The technical scheme that the utility model is provided is as follows:

A kind of robot, comprising: robot body, chassis and wing, the robot body are set to the upper of the chassis Side, the wing are set to the robot body, and the robot body is equipped with the pendulum for driving the wing to swing Motivation structure；The swing mechanism includes: first support, driving assembly, drive rod, connecting rod, oscillating rod and limit assembly；It is described Connecting rod is articulated with the first support, and one end of the drive rod is articulated with the driving component, the drive rod it is another End is articulated with the one end of the connecting rod far from the first support, and the plane of movement of the connecting rod is parallel to the drive rod Plane of movement；The driving component is for driving the drive rod far from one end of the connecting rod, along close to or far from institute State the direction movement of connecting rod；The oscillating rod is articulated with the connecting rod, and the plane of movement of the oscillating rod is parallel to described The plane of movement of connecting rod, the wing are installed on the oscillating rod；One end of the limit assembly is set to the oscillating rod, The other end of the limit assembly is set to the first support, and the limit assembly is for adjusting the oscillating rod and the company The angle of extension bar.

In the technical program, since oscillating rod is arranged in connecting rod, oscillating rod can follow connecting rod to move, and Wing is arranged on oscillating rod, and therefore, wing first can be around the connecting shaft rotation between connecting rod and first support；Pass through The setting of limit assembly, during wing rotation, limit assembly can constantly regulate the angle of oscillating rod and connecting rod, into One step section can be adjusted jointly in the position of wing, the position of wing according to Multiple factors, enrich the motion process of wing.

Further, the limit assembly includes: connecting-rods with constant lengh, and one end of the connecting-rods with constant lengh is articulated with the oscillating rod, described The other end of connecting-rods with constant lengh is articulated with the first support；The movement that the plane of movement of the connecting-rods with constant lengh is parallel to the oscillating rod is flat Face.

In the technical program, in driving assembly motion process, it is able to drive drive rod movement, then drives connecting rod fortune It is dynamic, while by the setting of connecting-rods with constant lengh, the constraint between connecting-rods with constant lengh, connecting rod and oscillating rod is increased, connecting rod can drive Oscillating rod movement, driving assembly during the motion, can be obtained the oscillating rod of particular state, realize the swing of oscillating rod.

Further, the limit assembly includes: the first hinge bar, and one end of first hinge bar is articulated with the swing Bar；One end of second hinge bar, second hinge bar is articulated with the first support；The other end of first hinge bar with The other end of second hinge bar is hinged, the plane of movement of the plane of movement of first hinge bar and second hinge bar Each parallel to the plane of movement of the oscillating rod.

In the technical program, the first hinge bar, the second hinge bar and oscillating rod are capable of forming a double rocker mechanism, and second Hinge bar and oscillating rod can be as two rocking bars of double rocker mechanism, and the first hinge bar can be as in double rocker mechanism Connecting rod；Under gravity, automatic adjustment forms corresponding state, and uses for first hinge bar, the second hinge bar and oscillating rod Family can choose the first hinge bar and the second hinge bar of different length, and the position of different conditions bottom lever is adjusted convenient for user And angle, increase the scope of application of swing mechanism.

Further, second hinge bar is staggered with the connecting rod；The oscillating rod is hinged far from described first One end of bar is articulated with the one end of the connecting rod far from the first support.

In the technical program, after the second hinge bar is staggered with connecting rod, oscillating rod and fixed bracket being capable of positions In the two sides of the second hinge bar and connecting rod, the first hinge bar and connecting rod are reduced between two hinge joints on oscillating rod Distance, the first hinge bar and connecting rod increase the amplitude of fluctuation of oscillating rod, increase pendulum when position and/or angle are changed The swing effect of motivation structure.

Further, the drive rod is articulated with second hinge bar；The driving component is articulated with the first support, The plane of movement of the driving component is parallel to the plane of movement of the drive rod.

In the technical program, since there is still a need under gravity for oscillating rod, the first hinge bar and the second hinge bar Its position is automatically adjusted, and in adjustment process, oscillating rod shaking amplitude is larger and unstable；By the way that drive rod is articulated with Two hinge bars can drive the second hinge bar to move simultaneously, increase driving during the movement of drive rod drive connection bar Constraint between bar and the second hinge bar, drive rod during exercise, can directly drive the second hinge bar to move.

Further, the robot body is equipped with lateral drawing and pulling type battery fastening structure, the lateral drawing and pulling type battery Battery is installed in mounting structure；The lateral drawing and pulling type battery fastening structure includes: second support, battery case, hinge assembly And locking assembly；One end of the hinge assembly is set to the second support, and the other end of the hinge assembly is set to institute Battery case is stated, the battery case is articulated with second support by the hinge assembly；The battery case edge is parallel to described second The length direction of bracket is set to the second support, and the hinge assembly is set to described along the length direction of the battery case One end of battery case；The accommodation space for accommodating battery is offered in the battery case, is additionally provided on the battery case for described The receiving that battery enters the accommodation space is open；The battery case is arranged in far from the hinge assembly in the locking assembly One end, for the battery case to be lock onto the second support far from one end of the hinge assembly, and by the battery pressure Tightly in the second support.

In the technical program, by the setting of hinge assembly, then realize battery case on the secondary support bracket laterally beat It opens, while by the setting of locking assembly, then realizes the locking and release of battery case on the secondary support bracket, controlled convenient for user Made cell box different state on the secondary support bracket, then realizes the handling of the battery in battery case, battery in battery case It loads and unloads relatively simple.

Further, the battery case includes bottom baffle, the first side baffle and the second side baffle；The bottom baffle is used for The hinge assembly is installed；First side baffle is set to the one end of the bottom baffle far from the second support；It is described Second side baffle plate setting is two, is set to first side baffle close to the side of the second support；The bottom baffle, The accommodation space is collectively formed in first side baffle and the second side baffle；First side baffle is surrounded with second side baffle Form the receiving opening.

In the technical program, after user's lateral opening battery case, battery can be directly placed in battery case by user, Battery can be placed on the first side baffle, and diagonally downward due to the first side baffle under current state, and battery can be in weight Under the action of power, along the first side baffle slide downward, until sliding into bottom end；Meanwhile during downward sliding, two sides The second side baffle can be used as two guide rails, battery is limited, the constraint in battery slipping is increased, reduces The possibility of battery bounce, increases the stability in battery slipping.

Further, the battery case is set as two, and two battery cases are separately positioned on the two of the second support The battery case is lock by side, two battery cases commonly through the locking assembly far from one end of the hinge assembly The second support, and the battery is pressed in the second support.

In the technical program, locking assembly can compress two battery cases, then realize and be pressed on two battery cases In second support, easily battery case is compressed on the secondary support bracket.

Further, the locking assembly includes: two locking locks, is separately positioned on the outer wall of two battery cases On；Baffle is connected, the both ends of the connection baffle are for snapping onto two locking locks；When connection baffle snaps onto two When on a locking lock, the battery case is connected to the second support far from one end of the hinge assembly, and by institute It states battery and is pressed in the second support.

In the technical program, two batteries have been can be realized by the setting of locking lock and connection baffle in locking assembly Connection between box, while the connection by locking lock and connecting baffle.The connection of locking assembly and battery case can be realized, The movement of locking assembly is more convenient.

Further, the chassis structure includes: bottom plate；Crossbeam group；And two groups of supports along first direction mirror settings Frame, i.e. the first support frame and the second support frame；Support frame as described above is set to the upper surface of the bottom plate by connection component；The cross Beam is mounted on the top of the bottom plate and is sequentially connected first support frame and second support frame along first direction；It is described Support frame includes successively spaced bumper；The bumper is set to the outside of the supporting element group along first direction；Institute It states and forms installation space between the supporting element group of the first support frame and the supporting element group of second support frame；It is set on the chassis There are power supply and control system, the power supply and control system are arranged along first direction or second direction；It is additionally provided on the chassis For driving the driving device of the robot motion.

