CN209453549U - A liftable wheel-legged mobile robot - Google Patents

Abstract

The utility model relates to robot fields, disclose a kind of liftable movable robot with wheel legs, the problem of middle robot architecture's complexity in view of the prior art, now propose following scheme, it includes bottom plate, mounting plate, lifter plate and folding stand, first motor and the second motor are fixed at the top of the bottom plate, one end of the output shaft of first motor is fixed with first bevel gear, one end of the output shaft of second motor is fixed with the first sprocket wheel, the bottom of bottom plate is fixed, and there are four castors, second motor and castor are sequentially connected, the mounting plate is located at the top of bottom plate, the bottom of mounting plate is fixed with fixed column, the other end of fixed column and the middle position at the top of bottom plate are rotatablely connected.The utility model is structurally reasonable, ingenious in design, easy to operate, solves the problems, such as that robot architecture is complicated in the prior art, reduces the difficulty of robot assembling, easy to spread.

Description

A liftable wheel-legged mobile robot

technical field

The utility model relates to the field of robots, in particular to a liftable wheel-leg mobile robot.

Background technique

With the development of technology, robot technology is becoming more and more mature, and it can replace human beings to perform some dangerous tasks. In order to ensure the flexibility of the robot in the prior art, the mechanism of the robot is relatively complicated, which causes the assembly, maintenance and operation of the robot to be troublesome, thus making the cost of the robot remain high.

Utility model content

The utility model proposes a liftable wheel-leg mobile robot, which solves the problem of complex structure of the robot in the prior art.

In order to achieve the above object, the utility model adopts the following technical solutions:

A liftable wheel-legged mobile robot, including a bottom plate, a mounting plate, a lifting plate and a folding frame, the top of the bottom plate is fixed with a first motor and a second motor, and one end of the output shaft of the first motor is fixed with a first Bevel gear, one end of the output shaft of the second motor is fixed with a first sprocket, four casters are fixed at the bottom of the base plate, the second motor is connected with the caster transmission, the mounting plate is located at the top of the base plate, and the bottom of the mounting plate is fixed with The fixed column, the other end of the fixed column is rotatably connected with the middle position of the top of the bottom plate, the outside of the fixed column is fixed with a second bevel gear, the second bevel gear meshes with the first bevel gear, and the top of the mounting plate is fixed with a third motor and A fixed plate, the fixed plate is located on one side of the third motor, one end of the output shaft of the third motor is connected to a threaded post, and the other end of the threaded post is rotationally connected to one side of the fixed plate, the threaded post is a two-way threaded post, and the threaded post There are two first moving plates connected to the external thread of the column, one end of the folding frame is connected with the two first moving plates in rotation, the lifting plate is located above the mounting plate, and the bottom of the lifting plate is slidingly connected with two second moving plates, folding The other end of the frame is rotatably connected with two second moving plates, and the top of the lifting plate is fixed with a robot body.

Preferably, four support plates are evenly fixed on the bottom of the bottom plate, and a transmission shaft is rotatably connected between the two opposite support plates, and the two ends of the transmission shaft are fixedly connected to one side of the two opposite casters respectively.

Preferably, a second sprocket is fixed on the outer wall of the transmission shaft, a connection hole is opened on the top of the bottom plate, and a chain is drive-connected between the first sprocket and the second sprocket.

Preferably, a limiting groove is provided on the side close to the mounting plate and the lifting plate, and a limiting block is fixed on the sides away from the first moving plate and the second moving plate, and one end of the limiting block extends to the limit the inside of the groove.

Preferably, both the limiting block and the limiting groove are T-shaped structures, and four supporting columns are fixed on the bottom of the lifting plate.

Preferably, grooves are provided on the side close to the first moving plate and the second moving plate, one end of the folding frame extends to the inside of the groove, and both sides of the end of the folding frame inside the groove are fixed with The rotating shaft is rotationally connected with one side of the groove.

Preferably, a fixed block is fixed at the middle of the threaded post, and the two first moving plates are respectively located on the outside of two opposite threads on the threaded post.

In the utility model:

1. Through the cooperation between the first motor, the first bevel gear, the second bevel gear and the fixed column, the mounting plate can be rotated, which is convenient for the robot body to reverse the direction. Through the second motor, the first sprocket and the second chain The cooperation between the wheels achieves the purpose of moving the robot body;

2. Through the cooperation between the third motor, the threaded column, the first moving plate, the second moving plate, and the folding frame, the purpose of changing the height of the lifting plate is achieved, and the supporting column starts to support the lifting plate.

