CN210791004U

CN210791004U - Flea robot

Info

Publication number: CN210791004U
Application number: CN201921633307.XU
Authority: CN
Inventors: 陈攀
Original assignee: Minjiang Teachers College
Current assignee: Minjiang Teachers College
Priority date: 2019-09-28
Filing date: 2019-09-28
Publication date: 2020-06-19
Anticipated expiration: 2029-09-28

Abstract

The utility model provides a flea robot, including the casing and set up in a pair of front feet of both sides of casing front portion and a pair of back feet of both sides of casing rear portion, front feet and back feet are arc, the medial extremity between a pair of front feet is connected through the first connecting axle that runs through the casing, the medial extremity of a pair of back feet is connected through the second connecting axle that runs through the casing, the first connecting axle is rotated by the first motor drive, the second connecting axle is rotated by the second motor drive, the middle part of casing still is provided with the steering rotary rod, the steering rotary rod is rotated through the steering motor drive that is fixed in the casing, the casing bottom has the opening for the steering rotary rod to push out, the utility model discloses the removal of simple structure through two independent motor control front feet and back feet has alleviateed holistic quality, in addition the front feet and the back feet of circular arc line can conveniently climb and the cat ladder, satisfy the side of organism and move through the steering rotary rod, the operation is stable.

Description

Flea robot

Technical Field

The utility model relates to a flea robot.

Background

The existing robot is complex in structure and heavy in weight, and the situation that a speed reducer is broken or insufficient in power easily occurs by adopting a motor direct drive or belt transmission structure, particularly the situation that the robot cannot face the road condition of a slope or stairs.

Disclosure of Invention

The utility model discloses improve above-mentioned problem, promptly the to-be-solved technical problem of the utility model is that current small robot poor stability just is difficult for adapting to ladder or domatic, and the direction can't be adjusted in a flexible way to the robot.

The utility model discloses a concrete implementation scheme is: the flea robot comprises a machine shell, a pair of front feet and a pair of rear feet, wherein the front feet are arranged on two sides of the front portion of the machine shell, the pair of rear feet are arranged on two sides of the rear portion of the machine shell, the front feet and the rear feet are arc-shaped, the inner side ends of the front feet are connected through a first connecting shaft penetrating through the machine shell, the inner side ends of the rear feet are connected through a second connecting shaft penetrating through the machine shell, the first connecting shaft is driven to rotate by a first motor, the second connecting shaft is driven to rotate by a second motor, a steering rotating rod is further arranged in the middle of the machine shell, the steering rotating rod is driven to rotate by a steering motor fixed in the machine shell, an opening for ejecting the steering rotating rod is formed in the bottom of the machine shell, the shaft center of the steering rotating rod is connected with an output.

Furthermore, the first motor and the second motor are fixed on the bottom surface in the casing, the output shaft of the first motor is fixed with a first driving gear, a first driven gear engaged with the first driving gear is fixed on the first connecting shaft, bearing seats are fixed on two sides of the first connecting shaft in the casing, and two ends of the first connecting shaft are connected with the casing through bearings in the bearing seats.

Furthermore, a second driving gear is fixed on an output shaft of the second motor, a second driven gear meshed with the second driving gear is fixed on the second connecting shaft, bearing seats are fixed on two sides of the second connecting shaft in the casing, and two ends of the second connecting shaft are connected with the casing through bearings in the bearing seats.

Furthermore, the outer cambered surfaces of the front foot and the rear foot are provided with tooth surfaces.

Furthermore, the outer parts of the front foot and the rear foot are wrapped with silica gel sleeves.

Further, the front leg and the rear leg are made of carbon fiber materials.

Furthermore, a lithium battery and a control circuit are fixed in the casing, and the lithium battery is connected with the first motor, the second motor and the steering motor through the control circuit.

Further, the surface of the machine shell is provided with heat dissipation holes, the machine shell comprises a base and an upper cover, and the base and the upper cover are fixedly connected through bolts.

Further, the control circuit is provided with a remote switch module.

Compared with the prior art, the utility model discloses following beneficial effect has: the utility model adopts the arc front foot and rear foot structure, and can satisfy the ascending slope of the slope and the step by utilizing the end swing in the rotating process, and the front foot and the rear foot in the embodiment adopt the independent motor drive, thereby not only effectively satisfying the power, but also reducing the cost; the robot can also flexibly adjust the direction through the middle steering rotary rod.