In the technical program, mirrored arrangement is carried out by the construction that will be arranged on bottom plate, and in the component being disposed adjacent Between formed other component installation space so that sole shape ensure that on bottom plate at functionalization and modular installation Uniform force effectively it is avoided to incline to improve chassis in the stability and balance of robot ambulation process , the bad phenomenons such as inclination；And no setting is required on entire chassis clump weight, the gravity of robot is alleviated, machine is thereby reduced The walking resistance of people, energy saving.And the setting of bumper improves the shock resistance on chassis, protects chassis, improving it makes Use the service life.

Further, the bottom plate is equipped with holding tank, and the lower end of the robot body is set in the holding tank；Also Including fixed mechanism, the fixed mechanism includes the first fixing piece, and first fixing piece is arranged in support frame as described above far from institute State the side of bottom plate.

In the technical program, one end of robot body is arranged in the holding tank on bottom plate, can be by robot body Bottom is fixed, and then passes through the middle part of fixed mechanism stationary machines human body, and the abundant solid of robot body can be realized It is fixed, improve the stability of robot body；Building block is few, and structure is simple, and can reduce the volume on chassis, is conducive to machine The miniaturization of people, while each building block can be processed individually, and processing technology is simplified, and improve the convenience of processing.

Further, support frame as described above further included line pedestal group, so that first support frame crosses line pedestal group and institute It states crossing between line pedestal group for the second support frame and forms the installation space；The line pedestal group of crossing is installed on by connector group The upper surface of the bottom plate；The line pedestal group of crossing includes that two be oppositely arranged in a second direction cross line plate, i.e., first crosses line Plate and second crosses line plate, wherein second direction and first direction are vertical；Described first, which crosses line plate and described second, crosses the phase of line plate Cable-through hole for cabling is had to inside, the axis direction of the cable-through hole is identical as first direction.

In the technical program, the electric wire on chassis, the fixation of the cabling of signal wire, wiring path are realized by crossing line plate Arrangement, thus realize the centralization of cabling, modularization, so that chassis layout is more reasonable, consequently facilitating overhaul after sale, safeguard, Malfunction elimination mitigates the workload of the staff of after-sale service, improves the maintenance of equipment and replacement efficiency of after-sale service.

Further, the driving device includes combined support plate, suspension mechanism and driving mechanism, and the combined support plate is used It is connected in the crossbeam group in setting, for driving the robot motion, the suspension mechanism is used for the driving mechanism The driving mechanism is installed on the combined support plate.

In the technical program, the movement on chassis can be realized by combined support plate, suspension mechanism and driving mechanism, then Robot motion is driven, and the realization of motion process is more convenient.

Further, the combined support plate includes: including the first support plate, the second support plate and more than two fixations Part, first support plate are identical as the structure of second support plate；First support plate is axially symmetric structure, described the The symmetry axis of one support plate is equipped with first through hole on one side, and it is logical that the another side of the symmetry axis of first support plate is equipped with second Hole, the first through hole and second through-hole are symmetrical arranged relative to the symmetry axis of first support plate；Described first Fagging includes the first surface and second surface being oppositely arranged；First support plate is oppositely arranged with second support plate, The first surface of first support plate is disposed adjacent with the first surface of second support plate；The more than one fixation One end of part passes through the first through hole of first support plate and protrudes into the second through-hole of second support plate, the other end It is arranged in the first through hole of first support plate, with fixation first support plate and second support plate；Other one One end of a above fixing piece passes through the first through hole of second support plate and protrudes into the of first support plate In two through-holes, the other end is arranged in the first through hole of second support plate, with fixation first support plate and described Second support plate.

In the technical program, the first support plate is identical as the structure of the second support plate, and the first support plate is equipped with symmetrical First through hole and the second through-hole, it is when installation, the front of the first support plate is opposite with the reverse side of the second support plate, then it will fix Part is inserted into the second through-hole from first through hole, can be realized the fixed installation of the first support plate Yu the second support plate, when production, It needs the unified identical support plate of a collection of structure of processing to can be realized as the fixed installation of two support plates, can not only improve production Efficiency, and production cost can be reduced.

Further, the suspension mechanism includes: including damper, main supporting element and two lower support elements；The main support Two side plates that one end of part is oppositely arranged with the driving mechanism are rotatably connected, so that the main supporting element is parallel described The rotation in surface of side plate；The main supporting element is equipped with aperture, one end of the damper pass through the aperture and with two The side plate is rotatably connected, so that rotation in surface of the damper in the parallel side plate；Two lower support elements One end be rotatably connected respectively with two side plates so that two lower support elements are respectively in the flat of the parallel side plate Rotation in surface.

In the technical program, main supporting element, damper and two lower support elements form simplified four-bar mechanism, this four The stability of robot when moving can be improved in link mechanism；Main supporting element is equipped with aperture, and one end of damper passes through main branch Aperture in support member is simultaneously rotatably connected with set mechanism, and the middle part of main supporting element is arranged in damper, is encountering Uneven road When, some suspension arrangement stress below chassis changes, and the height on chassis can also change, cause main supporting element and Two lower support elements are in the rotation in surface of parallel side plate, and damper can limit the rotation of main supporting element and two lower support elements Stroke, so that robot is generally held in a relatively stable state makes to further increase the moving stability of robot Robot can be moved steadily, avoid robot from toppling phenomenon, also, robot is when moving, damper can cooperate main branch Support member and lower support element absorb vibration, to improve shock resistance.

Further, the driving mechanism includes: motor, shaft coupling and Mecanum wheel；The scroll wheel mechanism includes rolling Driving wheel, accommodating chamber of the scroll wheel along the periphery wall that first direction is set to the wheel hub, and the periphery wall of the scroll wheel It protrudes from the periphery wall of the wheel hub and forms the rolling surface of the Mecanum wheel；Wherein, first direction and the wheel hub Axis direction is arranged in predetermined angle；Multiple scroll wheel mechanisms are sequentially arranged at the hub periphery wall；The splicing machine Structure includes the flange of connector and T-type structure；The flange include along the wheel hub radial direction extend connecting plate and The connecting shaft to extend along the axis direction of the wheel hub；The connecting shaft runs through the wheel hub along the axis direction of the wheel hub Afterwards, it is connect by the shaft coupling with the motor；The connecting plate is connected to table of the wheel hub far from the motor side Face；The connector runs through the inner ring and the outer ring wheel hub along the axis direction of the wheel hub, connects afterwards with the connecting plate It connects.

In the technical program, running through and connecting for Internal and external cycle is realized by the flange of T-type structure, and then suffered by scroll wheel Radial force is evenly spread on wheel hub, substantially increases the bearing capacity of this Mecanum wheel driving structure.More preferably, by passing through The connection that formula flange (i.e. the flange of T-type structure) realizes wheel hub and motor is worn, is improving the bearing capacity of Mecanum wheel simultaneously；Also The compactedness for improving this Mecanum wheel driving structure reduces the space occupancy rate of this Mecanum wheel driving structure, into And the chassis for avoiding robot is oversized, the phenomenon that occupying excessive walking space.More preferably, Mecanum wheel can be realized Rotate in place, be traversing, it is oblique move, the omnibearing movable of zero turning radius, to improve the flexibility of this driving structure walking；And The ground grip ability and load-bearing property of Mecanum wheel are good, to improve the setting accuracy of this driving structure.

Further, the Mecanum wheel includes: inner ring, outer ring and the rolling for connecting the inner ring and the outer ring Driving wheel mechanism；The scroll wheel mechanism includes scroll wheel, the rotation for sequentially passing through along first direction the inner ring and the outer ring Axis, wherein the axis direction of first direction and the inner ring is arranged in predetermined angle；The scroll wheel is sheathed on the rotation axis Outside, the position of the correspondence of the inner ring and the outer ring scroll wheel forms the receiving for accommodating the scroll wheel Chamber；Multiple scroll wheel mechanisms are sequentially arranged at the inner ring and the periphery wall of the outer ring, and the periphery of the scroll wheel Wall protrudes from the periphery wall of the inner ring and the outer ring and forms the rolling surface of the novel Mecanum wheel.