The utility model has reasonable structure, ingenious design and simple operation, solves the problem of complex robot structure in the prior art, reduces the difficulty of robot assembly, and is easy to popularize.

Description of drawings

Fig. 1 is the structural representation of the utility model.

Fig. 2 is a structural schematic diagram of the mounting plate and the lifting plate of the present invention.

Fig. 3 is a side view of the bottom plate of the utility model.

Labels in the figure: 1 base plate, 2 mounting plate, 3 lifting plate, 4 first motor, 5 self bevel gear, 6 fixed column, 7 second bevel gear, 8 first sprocket wheel, 9 second motor, 10 fixed block, 11 third motor, 12 support column, 13 threaded rod, 14 fixed plate, 15 first moving plate, 16 folding frame, 17 second moving plate, 18 limit block, 19 limit groove, 20 groove, 21 rotating shaft, 22 connection holes, 23 transmission shafts, 24 second sprockets, 25 support plates, 26 robot bodies.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example.

Referring to Figures 1-3, a liftable wheel-legged mobile robot includes a base plate 1, a mounting plate 2, a lifting plate 3 and a folding frame 16, and the top of the base plate 1 is fixed with a first motor 4 and a second motor 9. One end of the output shaft of a motor 4 is fixed with the first bevel gear 5, and one end of the output shaft of the second motor 9 is fixed with the first sprocket 8, and the bottom of the base plate 1 is fixed with four casters, and the second motor 9 and the casters drive connection, the mounting plate 2 is located on the top of the base plate 1, the bottom of the mounting plate 2 is fixed with a fixed column 6, the other end of the fixed column 6 is rotationally connected with the middle position of the top of the base plate 1, and the outside of the fixed column 6 is fixed with a second bevel gear 7 , the second bevel gear 7 meshes with the first bevel gear 5, the top of the mounting plate 2 is fixed with a third motor 11 and a fixed plate 14, the fixed plate 14 is located on one side of the third motor 11, the output shaft of the third motor 11 One end of the drive is connected with a threaded column 13, and the other end of the threaded column 13 is rotationally connected with one side of the fixed plate 14. The threaded column 13 is a two-way threaded column, and the external thread of the threaded column 13 is connected with two first moving plates 15. One end of the folding frame 16 is rotationally connected with two first moving plates 15, the lifting plate 3 is positioned above the mounting plate 2, and the bottom of the lifting plate 3 is slidably connected with two second moving plates 17, and the other end of the folding frame 16 is connected to the two moving plates. A second moving plate 17 is rotationally connected, and the top of the lifting plate 3 is fixed with a robot body 26.

In this embodiment, the bottom of the bottom plate 1 is evenly fixed with four support plates 25, and the two opposite support plates 25 are connected to the transmission shaft 23 in rotation, and the two ends of the transmission shaft 23 are connected with the two opposite casters respectively. One side is fixedly connected, the outer wall of the transmission shaft 23 is fixed with a second sprocket 24, the top of the bottom plate 1 is provided with a connecting hole 22, and a chain is connected between the first sprocket 8 and the second sprocket 24, and the mounting plate 2 A limiting groove 19 is provided on the side close to the lifting plate 3, and a limiting block 18 is fixed on the side where the first moving plate 15 and the second moving plate 17 are far away from each other, and one end of the limiting block 18 extends to the limiting groove 19, the limit block 18 and the limit groove 19 are all T-shaped structures, and the bottom of the lifting plate 3 is fixed with four support columns 12, and the first moving plate 15 and the side close to the second moving plate 17 are all provided with Groove 20 is arranged, and one end of folding frame 16 extends to the inside of groove 20, and the both sides of one end of folding frame 16 is positioned at groove 20 interior all is fixed with rotating shaft 21, and rotating shaft 21 is connected with one side of groove 20 rotationally, screw thread A fixed block 10 is fixed in the middle of the column 13 , and two first moving plates 15 are respectively located on the outside of two opposite threads on the threaded column 13 .

In this embodiment, one of bolt fixing or welding fixing methods is used for fixing between parts. The first motor 4 , the second motor 9 and the third motor 11 are all driven by the built-in power supply of the robot body 26 .

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", Orientation indicated by "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. Or the positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be configured in a specific orientation, and operation, and therefore cannot be construed as a limitation of the utility model.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present utility model, "plurality" means two or more, unless otherwise specifically defined.