The embodiment of the utility model provides a preceding foot and back foot adopt carbon fiber material to make carbon fiber and have many good performances, and the axial strength and the modulus of carbon fiber are high, and density is low, than the performance height, and no creep deformation, resistant ultra-high temperature under the non-oxidation environment, fatigue resistance is good, and specific heat and electric conductivity are between nonmetal and metal, and coefficient of thermal expansion is little and have anisotropy, and corrosion resistance is good, characteristics such as X ray permeability is good can improve overall structure's intensity;

in addition the embodiment of the utility model provides an in the outside of forefoot and back foot set up the flank of tooth or the cover is equipped with the silica gel cover and can improve the stability of frictional force assurance motion in-process.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the structure of the forefoot with tooth surface according to the present invention.

Fig. 3 is a schematic view of the internal structure of the housing of the present invention.

Fig. 4 is a schematic view of the internal local structure of the casing of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1 to 4, in a first embodiment, the flea robot includes a housing 10, a pair of front feet 20 disposed at two sides of a front portion of the housing, and a pair of rear feet 30 disposed at two sides of a rear portion of the housing, the front feet 20 and the rear feet 30 are arc-shaped, inner ends of the pair of front feet are connected by a first connecting shaft 210 penetrating the housing, inner ends of the pair of rear feet are connected by a second connecting shaft 310 penetrating the housing, the first connecting shaft is driven by a first motor 220 to rotate, the second connecting shaft is driven by a second motor 320 to rotate, a steering rotating rod 40 is further disposed at a middle portion of the housing, the steering rotating rod is driven to rotate by a steering motor 410 fixed in the housing, and an opening 110 for ejecting the steering rotating rod 40 is disposed at a bottom of the housing.

In this embodiment, the housing 10 includes a base 101 and an upper cover 102, the base and the upper cover are fixedly connected by bolts, in practical design, the base and the upper cover may also be fixedly connected by welding or other methods, the first motor 220 and the second motor 320 are fixed on the upper surface of the base 101 in the housing, the output shaft of the first motor 220 is fixed with a first driving gear 221, the first connecting shaft 210 is fixed with a first driven gear 211 engaged with the first driving gear 221, bearing seats 50 are fixed on two sides of the first connecting shaft in the housing, and two ends of the first connecting shaft are connected with the housing through bearings in the bearing seats.

In the same embodiment, a second driving gear 321 is fixed to an output shaft of the second motor 320, a second driven gear 311 engaged with the second driving gear is fixed to the second connecting shaft 310, bearing seats 50 are fixed to two sides of the second connecting shaft in the casing, and two ends of the second connecting shaft are connected to the casing through bearings in the bearing seats.

In this embodiment, the front leg 20 and the rear leg 30 rotate around the first connecting shaft 210 and the second connecting shaft 310 respectively during operation, and move forward or backward along with the arched convex portion jacking the housing body, and the axis of the steering rotary rod 40 is connected with the output shaft of the steering motor 410 through the steering connecting rod 401, and the steering connecting rod 401 is perpendicular to the first connecting shaft, so that the housing is jacked up and moved backward by the rotation of the steering rotary rod 40 when the lateral movement is required.

In this embodiment, the lateral arc surfaces of the forefoot and rearfoot have tooth surfaces 60.

In addition, in the actual design, thereby the outside parcel of forefoot and back foot has the silica gel cover to improve the land fertility of grabbing to ground.

In this embodiment, the front leg and the rear leg are made of carbon fiber material.

The carbon fiber made of the carbon fiber material has many excellent properties, the carbon fiber has high axial strength and modulus, low density, high specific performance, no creep, high temperature resistance in a non-oxidation environment, good fatigue resistance, specific heat and conductivity between nonmetal and metal, small thermal expansion coefficient, anisotropy, good corrosion resistance, good X-ray permeability and the like, and can improve the strength of the whole structure and reduce the weight.

The motor shell is internally fixed with a lithium battery and a control circuit, and the lithium battery is connected with the first motor, the second motor and the steering motor through the control circuit.

The surface of the casing is provided with heat dissipation holes 120 to ensure the heat dissipation of the battery and the control circuit in the operation process.