In the technical program, this Mecanum wheel is formed by different components assembly, so that all parts can independent root It processed, produced according to design drawing, being transported, being stored, maintenance, repair or replacement；Greatly reduce the production of Mecanum wheel Cost, and each components can select corresponding processing method according to the precision of design, to realize this Mecanum wheel Processing is distributed rationally, so that the production cost of Mecanum wheel is further decreased, to realize Mecanum wheel production cost The convenience of the processing of Mecanum wheel is also improved while reduction, ensure that the assembly precision of Mecanum wheel, Jin Erti The high stability and low vibration of Mecanum wheel walking.This Mecanum wheel shares its stress by the setting of Internal and external cycle, The load-bearing capacity of this Mecanum wheel is substantially increased, while also avoiding the excessive situation of local stress, so that Ben Maikena Nurse wheel can be widely applied to different field.

Compared with prior art, a kind of robot provided by the utility model has the advantages that

1, by the setting of limit assembly, during wing rotation, limit assembly can constantly regulate oscillating rod with The angle of connecting rod is further adjusted in the position of wing, and the position of wing can adjust jointly according to Multiple factors, enrich The motion process of wing.

2, by the setting of hinge assembly, the lateral opening of the battery case then realized on the secondary support bracket leads to simultaneously The setting of locking assembly is crossed, the locking and release of battery case on the secondary support bracket are then realized, is convenient for user's control battery case Different state on the secondary support bracket then realizes the handling of the battery in battery case, and the handling of battery are more in battery case It is easy.

3, no setting is required on entire chassis clump weight, alleviates the gravity of robot, thereby reduces the walking resistance of robot Power, energy saving；And the setting of bumper improves the shock resistance on chassis, protects chassis, improves its service life.

4, building block is few, and structure is simple, and can reduce the volume on chassis, is conducive to the miniaturization of robot, simultaneously Each building block can be processed individually, and processing technology is simplified, and improve the convenience of processing.

5, the arrangement of the electric wire on chassis, the fixation of the cabling of signal wire, wiring path is realized by crossing line plate, thus real The centralization of existing cabling, modularization, consequently facilitating overhauling after sale, safeguarding, malfunction elimination, subtract so that chassis layout is more reasonable The workload of the staff of light after-sale service improves the maintenance of equipment and replacement efficiency of after-sale service.

Detailed description of the invention

Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to a kind of above-mentioned spy of robot Property, technical characteristic, advantage and its implementation are further described.

Fig. 1 is a kind of overall structure diagram of robot of the utility model；

Fig. 2 is the structural schematic diagram of swing mechanism in a kind of robot of the utility model；

Fig. 3 is the structural schematic diagram of swing mechanism in the utility model another kind robot；

Fig. 4 is the structural schematic diagram of lateral drawing and pulling type battery fastening structure in a kind of robot of the utility model；

Fig. 5 is enlarged drawing at the A of Fig. 4；

Fig. 6 is the structural schematic diagram of battery case in a kind of robot of the utility model；

Fig. 7 is the structural schematic diagram on chassis in a kind of robot of the utility model；

Fig. 8 is the assembling schematic diagram on chassis and robot body in a kind of robot of the utility model；

Fig. 9 is the structural schematic diagram that line plate is crossed in a kind of robot of the utility model；

Figure 10 is the structural schematic diagram of driving device in a kind of robot of the utility model；

Figure 11 is the structural schematic diagram of combined support plate in a kind of robot of the utility model；

Figure 12 is the assembling schematic diagram of suspension mechanism and driving mechanism in a kind of robot of the utility model；

Figure 13 is the structural schematic diagram of driving mechanism in a kind of robot of the utility model；

Figure 14 is the cross-sectional view of driving mechanism in a kind of robot of the utility model.

Drawing reference numeral explanation: 10. robot bodies, 11. swing mechanisms, 111. first supports, 112. connecting rods, 113. drive Lever, 114. limit assemblies, 1141. connecting-rods with constant lenghs, 1142. first hinge bars, 1143. second hinge bars, 115. oscillating rods, 116. Driving assembly, 12. sides are to drawing and pulling type battery fastening structure, 121. second supports, 122. battery cases, 1221. bottom baffles, 1222. first side baffles, 1223. second side baffles, 123. hinge assemblies, 124. locking assemblies, 1241. locking locks, 1242. Connection baffle, 20. chassis, 21. bottom plates, 211. holding tanks, 22. crossbeams, 23. support frames, 231. mistake line plates, 2311. cable-through holes, 24. bumper, 25. first installation spaces, 26. first fixing pieces, 27. combined support plates, 271. first support plates, 2711. One through-hole, 2712. second through-holes, 2713. first surfaces, 2714. second surfaces, 272. second support plates, 273. fixing pieces, 28. suspension mechanism, 281. dampers, 282. main supporting elements, 283. lower support elements, 29. driving mechanisms, 291. motors, 292. Axis device, 30. wings, 40. batteries, 50. Mecanum wheels, 51. inner rings, 52. outer rings, 53. accommodating chambers, 531. scroll wheels, 532. Rotation axis, 541. flanges, 5411. connecting plates, 5412. connecting shafts.

Specific embodiment

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, attached drawing will be compareed below Illustrate specific embodiment of the present utility model.It should be evident that the accompanying drawings in the following description is only the one of the utility model A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these Attached drawing obtains other attached drawings, and obtains other embodiments.

To make simplified form, part relevant to utility model is only schematically shown in each figure, their not generations Its practical structures as product of table.In addition, there is identical structure or function in some figures so that simplified form is easy to understand Component, only symbolically depict one of those, or only marked one of those.Herein, "one" not only table Show " only this ", can also indicate the situation of " more than one ".

Embodiment one: as depicted in figs. 1 and 2, a kind of robot, comprising:

Robot body 10, chassis 20 and wing 30, robot body 10 are set to the top on chassis 20, and wing 30 is set to Robot body 10, robot body 10 are equipped with the swing mechanism 11 for driving wing 30 to swing, 10 He of robot body The outside on chassis 20 is enclosed with shell.

Swing mechanism 11 includes first support 111, and first support 111 is vertically arranged, and first support 111 is equipped with connecting rod 112, connecting rod 112 is articulated with first support 111, and connecting rod 112 can rotate in perpendicular；In first support 111 also Equipped with drive rod 113 and driving assembly 116, one end of drive rod 113 can be hinged on driving assembly 116, drive rod 113 The other end can be hinged in first support 111, and the plane of movement of connecting rod 112 is parallel to the plane of movement of drive rod 113, i.e., Drive rod 113 can move in perpendicular.

Driving assembly 116 can be directly disposed in first support 111, and driving assembly 116 can be used in driving the drive The one end of lever 113 far from connecting rod 112 is moved along the direction close to or far from connecting rod 112；In the present embodiment, driving group Part 116 refers mainly to cylinder, oil cylinder or push-rod electric machine isoline driving class equipment, and connecting rod 112 can be by connecting shaft (in figure not Show) it is hinged in first support 111, connecting rod 112 can be around the connecting shaft between connecting rod 112 and first support 111 Rotation, similarly, drive rod 113 can be around the connecting shaft rotations between drive rod 113 and connecting rod 112.

Driving assembly 116 in the present embodiment, drive rod 113 and connecting rod 112 form crank block slider structure, driving assembly 116 as the sliding block in crank block, and itself can provide the power of sliding block；Connecting rod 112 is in crank block slider structure Former bar part, drive rod 113 are the connecting rod distinguished in sliding block, due to providing power source by former bar part in crank block slider structure, and In the present embodiment, power source is provided by driving assembly 116, forms crank block slider structure.