Working principle: the first motor 4 rotates to drive the fixed column 6 to rotate, and the fixed column 6 then drives the mounting plate 2 to rotate, so that the orientation of the robot body 26 can be changed to facilitate the robot body 26 to work. The third motor 11 rotates to drive the threaded column 13 to rotate , when the third motor 11 is rotating forward, the two first moving plates 15 are close to each other, the folding frame 16 is stretched, the lifting plate 3 is raised, and when the third motor 11 is reversed, the two first moving plates 15 are away from each other, and the folding frame 16 is contracted , the lifting plate 3 descends, and in the initial state, the bottom of the support column 12 is in contact with the top of the mounting plate 2 , thereby supporting the lifting plate 13 .

The above is only a preferred embodiment of the utility model, but the scope of protection of the utility model is not limited thereto. Any equivalent replacement or change of the new technical solution and the concept of the utility model shall be covered by the protection scope of the utility model.

Claims (7)

1. a kind of liftable movable robot with wheel legs, including bottom plate (1), mounting plate (2), lifter plate (3) and folding stand (16), which is characterized in that first motor (4) and the second motor (9) are fixed at the top of the bottom plate (1), first motor (4) One end of output shaft is fixed with first bevel gear (5), and one end of the output shaft of the second motor (9) is fixed with the first sprocket wheel (8), bottom The bottom of plate (1) is fixed, and there are four castor, the second motor (9) and castors to be sequentially connected, and the mounting plate (2) is located at bottom plate (1) Top, the bottom of mounting plate (2) is fixed with fixed column (6), the other end of fixed column (6) and the interposition at the top of bottom plate (1) Rotation connection is set, the outside of fixed column (6) is fixed with second bevel gear (7), second bevel gear (7) and first bevel gear (5) phase It engages, is fixed with third motor (11) and fixed plate (14) at the top of mounting plate (2), fixed plate (14) is located at third motor (11) Side, one end of the output shaft of third motor (11) is sequentially connected with threaded post (13), the other end of threaded post (13) and solid The side of fixed board (14) is rotatablely connected, and threaded post (13) is bidirectional helical column, and the external screw-thread of threaded post (13) is connected with two A first movement plate (15), one end of folding stand (16) are rotatablely connected with two first movement plates (15), and lifter plate (3) is located at peace The top of loading board (2), there are two the second movable plate (17), the other ends of folding stand (16) for the basal sliding connection of lifter plate (3) It is rotatablely connected with two the second movable plates (17), is fixed with robot body (26) at the top of lifter plate (3).

2. a kind of liftable movable robot with wheel legs according to claim 1, which is characterized in that the bottom plate (1) Bottom it is uniformly fixed there are four support plate (25), be rotatably connected to transmission shaft between two opposite support plates (25) (23), the both ends of transmission shaft (23) are fixedly connected with the side of two opposite castors respectively.

3. a kind of liftable movable robot with wheel legs according to claim 2, which is characterized in that the transmission shaft (23) it is fixed with the second sprocket wheel (24), is offered at the top of bottom plate (1) connecting hole (22) on outer wall, the first sprocket wheel (8) and Two sprocket wheels are sequentially connected with chain between (24).

4. a kind of liftable movable robot with wheel legs according to claim 1, which is characterized in that the mounting plate (2) side mutually close with lifter plate (3) offers limiting slot (19), first movement plate (15) and the second movable plate (17) phase Mutually separate side is respectively and fixedly provided with limited block (18), and one end of limited block (18) extends to the inside of limiting slot (19).

5. a kind of liftable movable robot with wheel legs according to claim 4, which is characterized in that the limited block (18) and limiting slot (19) is T-shaped structure, and the bottom of lifter plate (3) is fixed, and there are four support column (12).

6. a kind of liftable movable robot with wheel legs according to claim 1, which is characterized in that the first movement Plate (15) side mutually close with the second movable plate (17) opens up fluted (20), and one end of folding stand (16) extends to groove (20) inside, the two sides that folding stand (16) is located at the internal one end of groove (20) are respectively and fixedly provided with shaft (21), shaft (21) with The side of groove (20) is rotatablely connected.

7. a kind of liftable movable robot with wheel legs according to claim 1, which is characterized in that the threaded post (13) middle position is fixed with fixed block (10), and two first movement plates (15) are located on threaded post (13) opposite two The outside of a screw thread.