CN211103950U

CN211103950U - Walking device for robot

Info

Publication number: CN211103950U
Application number: CN201921764137.9U
Authority: CN
Inventors: 丁杰卿; 王晨; 王伟
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2019-10-21
Filing date: 2019-10-21
Publication date: 2020-07-28
Anticipated expiration: 2029-10-21

Abstract

The utility model provides a running gear for robot is adapted to running gear technical field's production and application for the running gear of robot includes, supporting component, and supporting component includes the frame through the fix with screw at its top, and all opens at both ends about the frame has two hole sites that run through to its inner wall, and the mounting panel has been arranged to the frame top, and opens at the mounting panel top has the mounting hole, and open both sides around the mounting panel right-hand member has two keyhole that run through to its left end, the beneficial effects of the utility model reside in that: by arranging the mounting plate, the frame, the long bolt and the bolt cap, a user can conveniently and quickly clamp and fix the mounting plate into the frame, so that the mounting plate can be more conveniently detached and conveniently repaired; simultaneously through setting up side shield, hollow tube, loose axle and spring, can effectually reduce the wearing and tearing to it after road surface obstacle and supporting component collide, solved current running gear who is used for the robot, use the problem that wearing and tearing are big and the renovation of not being convenient for.

Description

Walking device for robot

Technical Field

The utility model belongs to the technical field of the running gear technique and specifically relates to a running gear for robot is related to.

Background

A robot is a machine device that automatically performs work. The robot walking device can accept human commands, run pre-programmed programs and perform actions according to principles formulated by artificial intelligence technology, and is a device which is arranged at the bottom of the robot and is used for driving the robot to walk and run for operation. When the running gear of robot is driving the robot when the road surface walking, often can produce the phenomenon of touchhing the road surface obstacle, although the robot that partial cost is higher and sensitivity is high can avoid the obstacle voluntarily, still there is the robot that a small amount of cost is lower and sensitivity is relatively poor to produce the phenomenon of colliding with the road surface obstacle production, make the running gear surface of robot produce great wearing and tearing after using for a long time, simultaneously because the running gear of robot generally installs in the robot bottom through the bolt, when renovating, need dismantle a large amount of bolts, mostly be inconvenient.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is: the problem that the prior art exists is solved by providing the walking device for the robot, and the problems that the existing walking device for the robot is large in use abrasion and inconvenient to repair are solved.

The to-be-solved technical problem of the utility model adopts following technical scheme to realize: a walking device for a robot, comprising:

the support assembly is used for supporting the robot and comprises a frame fixed to the top of the support assembly through screws, two hole sites penetrating through the inner wall of the frame are formed in the left end and the right end of the frame, an installation plate is arranged above the frame, an installation hole is formed in the top of the installation plate, two bolt holes penetrating through the left end of the installation plate are formed in the front side and the rear side of the right end of the installation plate, long bolts are screwed in the bolt holes, and bolt caps are screwed at the head end and the tail end of each long bolt;

the side shield for check keep off road surface obstacle, the side shield is equipped with two altogether, and two the side shield arranges respectively in the supporting component left and right sides, two the side shield inner wall all is equipped with two loose axles rather than as an organic whole, both ends all imbed and are fixed with two hollow tubes about the supporting component, the hollow tube outer end all opened rather than the communicating interface in inside, four the equal one-to-one of loose axle inserts in the interface and extends to the hollow tube, the spring has all been welded in the hollow tube and near loose axle one end.

Preferably, the bottom of the front end and the bottom of the rear end of the supporting component are both provided with notches.

Preferably, the supporting component still includes gear motor and gyro wheel, gear motor and gyro wheel all are equipped with four, four through wire electric connection, and four between the gear motor is two bisymmetry and through the bolt fastening in the supporting component, four two bisymmetry of gyro wheel arrange in the supporting component front and back side end department, and four the gyro wheel inner all scarf joint is fixed with the pivot, and four pivot one-to-one and four gear motor's power take off department spiro union.

Preferably, the mounting plate is matched with the frame, and after the mounting plate is completely clamped into the frame, the hole positions and the bolt holes are correspondingly connected together, and the diameters of the hole positions and the bolt holes are equal.

Preferably, the long pin has a length longer than that of the frame.