Oscillating rod 115 is articulated with connecting rod 112, and the movement that the plane of movement of oscillating rod 115 is parallel to connecting rod 112 is flat Face refers to that oscillating rod 115 can rotate in perpendicular, wing 30 can be mounted on oscillating rod 115；First support 111 On be additionally provided with limit assembly 114, the both ends of limit assembly 114 can be separately positioned in first support 111 and connecting rod 112, And in 115 motion process of oscillating rod, limit assembly 114 can adjust the angle between oscillating rod 115 and connecting rod 112.

In the present embodiment, since oscillating rod 115 is arranged in connecting rod 112, oscillating rod 115 can follow connecting rod 112 movements, and wing 30 is arranged on oscillating rod 115, therefore, wing 30 can surround connecting rod 112 and first support first Connecting shaft rotation between 111；Pass through the setting of limit assembly 114, during wing 30 rotates, 114 energy of limit assembly The angle of oscillating rod 115 Yu connecting rod 112 is enough constantly regulate, is further adjusted in the position of wing 30, the position energy of wing 30 It is enough to be adjusted jointly according to Multiple factors, enrich the motion process of wing 30.

Embodiment two: as depicted in figs. 1 and 2, a kind of robot, the difference between this embodiment and the first embodiment lies in limit group The specific structure of part 114.

On the basis of example 1, in the present embodiment, limit assembly 114 includes connecting-rods with constant lengh 1141, connecting-rods with constant lengh 1141 One end can be articulated with oscillating rod 115, and the other end of connecting-rods with constant lengh 1141 can be articulated with first support 111, in the present embodiment, Connecting-rods with constant lengh 1141 and the hinge joint of first support 111 are located at the upper end of first support 111, and connecting-rods with constant lengh 1141 can surround connecting-rods with constant lengh Connecting shaft rotation between 1141 and first support 111, and the plane of movement of connecting-rods with constant lengh 1141 is parallel to the movement of oscillating rod 115 Plane.

In the present embodiment, during drive rod 113 drives oscillating rod 115 to rotate, pass through setting for connecting-rods with constant lengh 1141 It sets, one end on connecting-rods with constant lengh 1141 determines always with some distance in first support 111, therefore, connecting-rods with constant lengh 1141, connecting rod 112 form a double rocker mechanism with oscillating rod 115, and connecting-rods with constant lengh 1141 and connecting rod 112 can be as in double rocker mechanisms Rocking bar, oscillating rod 115 as the connecting rod in double rocker mechanism, double rocking lever different positions can controls connecting rod be in difference State, in the present embodiment, connecting rod 112 can be used as the drive rod 113 in double rocker mechanism.

Therefore, in 116 motion process of driving assembly, it is able to drive the movement of drive rod 113, then connecting rod 112 is driven to transport It is dynamic, while passing through the setting of connecting-rods with constant lengh 1141, the constraint between connecting-rods with constant lengh 1141, connecting rod 112 and oscillating rod 115 is increased, Connecting rod 112 can drive oscillating rod 115 to move, and during the motion, the swing of particular state can be obtained in driving assembly 116 Bar 115 realizes the swing of oscillating rod 115.

Preferably, connecting-rods with constant lengh 1141 is staggered with connecting rod 112；It is described fixed that one end of the oscillating rod 115 is articulated with The one end of stock 1141 far from the first support 111, it is remote that the other end of the oscillating rod 115 is articulated with the connecting rod 112 One end from the first support 111.

After connecting-rods with constant lengh 1141 and connecting rod 112 are staggered, the both ends of oscillating rod 115 can be separately positioned on fixed length The one end far from first support 111 of bar 1141 and connecting rod 112 far from first support 111 one end when, oscillating rod 115 with First support 111 can be located at the two sides of connecting-rods with constant lengh 1141 and connecting rod 112, reduce connecting-rods with constant lengh 1141 and connecting rod 112 exists The distance between two hinge joints on oscillating rod 115, connecting-rods with constant lengh 1141 and connecting rod 112 when position and/or angle are changed, The amplitude of fluctuation for increasing wing 30, increases the swing effect of wing 30.

Embodiment three: as shown in figures 1 and 3, a kind of robot, the difference between this embodiment and the first embodiment lies in limit group The specific structure of part 114.

On the basis of example 1, in the present embodiment, limit assembly 114 includes that the first hinge bar 1142 and second is hinged Bar 1143, one end of the first hinge bar 1142 are articulated with oscillating rod 115, and one end of the second hinge bar 1143 is articulated with first support 111；The other end of first hinge bar 1142 and the other end of the second hinge bar 1143 are hinged, and the movement of the first hinge bar 1142 is flat Plane of movement of the plane of movement of face and the second hinge bar 1143 each parallel to oscillating rod 115.

In the present embodiment, the first hinge bar 1142, the second hinge bar 1143 are capable of forming one pair with oscillating rod 115 and shake Linkage, the second hinge bar 1143 and oscillating rod 115 can be as two rocking bars of double rocker mechanism, and the first hinge bar 1142 It can be as the connecting rod in double rocker mechanism.The work of first hinge bar 1142, the second hinge bar 1143 and oscillating rod 115 in gravity Under, automatic adjustment forms corresponding state, and user can choose the first hinge bar 1142 of different length with second hingedly Bar 1143 adjusts the position of wing 30 and angle under different conditions convenient for user, increases the scope of application of wing 30.

Preferably, the second hinge bar 1143 is staggered with connecting rod 112, and oscillating rod 115 is far from the first hinge bar 1142 one end is articulated with the one end of connecting rod 112 far from first support 111.

After the second hinge bar 1143 is staggered with connecting rod 112, oscillating rod 115 and first support 111 being capable of positions In the two sides of the second hinge bar 1143 and connecting rod 112, the first hinge bar 1142 is reduced with connecting rod 112 in oscillating rod 115 On the distance between two hinge joints, the first hinge bar 1142, when position and/or angle are changed, increases with connecting rod 112 The amplitude of fluctuation of oscillating rod 115 increases the swing effect of swing mechanism 11.

Connecting rod 112, drive rod 113, the first hinge bar 1142, the second hinge bar 1143 and oscillating rod 115 are plate, When the second hinge bar 1143 is staggered with connecting rod 112, offers on the second hinge bar 1143 and passed through for connecting rod 112 Connectivity slot or connecting rod 112 on offer the connectivity slot passed through for the second hinge bar 1143.Plate described in the present embodiment Part structure is also applied for embodiment one and embodiment two.

Drive rod 113 is articulated with the second hinge bar 1143；Driving assembly 116 is articulated with first support 111, driving assembly 116 plane of movement is parallel to the plane of movement of drive rod 113.

Since oscillating rod 115, the first hinge bar 1142 and the second hinge bar 1143 still need under gravity certainly It is dynamic to adjust its position, and in adjustment process, 115 shaking amplitude of oscillating rod is larger and unstable；By the way that drive rod 113 is hinged The second hinge bar can be driven simultaneously during the movement of 113 drive connection bar 112 of drive rod in the second hinge bar 1143 1143 movements, increase the constraint between drive rod 113 and the second hinge bar 1143, drive rod 113 during exercise, can be direct The second hinge bar 1143 is driven to move.

When oscillating rod 115 needs to swing out, driving assembly 116 is acted and is lifted up, and driving assembly 116 being capable of band The lower end of dynamic drive rod 113 moves upwards, and due to connecting rod 112, the slide crank of drive rod 113 and the formation of driving assembly 116 The upper end of block structure, connecting rod 112 can be rotated counterclockwise around the connecting shaft of itself and first support 111, therefore, drive rod 113 upper end also can follow the upper end of connecting rod 112 to move synchronously.