In a second embodiment, the control circuit in this embodiment has a remote switch module, the first motor and the second motor use dc brush motors, and a PPM interface of the motor driver is connected to a corresponding channel of the remote controller receiver, for receiving a motion control command.

Any technical solution disclosed in the present invention is, unless otherwise stated, disclosed a numerical range if it is disclosed, and the disclosed numerical range is a preferred numerical range, and any person skilled in the art should understand that: the preferred ranges are merely those values which are obvious or representative of the technical effect which can be achieved. Because numerical value is more, can't be exhaustive, so the utility model discloses just disclose some numerical values with the illustration the technical scheme of the utility model to, the numerical value that the aforesaid was enumerated should not constitute right the utility model discloses create the restriction of protection scope.

If the terms "first," "second," etc. are used herein to define parts, those skilled in the art will recognize that: the terms "first" and "second" are used merely to distinguish one element from another in a descriptive sense and are not intended to have a special meaning unless otherwise stated.

Also, above-mentioned the utility model discloses if disclose or related to mutually fixed connection's spare part or structure, then, except that other the note, fixed connection can understand: a detachable fixed connection (for example using bolts or screws) is also understood as: non-detachable fixed connections (e.g. riveting, welding), but of course, fixed connections to each other may also be replaced by one-piece structures (e.g. manufactured integrally using a casting process) (unless it is obviously impossible to use an integral forming process).

In addition, the terms used in any aspect of the present disclosure as described above to indicate positional relationships or shapes include similar, analogous, or approximate states or shapes unless otherwise stated.

The utility model provides an arbitrary part both can be assembled by a plurality of solitary component parts and form, also can be the solitary part that the integrated into one piece technology was made.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same; although the present invention has been described in detail with reference to preferred embodiments, it should be understood by those skilled in the art that: the invention can be modified or equivalent substituted for some technical features; without departing from the spirit of the present invention, it should be understood that the scope of the claims is intended to cover all such modifications and variations.

Claims

1. The flea robot is characterized by comprising a machine shell, a pair of front feet and a pair of rear feet, wherein the front feet are arranged on two sides of the front portion of the machine shell, the pair of rear feet are arranged on two sides of the rear portion of the machine shell, the front feet and the rear feet are arc-shaped, the inner side ends between the front feet are connected through a first connecting shaft penetrating through the machine shell, the inner side ends of the rear feet are connected through a second connecting shaft penetrating through the machine shell, the first connecting shaft is driven to rotate by a first motor, the second connecting shaft is driven to rotate by a second motor, a steering rotating rod is further arranged in the middle of the machine shell and driven to rotate by a steering motor fixed in the machine shell, an opening for ejecting the steering rotating rod is formed in the bottom of the machine shell, the shaft center of the steering rotating rod is connected with an output shaft of the steering motor through.

2. The flea robot as claimed in claim 1, wherein the first and second motors are fixed to a bottom surface of the housing, the first motor has a first driving gear fixed to an output shaft thereof, the first connecting shaft has a first driven gear engaged with the first driving gear fixed thereto, bearing seats are fixed to both sides of the first connecting shaft in the housing, and both ends of the first connecting shaft are connected to the housing through bearings in the bearing seats.

3. The flea robot of claim 2, wherein a second driving gear is fixed to an output shaft of the second motor, a second driven gear engaged with the second driving gear is fixed to the second connecting shaft, bearing seats are fixed to both sides of the second connecting shaft in the housing, and both ends of the second connecting shaft are connected to the housing through bearings in the bearing seats.

4. The flea robot of claim 3 wherein the lateral arc of the forefoot and rearfoot has a tooth surface.

5. The flea robot of claim 3 wherein the forefoot and rearfoot are externally wrapped with a silicone sleeve.

6. A flea robot as claimed in any one of claims 1 to 5 wherein the front and rear feet are of carbon fibre material.

7. The flea robot of claim 3 wherein a lithium battery and a control circuit are secured within the housing, the lithium battery being connected to the first motor, the second motor and the steering motor via the control circuit.

8. The flea robot of claim 3, wherein the housing has heat dissipation holes on a surface thereof, and the housing comprises a base and an upper cover, and the base and the upper cover are fixedly connected by bolts.

9. A flea robot as claimed in claim 3 wherein the control circuit has a remote switch module thereon.