Preferably, the movable shaft is movably connected with the hollow pipe through a socket, the diameters of the head end and the tail end of the hollow pipe are larger than those of the socket, and the distance between the tail end of the movable shaft and the outer end of the spring is not more than 1 cm.

Compared with the prior art, the beneficial effects of the utility model are that:

by arranging the mounting plate, the frame, the long bolt and the bolt cap, a user can conveniently and quickly clamp and fix the mounting plate into the frame, so that the mounting plate can be more conveniently detached and conveniently repaired; simultaneously through setting up side shield, hollow tube, loose axle and spring, can effectually reduce the wearing and tearing to it after road surface obstacle and supporting component collide, solved current running gear who is used for the robot, use the problem that wearing and tearing are big and the renovation of not being convenient for.

Drawings

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

FIG. 2 is an enlarged view of a portion A of the key hole in FIG. 1 of the present invention;

FIG. 3 is a schematic view of the assembly of the structure roller and the reduction motor of the present invention;

fig. 4 is a schematic front sectional view of the hollow tube of the present invention.

The labels in the figure are: 1-support component, 2-notch, 3-roller, 4-side baffle, 5-hollow tube, 6-movable shaft, 7-socket, 8-spring, 9-frame, 10-mounting plate, 11-mounting hole, 12-long bolt, 13-bolt cap, 14-bolt hole, 15-hole position, 16-rotating shaft and 17-speed reduction motor.

Detailed Description

The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.

Please refer to fig. 1 to 4, it should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essence, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left" and "right" used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention unless otherwise specified.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a walking device for a robot, comprising:

supporting component 1 for support the robot, supporting component 1 includes the frame 9 through the fix with screw at its top, just both ends are all opened to have two hole sites 15 that run through to its inner wall about frame 9, mounting panel 10 has been arranged to frame 9 top, just mounting panel top is opened there is mounting hole 11, both sides are opened around the mounting panel 10 right-hand member has two keyhole 14 that run through to its left end, just 12 head and the tail both ends of trombone all the spiro union have cap 13, mounting panel 10 and frame 9 phase-match, and when the mounting panel 10 is whole to be gone into in the frame 9 after, hole site 15 with the position of keyhole 14 will correspond to together, and hole site 15 equals with the diameter of keyhole 14, all the spiro union have long bolt 12 in the keyhole 14, the length of long bolt 12 is than the length of frame 9 is long, the user is when installing supporting component 1 in the robot bottom, the bolt cap 13 can be firstly unscrewed from the long bolt 12, then the long bolt 12 is unscrewed from the bolt hole 14, then the bolt is inserted into the mounting hole 11, the mounting plate 10 is fixed to the bottom of the robot through the bolt, then the mounting plate 10 is clamped into the frame 9, so that the positions of the bolt hole 14 and the hole position 15 correspond to each other, then the long bolt 12 is screwed into the hole position 15 and the bolt hole 14 in sequence until two ends of the long bolt 12 extend to the left side and the right side of the frame 9 respectively, then the bolt cap 13 is screwed again to the head end and the tail end of the long bolt 12, so that the mounting plate 10 is stably mounted into the frame 9, and during disassembly and maintenance, only the bolt cap 13 is unscrewed, then the long bolt 12 is unscrewed from the hole position 15 and the bolt hole 14, and the mounting plate 10 is pulled out of the frame 9, so that the maintenance is convenient;

the side baffle plates 4 are used for blocking road surface obstacles, the number of the side baffle plates 4 is two, the two side baffle plates 4 are respectively arranged at the left side and the right side of the supporting component 1, two movable shafts 6 which are integrated with the two side baffle plates 4 are arranged on the inner walls of the two side baffle plates 4, two hollow pipes 5 are embedded and fixed at the left end and the right end of the supporting component 1, inserting ports 7 communicated with the inside of the hollow pipes 5 are formed in the outer ends of the hollow pipes 5, the four movable shafts 6 are uniformly and correspondingly inserted into the inserting ports 7 and extend into the hollow pipes 5, springs 8 are welded in the hollow pipes 5 and at one ends close to the movable shafts 6, the movable shafts 6 are movably connected with the hollow pipes 5 through the inserting ports 7, the diameters of the head end and the tail end of each movable shaft 6 are larger than the diameter of the inserting ports 7, the distance between the tail end of each movable shaft 6 and the outer end of each spring 8 is not more than 1, if meet with the road surface obstacle, at first with the road surface obstacle contact be side shield 4, and side shield 4 receives the collision back can remove a section distance in hollow tube 5 through loose axle 6, in order to reduce the impact that road surface obstacle offside baffle 4 caused, simultaneously remove in hollow tube 5 and be close to gradually and contact the back with spring 8 as loose axle 6, the extrusion through spring 8 is kick-backed and can be made loose axle 6 remove to the original place, can effectually reduce road surface obstacle and the wearing and tearing to it after supporting component 1 collides.