Due to 113 upper and lower ends of drive rod motion state it has been determined that and the middle part of drive rod 113 be articulated with the second hinge The movement of extension bar 1143, the point of the second drive rod 113 being hinged on drive rod 113 has also determined that, simultaneously because second Hinge bar 1143 is articulated with driving assembly 116, and therefore, the movement of the second hinge bar 1143 also determines, i.e. the second hinge bar 1143 Just rotated clockwise around its connecting shaft between first support 111.

Double rocker mechanism is formed with oscillating rod 115 due to the second hinge bar 1143, the first hinge bar 1142 again, is swung Bar 115 also can determine with the movement of the first hinge bar 1142；After the effect of driving assembly 116, the pendulum of oscillating rod 115 is realized It is dynamic.

Example IV: as shown in Figure 1, Figure 4 and Figure 5, a kind of robot, the difference between this embodiment and the first embodiment lies in side Addition to drawing and pulling type battery fastening structure 12 and battery 40.

On the basis of example 1, in the present embodiment, robot body 10 is equipped with lateral drawing and pulling type battery installation knot Structure 12 is equipped with battery 40 in lateral drawing and pulling type battery fastening structure 12.Lateral drawing and pulling type battery fastening structure 12, including it is vertical The second support 121 of setting, second support 121 are equipped with battery case 122 and hinge assembly 123, and one end of hinge assembly 123 is set It is placed in second support 121, the other end of hinge assembly 123 is set to second support 121, in the present embodiment, hinge assembly 123 For hinge, i.e. hinge a blade can be arranged on battery case 122, another blade of hinge can be arranged in second On frame 121, hinge can be connected in second support 121 and battery case 122 by bolt (not shown).

Battery case 122 can be set to second support 121, i.e. battery case along the length direction for being parallel to second support 121 122 can be vertically arranged in second support 121, and the upper end or lower end of battery case 122 can be arranged in hinge, in the present embodiment In, hinge is preferably provided in the lower end of battery case 122.

It is equipped with the accommodation space for accommodating battery 40 in battery case 122, is additionally provided with to enter for battery 40 on battery case 122 and hold It receives the receiving opening in space, accommodates any side that can be arranged on battery case 122 of opening.

Locking assembly 124 is additionally provided on battery case 122, battery case 122 can be arranged in far from hinged group in locking assembly 124 The upper end of battery case 122 can be arranged in one end of part 123, i.e. locking assembly 124, and locking assembly 124 can be by battery case 122 Upper end locking be pressed in second support 121 in second support 121, and by battery 40.

In the present embodiment, 122 one end of battery case can be arbitrarily connected in second support 121 by locking assembly 124 The components such as component, such as compression cylinder, rubber band, clip or bolt.

When locking assembly 124 is not operating, the upper end of battery case 122 can be separated with second support 121, battery case 122 It can be rotated in perpendicular along its lower end, i.e., battery case 122 being capable of lateral opening；After 122 lateral opening of battery case, use Family can choose corresponding battery 40, and by accommodating opening, battery 40 is embedded in accommodation space, the battery 40 of completion is pacified Dress；After battery 40 is installed, user only need again the upper end of battery case 122 is close to second support 121, and in battery case 122 is close or when being connected in second support 121, by locking assembly 124 by the upper end locking of battery case 122 in second support 121, and battery 40 is pressed in second support 121, battery 40 can be stably installed in battery case 122, and battery case 122 It is stably placed in second support 121.

In the present embodiment, by the setting of hinge assembly 123, the battery case 122 then realized is in second support 121 On lateral opening then realize lock of the battery case 122 in second support 121 while by the setting of locking assembly 124 Tightly then realized convenient for the state different in second support 121 of user's control battery case 122 in battery case 122 with release The handling of interior battery 40, the handling of battery 40 are relatively simple in battery case 122.

Embodiment five: as shown in Figure 4 and Figure 6, the difference of a kind of robot, the present embodiment and example IV is battery case 122 specific structure.

On the basis of example IV, in the present embodiment, battery case 122 includes bottom baffle 1221, the first side baffle 1222 and second side baffle 1223；Bottom can be arranged in bottom baffle 1221, and bottom baffle 1221 can be used in installing Hinge assembly 123；The one end of bottom baffle 1221 far from second support 121 can be arranged in first side baffle 1222, it is preferable that The length of first side baffle 1222 is identical as the length of bottom baffle 1221, i.e. the first side baffle 1222 and bottom baffle 1221 Both ends are concordant.

Second side baffle 1223 is set as two, and two the second side baffles 1223 can be arranged in the first side baffle 1222 and lean on The side of nearly second support 121, it is preferable that two the second side baffles 1223 can extend downwardly, until the second side baffle 1223 extend to the position of bottom baffle 1221, and the length of the second side baffle 1223 is of same size with bottom baffle 1221, when When battery case 122 is parallel to second support 121, the second side baffle 1223 can be connected in second support 121；Bottom baffle 1221, the accommodation space, the first side baffle 1222 and second is collectively formed in the first side baffle 1222 and the second side baffle 1223 Side baffle 1223 is open around the receiving is formed.

In the present embodiment, behind user's lateral opening battery case 122, battery 40 directly can be placed on battery case by user In 122, battery 40 be can be placed on the first side baffle 1222, and since the first side baffle 1222 under current state is tilted towards Under, battery 40 can under gravity, along 1222 slide downward of the first side baffle, until sliding into bottom end；Meanwhile Downwards during sliding, the second side baffle 1223 of two sides can be used as two guide rails, limit, increase to battery 40 Constraint in 40 slipping of battery reduces the possibility of the bounce of battery 40, increases the stability in 40 slipping of battery.

Embodiment six: as shown in Figure 4 and Figure 5, a kind of robot, the difference of the present embodiment and example IV is locking group The structure of part 124.

On the basis of example IV or five, in the present embodiment, battery case 122 is set as two, and two battery cases 122 divide The two sides of second support 121 are not set, i.e. two battery cases 122 can be arranged in the left and right sides of second support 121, and two Battery case 122 is lock onto second support far from one end of hinge assembly 123 commonly through locking assembly 124 by battery case 122 121, and battery 40 is pressed in second support 121；Locking assembly 124 can compress two battery cases 122, then realize by Two battery cases 122 are pressed in second support 121, and easily battery case 122 is pressed in second support 121.

Locking assembly 124 includes: two locking locks 1241, is separately positioned on the outer wall of two battery cases 122；Connection Baffle 1242, the both ends of connection baffle 1242 are for snapping onto two locking locks 1241；When connection baffle 1242 snaps onto When on two locking locks 1241, battery case 122 is connected to second support 121, i.e. battery case far from one end of hinge assembly 123 122 upper end can be connected in second support 121, and battery 40 is pressed in second support 121.

Two battery cases have can be realized by the setting of locking lock 1241 and connection baffle 1242 in locking assembly 124 Connection between 122, while the connection by locking lock 1241 with connecting baffle 1242.Can be realized locking assembly 124 with The movement of the connection of battery case 122, locking assembly 124 is more convenient.

In the present embodiment, connects the locking slot offered on baffle 1242 for locking 1241 snappings of lock and (do not show in figure Out), connection baffle 1242 is snapping onto the locking slot connected on baffle 1242 on two locking locks 1241, connects baffle 1242 can limit two battery cases 122, realize the locking of two battery cases 122.Or connection baffle 1242 is bullet Property component, such as elastic string component is connected directly between on the locking lock 1241 on two battery cases 122, connects baffle 1242 Two locking locks 1241 can be directly tensed, the locking of two battery cases 122 is realized.

Embodiment seven: as shown in Figure 1 and Figure 7, a kind of robot, the difference between this embodiment and the first embodiment lies in chassis 30 Specific structure.

Chassis 20 include bottom plate 21, crossbeam group and two groups of support frames 23 along first direction mirror settings, i.e., first Support and the second support frame；Support frame 23 is set to the upper surface of bottom plate 21 by connection component；Crossbeam group includes being arranged in bottom plate Two crossbeams 22 of 21 tops, and the first support frame and the second support frame are sequentially connected along first direction；Support frame 23 include according to The bumper 24 of minor tick setting；Bumper 24 is set to the outside of supporting element group along first direction；The supporting element of first support frame The first installation space 25 is formed between group and the supporting element group of the second support frame.In practical applications, bumper 24 is set to chassis 20 front and backs, therefore, first direction are the front-rear direction on chassis 20, the i.e. direction of travel of robot.

It will be installed power supply, control system and the driving device for driving robot motion on the chassis 20 of robot (not shown)；Power supply and control system can be arranged along first direction or second direction (i.e. the left and right directions of robot) Cloth, as power supply and control system can be successively set in the first installation space 24 or power supply and control system along first direction It is divided into the first installation space 24, can specifically be arranged according to practical application in a second direction.In order to improve robot row The stability walked, power supply and control system with constant weight are preferably disposed on the center on the chassis 20 of robot, surely The position of centre of gravity for determining robot improves the stability of robot ambulation.

Embodiment eight: as shown in Figure 7 and Figure 8, a kind of robot, the difference of the present embodiment and embodiment seven is fixed machine The addition of structure.

On the basis of embodiment seven, bottom plate 21 is equipped with holding tank 211, and the lower end of robot body 10 is set to receiving In slot 211；It further include fixed mechanism, fixed mechanism includes the first fixing piece 26, and the setting of the first fixing piece 26 is remote in support frame 23 Side from bottom plate 21.

Robot described in one to seven in conjunction with the embodiments, first support 111 can be integrally formed with second support 121, And the most important girder as robot body, while the lower end of first support 111 and second support 121 can be embedded the bottom of at In holding tank 211 on disk 21, and pass through the fixation of the first fixing piece 26 realization stationary machines human body 10 and chassis 20.Machine The building block of people is few, and structure is simple, reduces the volume on chassis, is conducive to the miniaturization of robot, while each composition portion Part can be processed individually, and processing technology is simplified, and improve the convenience of processing.

Embodiment nine: as shown in figures 7 and 9, the difference of a kind of robot, the present embodiment and embodiment seven was line bottom The specific structure of seat group.

On the basis of embodiment seven, in the present embodiment, support frame 23 further included line pedestal group, so that the first support frame 23 line pedestal group excessively and crossing between line pedestal group for the second support frame 23 form the first installation space 25；Line pedestal group is crossed to pass through Connector group is installed on the upper surface of bottom plate 21；Crossing line pedestal group includes that two be oppositely arranged in a second direction cross line plate 231, I.e. first, which crosses line plate and second, crosses line plate, wherein second direction and first direction are vertical；First, which crosses line plate and second, crosses line plate Relative inner has the cable-through hole 2311 for cabling, and the axis direction of cable-through hole 2311 is identical as first direction.

Preferably, several cable-through holes 2311 are successively arranged along third direction, wherein third direction respectively with first direction It is vertical with second direction.In the present embodiment, first direction refers to the direction (i.e. the front-rear direction of robot) of robot ambulation, the Two directions refer to the left and right directions of robot, and third direction refers to the short transverse (i.e. up and down direction) of robot.Therefore, mistake String holes 2311 can be closed along the setting of short transverse according to the position between power supply and electrical component, control system and controlled component System is to be laid out electric wire and signal wire, to realize the function modoularization and correspondence of cable-through hole 2311.

Shown in embodiment ten: Fig. 7 and Figure 10, a kind of robot, the difference of the present embodiment and embodiment seven is to drive dress The specific structure set.

On the basis of embodiment seven, in the present embodiment, the driving device includes combined support plate 27, suspension mechanism 28 With driving mechanism 29, the combined support plate 27 is connected to 22 groups of the crossbeam for being arranged, and the driving mechanism 29 is used for The robot motion is driven, the suspension mechanism 28 is used to the driving mechanism 29 being installed on the combined support plate 27. In the present embodiment, combined support plate 27 can be mounted on crossbeam 22, realize the installation of driving device Yu crossbeam 22, then real The installation of driving device is showed.

The movement that chassis 20 can be realized by combined support plate 27, suspension mechanism 28 and driving mechanism 29, then drives Robot motion, and the realization of motion process is more convenient.

Embodiment 11: as shown in Figure 10 and Figure 11, the difference of a kind of robot, the present embodiment and embodiment ten is group Close the specific structure of support plate 27.

On the basis of embodiment ten, combined support plate 27 includes that support plate includes the first support plate 271, the second support plate 272 and more than two fixing pieces 273, the first support plate 271 it is identical as the structure of the second support plate 272；First support plate 271 For axially symmetric structure, the symmetry axis of the first support plate 271 is equipped with first through hole 2711 on one side, the first support plate 271 it is symmetrical The another side of axis is equipped with the second through-hole 2712, pair of first through hole 2711 and the second through-hole 2712 relative to the first support plate 271 Claim axial symmetry setting.The symmetry axis of first support plate 271 divides the first support plate 271 for the right and left, the first support plate 271 At least one first through hole 2711 is arranged in the left side, at least one second through-hole 2712 is arranged in the right of the first support plate 271, preferably Ground, first through hole 2711 is identical as the quantity of the second through-hole 2712, and first through hole 2711 and the second through-hole 2712 are relative to first The symmetry axis of support plate 271 is symmetrical arranged.

First support plate 271 includes the first surface 2713 and second surface 2714 being oppositely arranged；First support plate 271 with Second support plate 272 is oppositely arranged, the first surface of the first surface 2713 of the first support plate 271 and the second support plate 272 2713 are disposed adjacent, i.e., the first surface 2713 of the first support plate 271 is set towards the first surface 2713 of the second support plate 272 It sets.When first through hole 2711 and the quantity of the second through-hole 2712 are one, one end of a fixing piece 273 is passed through first The first through hole 2711 of fagging 271 simultaneously protrudes into the second through-hole 2712 of the second support plate 272, the other end of the fixing piece 273 It is arranged in the first through hole 2711 of the first support plate 271, to be connected and fixed the first support plate 271 and the second support plate 272；It will One end of another fixing piece 273 passes through the first through hole 2711 of the second support plate 272 and protrudes into the second of the first support plate 271 In through-hole 2712, the other end of the fixing piece 273 is arranged in the first through hole 2711 of the second support plate 272, to be connected and fixed First support plate 271 and the second support plate 272.

When first through hole 2711 and the quantity of the second through-hole 2712 are multiple, one end of multiple fixing pieces 273 is passed through The first through hole 2711 of first support plate 271 simultaneously protrudes into the second through-hole 2712 of the second support plate 272, multiple fixing piece 273 other end is arranged in the first through hole 2711 of the first support plate 271, to be connected and fixed the first support plate 271 and second One end of other multiple fixing pieces 273 is passed through the first through hole 2711 of the second support plate 272 and protrudes into first by support plate 272 In second through-hole 2712 of support plate 271, the other end of other multiple fixing pieces 273 is arranged in the of the second support plate 272 In one through-hole 2711, to be connected and fixed the first support plate 271 and the second support plate 272.In the utility model, the first support plate 271 is identical as the structure of the second support plate 272, and the first support plate 271 is equipped with symmetrical first through hole 2711 and the second through-hole 2712, it is when installation, the front of the first support plate 271 is opposite with the reverse side of the second support plate 272, then by fixing piece 273 from First through hole 2711 is inserted into the second through-hole 2712, and the first support plate 271 can be realized and the fixed of the second support plate 272 is pacified Dress, when production, it is only necessary to which the unified identical support plate of a collection of structure of processing can be realized as the fixed installation of two support plates, no Production efficiency can be only improved, and production cost can be reduced.