Notches 2 are formed in the bottoms of the front end and the rear end of the supporting component 1, and when a user lifts the supporting component 1, the palm can be inserted into the notches 2 so as to be convenient for helping the user to use.

Support assembly 1 still includes gear motor 17 and gyro wheel 3, gear motor 17 and gyro wheel 3 all are equipped with four, four through wire electric connection, and four between the gear motor 17 is two bisymmetry and fixes in support assembly 1 through the bolt in, four 3 two bisymmetry of gyro wheel arrange in support assembly 1 front rear side left and right sides end department, and four 3 the inner equal scarf joint of gyro wheel is fixed with pivot 16, and four 16 one-to-ones of pivot and four the spiro union of power take off department of gear motor 17, the user can be connected to the switch department of robot with gear motor 17's external conductor to start gear motor 17, can drive pivot 16 and drive 3 roll walks of gyro wheel after gear motor 17 starts.

The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. A walking device for a robot, characterized in that the walking device for a robot comprises:

the support assembly (1) is used for supporting a robot, the support assembly (1) comprises a frame (9) fixed to the top of the support assembly through screws, two hole sites (15) penetrating through the inner wall of the frame (9) are formed in the left end and the right end of the frame (9), a mounting plate (10) is arranged above the frame (9), a mounting hole (11) is formed in the top of the mounting plate (10), two bolt holes (14) penetrating through the left end of the mounting plate (10) are formed in the front side and the rear side of the right end of the mounting plate (10), long bolts (12) are screwed in the bolt holes (14), and bolt caps (13) are screwed at the head end and the tail end of the long bolts (12);

side shield (4) for the check keep off road surface obstacle, side shield (4) are equipped with two altogether, and two side shield (4) are arranged respectively in supporting component (1) left and right sides, two side shield (4) inner wall all is equipped with two loose axle (6) rather than as an organic whole, both ends all imbed about supporting component (1) and are fixed with two hollow tube (5), hollow tube (5) outer end all opened rather than inside communicating interface (7), four loose axle (6) homogeneous one-to-one is inserted in interface (7) and is extended to in hollow tube (5), spring (8) have all been welded in hollow tube (5) and near loose axle (6) one end.

2. A walking device for a robot according to claim 1, wherein: notches (2) are formed in the bottom of the front end and the bottom of the rear end of the supporting component (1).

3. A walking device for a robot according to claim 1, wherein: supporting component (1) still includes gear motor (17) and gyro wheel (3), gear motor (17) and gyro wheel (3) all are equipped with four, four through wire electric connection, and four between gear motor (17) be two bisymmetry and through the bolt fastening in supporting component (1), four in two bisymmetry arrangements of gyro wheel (3) are held in the side of the front and back side of supporting component (1), and four gyro wheel (3) the inner all scarf joint is fixed with pivot (16), and four pivot (16) one-to-one and four the power take off department spiro union of gear motor (17).

4. A walking device for a robot according to claim 1, wherein: mounting panel (10) and frame (9) phase-match, and work as back in frame (9) is all gone into to mounting panel (10), hole site (15) with the position of keyhole (14) will correspond to together, just hole site (15) are equal with the diameter of keyhole (14).

5. A walking device for a robot according to claim 1, wherein: the length of the long bolt (12) is longer than that of the frame (9).

6. A walking device for a robot according to claim 1, wherein: the movable shaft (6) is movably connected with the hollow pipe (5) through a plug port (7), the diameters of the head end and the tail end of the movable shaft (6) are larger than those of the plug port (7), and the distance between the tail end of the movable shaft (6) and the outer end of the spring (8) is not more than 1 cm.