Embodiment 12: as shown in fig. 10 and fig. 12, the difference of a kind of robot, the present embodiment and embodiment ten is to hang The specific structure of hang device.

On the basis of embodiment ten, suspension arrangement 28 includes damper 281, main supporting element 282 and two lower support elements 283；Two side plates that one end of main supporting element 282 is oppositely arranged with set mechanism are rotatably connected, and winner's supporting element 282 is made to exist The rotation in surface of parallel side plate；The middle part of main supporting element 282 is equipped with aperture, and one end of damper 281 passes through aperture and with two A side plate is rotatably connected, so that rotation in surface of the damper 281 in parallel side plate；One end of two lower support elements 283 point It is not rotatably connected with two side plates, so that two lower support elements 283 are respectively in the rotation in surface of parallel side plate.

Suspension arrangement is independent suspension device, and the other end of main supporting element 282 is used to rotatably connect with the chassis of robot It connects, for being rotatably connected with chassis 20, the other end of lower support element 283 is used for and robot the other end of damper 281 Chassis is rotatably connected.When moving, the suspension arrangement of four groups of the utility model is arranged in robot under chassis 20.

Main supporting element 282, damper 281 and two lower support elements 283 form simplified four-bar mechanism, the double leval jib The stability of robot when moving can be improved in mechanism；The middle part of main supporting element 282 is equipped with aperture, and one end of damper 281 is worn The aperture crossed on main supporting element 282 is simultaneously rotatably connected with set mechanism, and the middle part of main supporting element 282 is arranged in damper 281, When encountering Uneven road, some suspension arrangement stress below chassis changes, and the height on chassis can also change, Cause main supporting element 282 and two lower support elements 283 can be in the rotation in surface of parallel side plate, and damper 281 can limit master The rotational travel of supporting element 282 and two lower support elements 283 makes robot be generally held in a relatively stable state, from And the moving stability of robot being improved, also, robot is when moving, damper 281 can cooperate main supporting element 282 and lower branch Support member 283 absorbs vibration, to improve shock resistance, robot is enable steadily to move, and robot is avoided to topple phenomenon.

Embodiment 13: as shown in Figure 10, Figure 13 and Figure 14, a kind of robot, the difference of the present embodiment and embodiment ten It is the specific structure of driving mechanism 29.

On the basis of embodiment ten, driving mechanism 29 includes: motor 291, shaft coupling 292 and Mecanum wheel 50；Wheat Ke Namu wheel 50 includes wheel hub, splicing body and scroll wheel mechanism；Scroll wheel mechanism includes scroll wheel 531, and scroll wheel 531 is along One direction is set to the accommodating chamber 53 at the periphery wall of wheel hub, and the periphery wall of scroll wheel 531 protrudes from the periphery wall and shape of wheel hub At the rolling surface of Mecanum wheel 50；Wherein, the axis direction of first direction and wheel hub is arranged in predetermined angle；Multiple scroll wheels Mechanism is sequentially arranged at hub periphery wall；Splicing body includes the flange 541 of connector and T-type structure；Flange 541 includes along wheel The connecting shaft 5412 of connecting plate 5411 and the axis direction extension along wheel hub that the radial direction of hub extends；5412 edge of connecting shaft After the axis direction of wheel hub runs through wheel hub, it is connect by shaft coupling 292 with motor 291；It is separate that connecting plate 5411 is connected to wheel hub The surface of 291 side of motor；Connector runs through wheel hub along the axis direction of wheel hub, connect afterwards with connecting plate 5411.

Running through and connecting for Internal and external cycle 52, and then radial direction suffered by scroll wheel 531 are realized by the flange 541 of T-type structure Power is evenly spread on wheel hub, substantially increases the bearing capacity of this Mecanum wheel 50.More preferably, pass through penetration type flange 541 (i.e. the flanges 541 of T-type structure) realize the connection of wheel hub and motor 291, same in the bearing capacity for improving Mecanum wheel 50 When；Also improve the compactedness of this driving mechanism 29.

Embodiment 14: as shown in Figure 13 and Figure 14, a kind of robot, the present embodiment and the difference of embodiment 13 are The specific structure of Mecanum wheel 50.

On the basis of embodiment 13, a kind of novel Mecanum wheel 50, comprising: inner ring 51, outer ring 52 and be used for Connect the scroll wheel mechanism of inner ring 51 and outer ring 52；Scroll wheel mechanism includes scroll wheel 531, along first direction sequentially passes through inner ring 51 and outer ring 52 rotation axis 532, wherein the axis direction of first direction and inner ring 51 is in predetermined angle setting；Scroll wheel 531 It is sheathed on the outside of rotation axis 532, the position of the correspondence scroll wheel 531 of inner ring 51 and outer ring 52 is formed for accommodating scroll wheel 531 accommodating chamber 53；Multiple scroll wheel mechanisms are sequentially arranged at inner ring 51 and the periphery wall of outer ring 52, and scroll wheel 531 is outer Peripheral wall protrudes from the periphery wall of inner ring 51 and outer ring 52 and forms the rolling surface of novel Mecanum wheel 50.

Mecanum wheel 50 is mainly formed by inner ring 51, outer ring 52, scroll wheel 531 and rotation axis 532 and then assembling, each Component can be processed individually, be produced, being transported, being stored, maintenance, repair or replacement, and can be according to all parts in process Performance requirement carry out personalized processing and manufacturing, to realize that the optimization of this Mecanum wheel 50 is manufactured, and inner ring 51 and outer Circle 52 together forms the support of scroll wheel 531, so that the radial force of scroll wheel 531 is well by 52 institute of inner ring 51 and outer ring Shared, to improve the load-bearing capacity of this Mecanum wheel 50.

It should be noted that above-described embodiment can be freely combined as needed.The above is only the utility model Preferred embodiment, it is noted that for those skilled in the art, do not departing from the utility model principle Under the premise of, several improvements and modifications can also be made, these improvements and modifications also should be regarded as the protection scope of the utility model.

Claims (17)

1. a kind of robot characterized by comprising

Robot body, chassis and wing, the robot body are set to the top on the chassis, and the wing is set to described Robot body, the robot body are equipped with the swing mechanism for driving the wing to swing；

The swing mechanism includes:

First support, driving assembly, drive rod, connecting rod, oscillating rod and limit assembly；

The connecting rod is articulated with the first support, and one end of the drive rod is articulated with the driving component, the driving The other end of bar is articulated with the one end of the connecting rod far from the first support, and the plane of movement of the connecting rod is parallel to institute State the plane of movement of drive rod；

The driving component is for driving the drive rod far from one end of the connecting rod, along close to or far from the connecting rod Direction movement；

The oscillating rod is articulated with the connecting rod, and the movement that the plane of movement of the oscillating rod is parallel to the connecting rod is flat Face, the wing are installed on the oscillating rod；

One end of the limit assembly is set to the oscillating rod, and the other end of the limit assembly is set to described first Frame, the limit assembly are used to adjust the angle of the oscillating rod Yu the connecting rod.

2. a kind of robot according to claim 1, which is characterized in that the limit assembly includes:

Connecting-rods with constant lengh, one end of the connecting-rods with constant lengh are articulated with the oscillating rod, and the other end of the connecting-rods with constant lengh is articulated with described first Bracket；

The plane of movement of the connecting-rods with constant lengh is parallel to the plane of movement of the oscillating rod.

3. a kind of robot according to claim 1, which is characterized in that the limit assembly includes:

One end of first hinge bar, first hinge bar is articulated with the oscillating rod；

One end of second hinge bar, second hinge bar is articulated with the first support；

The other end of first hinge bar and the other end of second hinge bar are hinged, and the movement of first hinge bar is flat Plane of movement of the plane of movement of face and second hinge bar each parallel to the oscillating rod.

4. a kind of robot according to claim 3, it is characterised in that:

Second hinge bar is staggered with the connecting rod；

The oscillating rod is articulated with the one end of the connecting rod far from the first support far from one end of first hinge bar.

5. a kind of robot according to claim 4, it is characterised in that:

The drive rod is articulated with second hinge bar；

The driving component is articulated with the first support, and the plane of movement of the driving component is parallel to the fortune of the drive rod Dynamic plane.

6. a kind of robot according to claim 1, it is characterised in that:

The robot body is equipped with lateral drawing and pulling type battery fastening structure, peace in the lateral drawing and pulling type battery fastening structure Equipped with battery；

The lateral drawing and pulling type battery fastening structure includes:

Second support, battery case, hinge assembly and locking assembly；

One end of the hinge assembly is set to the second support, and the other end of the hinge assembly is set to the battery Box, the battery case are articulated with second support by the hinge assembly；

The battery case is set to the second support, the hinge assembly edge along the length direction for being parallel to the second support The length direction of the battery case is set to one end of the battery case；

The accommodation space for accommodating battery is offered in the battery case, is additionally provided on the battery case and is entered institute for the battery State the receiving opening of accommodation space；

The one end of the battery case far from the hinge assembly is arranged in the locking assembly, is used for the battery case far from institute The one end for stating hinge assembly lock onto the second support, and the battery is pressed in the second support.

7. a kind of robot according to claim 6, it is characterised in that:

The battery case includes bottom baffle, the first side baffle and the second side baffle；

The bottom baffle is for installing the hinge assembly；

First side baffle is set to the one end of the bottom baffle far from the second support；

Second side baffle plate setting is two, is set to first side baffle close to the side of the second support；

The accommodation space is collectively formed in the bottom baffle, the first side baffle and the second side baffle；

First side baffle and second side baffle are open around the receiving is formed.

8. a kind of robot according to claim 6, it is characterised in that:

The battery case is set as two, and two battery cases are separately positioned on the two sides of the second support, described in two The battery case is lock onto described second far from one end of the hinge assembly commonly through the locking assembly by battery case Frame, and the battery is pressed in the second support.

9. a kind of robot according to claim 8, which is characterized in that the locking assembly includes:

Two locking locks, are separately positioned on the outer wall of two battery cases；

Baffle is connected, the both ends of the connection baffle are for snapping onto two locking locks；

When connection baffle snaps on two lockings locks, the battery case is abutted far from one end of the hinge assembly The second support is pressed in the second support, and by the battery.

10. a kind of robot according to claim 1, it is characterised in that:

The chassis includes:

Bottom plate；Crossbeam group；And two groups of support frames along first direction mirror settings, i.e. the first support frame and the second support frame；

Support frame as described above is set to the upper surface of the bottom plate by connection component；

The crossbeam is mounted on the top of the bottom plate and is sequentially connected first support frame and described second along first direction Support frame；

Support frame as described above includes successively spaced bumper；The bumper is set to the outer of supporting element group along first direction Side；

Installation space is formed between the supporting element group of first support frame and the supporting element group of second support frame；

The chassis is equipped with power supply and control system, and the power supply and control system are arranged along first direction or second direction； The driving device for driving the robot motion is additionally provided on the chassis.

11. a kind of robot according to claim 10, it is characterised in that:

The bottom plate is equipped with holding tank, and the lower end of the robot body is set in the holding tank；

It further include fixed mechanism, the fixed mechanism includes the first fixing piece, and first fixing piece is arranged in support frame as described above Side far from the bottom plate.

12. a kind of robot according to claim 10, it is characterised in that:

Support frame as described above further included line pedestal group, so that first support frame crosses line pedestal group and second support frame Cross line pedestal group between form the installation space；

The upper surface crossed line pedestal group and be installed on the bottom plate by connector group；

The line pedestal group of crossing includes that two be oppositely arranged in a second direction cross line plate, i.e., first, which crosses line plate and second, crosses line Plate, wherein second direction and first direction are vertical；

Described first relative inner of line plate and the described second line plate excessively excessively has the cable-through hole for cabling, described to cross line The axis direction in hole is identical as first direction.

13. a kind of robot according to claim 10 characterized by comprising

The driving device includes combined support plate, suspension mechanism and driving mechanism, and the combined support plate is for being arranged connection In the crossbeam group, for driving the robot motion, the suspension mechanism is used for the driving driving mechanism Mechanism is installed on the combined support plate.

14. a kind of robot according to claim 13 characterized by comprising

The combined support plate includes:

Including the first support plate, the second support plate and more than two fixing pieces, first support plate and second support The structure of plate is identical；

First support plate be axially symmetric structure, the symmetry axis of first support plate on one side be equipped with first through hole, it is described The another side of the symmetry axis of first support plate is equipped with the second through-hole, and the first through hole and second through-hole are relative to described the The symmetry axis of one support plate is symmetrical arranged；

First support plate includes the first surface and second surface being oppositely arranged；

First support plate is oppositely arranged with second support plate, the first surface of first support plate and described second The first surface of support plate is disposed adjacent；

One end of the more than one fixing piece passes through the first through hole of first support plate and protrudes into second support In second through-hole of plate, the other end is arranged in the first through hole of first support plate, with fixation first support plate With second support plate；

One end of the fixing piece more than another passes through the first through hole of second support plate and protrudes into described first In second through-hole of support plate, the other end is arranged in the first through hole of second support plate, with fixation described first Fagging and second support plate.

15. a kind of robot according to claim 13 characterized by comprising

The suspension mechanism includes:

Including damper, main supporting element and two lower support elements；

Two side plates that one end of the main supporting element is oppositely arranged with the driving mechanism are rotatably connected, so that the main branch Rotation in surface of the support member in the parallel side plate；

The main supporting element is equipped with aperture, and one end of the damper passes through the aperture and can be rotated with two side plates Connection, so that rotation in surface of the damper in the parallel side plate；

One end of two lower support elements is rotatably connected with two side plates respectively, so that two lower support elements point Not in the rotation in surface of the parallel side plate.

16. a kind of robot according to claim 13 characterized by comprising

The driving mechanism includes:

Motor, shaft coupling and Mecanum wheel；

The Mecanum wheel includes wheel hub, splicing body and scroll wheel mechanism；

The scroll wheel mechanism includes scroll wheel, accommodating chamber of the scroll wheel along the periphery wall that first direction is set to wheel hub, And the periphery wall of the scroll wheel protrudes from the periphery wall of the wheel hub and forms the rolling surface of the Mecanum wheel；Wherein, The axis direction of first direction and the wheel hub is arranged in predetermined angle；

Multiple scroll wheel mechanisms are sequentially arranged at the hub periphery wall；

Splicing body includes the flange of connector and T-type structure；

The flange includes the connecting plate to extend along the radial direction of the wheel hub and extends along the axis direction of the wheel hub Connecting shaft；

The connecting shaft along the wheel hub axis direction after the wheel hub, pass through the shaft coupling and the motor connect It connects；

The connecting plate is connected to surface of the wheel hub far from the motor side；

The connector runs through inner ring and outer ring wheel hub along the axis direction of the wheel hub, connect afterwards with the connecting plate.

17. a kind of robot according to claim 16 characterized by comprising

The Mecanum wheel includes:

Inner ring, outer ring and the scroll wheel mechanism for connecting the inner ring and the outer ring；

The scroll wheel mechanism includes scroll wheel, the rotation axis for sequentially passing through along first direction the inner ring and the outer ring, In, the axis direction of first direction and the inner ring is arranged in predetermined angle；

The scroll wheel is sheathed on the outside of the rotation axis, the position of the correspondence of the inner ring and the outer ring scroll wheel Form the accommodating chamber for accommodating the scroll wheel；

Multiple scroll wheel mechanisms are sequentially arranged at the inner ring and the periphery wall of the outer ring, and the periphery of the scroll wheel Wall protrudes from the periphery wall of the inner ring and the outer ring and forms the rolling surface of the Mecanum wheel.