CN211335555U

CN211335555U - Driving structure for robot walking

Info

Publication number: CN211335555U
Application number: CN201922229918.4U
Authority: CN
Inventors: 任冠宇
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-12-13
Filing date: 2019-12-13
Publication date: 2020-08-25
Anticipated expiration: 2029-12-13

Abstract

The utility model provides a drive structure for robot walking belongs to the robotechnology field. The driving structure for the robot to walk comprises a walking component, a buffering component and a friction component. The walking assembly comprises a base, walking wheels and a driving motor, the walking wheels are provided with two walking wheels, and the two walking wheels are respectively rotatably installed at two ends of one side of the base. The utility model discloses a driving motor driven walking wheel rotates, drive base and robot and remove, when the base has the striking trend with external object, first elastic component can reduce the translation rate of base, reduce the dynamics of base and external object striking, in addition, during the contact plate striking, can also make the friction plate remove, friction plate and ground or other contact surface contact, resistance when can increasing walking assembly and remove, slow down walking assembly's translation rate, further reduce the dynamics of walking assembly and other object striking.

Description

Driving structure for robot walking

Technical Field

The utility model relates to a robot field particularly, relates to a drive structure for robot walking.

Background

Robots are machine devices that automatically perform work, the task of which is to assist or replace work in human work, such as production, construction, or hazardous work, and often robots have a travel drive mechanism for driving the movement of the robot.

When the robot moves, the walking driving mechanism of the robot is easy to collide with an external object, and the existing walking driving mechanism does not have a buffering function and is easy to damage during collision.

SUMMERY OF THE UTILITY MODEL

In order to compensate the above deficiency, the utility model provides a drive structure for robot walking aims at improving the problem that traditional walking drive equipment does not have buffer function at the striking messenger.

The utility model discloses a realize like this:

the utility model provides a drive structure for robot walking, including walking subassembly, buffering subassembly and friction pack.

The walking assembly comprises a base, two walking wheels and a driving motor, the two walking wheels are respectively rotatably installed at two ends of one side of the base, the driving motor is fixedly installed in the base, one walking wheel is connected to the driving motor in a transmission manner, the buffering assembly comprises a shell, a guide rod, a sliding piece, a first elastic piece, a telescopic rod, a support rod and a contact plate, the shell is arranged on one side of the base, the guide rod is fixed in the shell, the sliding piece is slidably installed on the surface of the guide rod, the first elastic piece is fixed at one end of the guide rod, the other end of the first elastic piece is installed on one side of the sliding piece, one end of the telescopic rod is rotatably installed on the surface of the shell, and the other end of the telescopic rod is rotatably connected to the surface of the contact, the one end of branch rotate connect in the slider surface, the branch other end rotates to be installed the contact plate surface, friction pack includes movable rod, second elastic component, friction plate and push rod, the movable rod runs through casing one side, the second elastic component is fixed in movable rod one end, just the one end of second elastic component is hugged closely shells inner wall, the friction plate is fixed the one end of movable rod, the push rod install in the slider surface, the other end of push rod connect in the movable rod surface.

The utility model discloses an in the embodiment, install in the base with driving motor assorted motor frame, driving motor fixed with in the motor frame.

The utility model discloses an in one embodiment, the center of walking wheel is fixed with the bull stick, just one side of bull stick is rotated and is installed in the base surface, the bull stick pass through the shaft coupling with driving motor's output shaft transmission is connected.

In an embodiment of the present invention, the contact plate is located outside the housing, the housing has a through groove, and one end of the supporting rod passes through the through groove.

In an embodiment of the present invention, the two ends of the telescopic rod are respectively connected to the housing and the contact plate through the hinge seats, and the two ends of the supporting rod are also respectively connected to the sliding member and the contact plate through the hinge seats.

In an embodiment of the present invention, the telescopic rod comprises an outer rod body, an inner rod body and a third elastic member, the inner rod body is movably mounted inside the outer rod body, the third elastic member is disposed inside the outer rod body, and one side of the third elastic member is fixed to one end of the outer rod body.

The utility model discloses an in an embodiment, the casing seted up with movable rod assorted through-hole, the movable rod movable mounting be in inside the through-hole.

The utility model discloses an in the embodiment, the one end that the movable rod is located the casing inside is provided with the bulge loop, the diameter ratio of bulge loop the diameter of through-hole is big.

The utility model discloses an in one embodiment, the friction groove has been seted up at one side interval of friction plate, the opposite side of friction plate install with the identical solid fixed ring of movable rod, the one end fixed mounting of movable rod in gu fixed ring intra-annular.

The utility model discloses an in an embodiment, still include coupling assembling, coupling assembling includes connecting rod, connecting plate and go-between, connecting rod fixed mounting in the base surface, the connecting plate cover is in the connecting rod surface, one side fixed connection of connecting plate in housing face, the go-between spiro union with the connecting rod, the connecting plate is located the base with between the go-between.

The utility model has the advantages that: the utility model discloses a drive structure for robot walking that obtains through above-mentioned design, during the use, the robot sets up in the base surface, through driving motor drive, can make the walking wheel rotate, drive the base and remove, thereby make the robot remove, when the base has the striking trend with external object, the contact plate can strike with external object earlier, first elastic component is through supporting the slider, slow down the moving speed of slider and contact plate, and then slow down the moving speed of robot and walking subassembly, reduce the dynamics that the base strikes with external object, in addition, the slider can promote the push rod to remove when removing, make the push rod support the movable rod and remove with the friction plate, make the friction plate contact with ground or other contact surfaces, can increase the resistance when walking subassembly removes, slow down the moving speed of walking subassembly, further reduce the dynamics that walking subassembly strikes with other objects, reducing the likelihood of damage to the running assembly.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a driving structure for robot walking according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a buffer assembly according to an embodiment of the present invention;

fig. 3 is a schematic view of a housing structure according to an embodiment of the present invention;

fig. 4 is a schematic view of a telescopic rod structure provided by the embodiment of the present invention;

fig. 5 is a schematic structural view of a friction plate according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a position a in fig. 1 according to an embodiment of the present invention.

In the figure: 100-a walking assembly; 110-a base; 120-road wheels; 130-a drive motor; 200-a buffer assembly; 210-a housing; 211-through slots; 212-a via; 220-a guide bar; 230-a slider; 240-a first resilient member; 250-a telescopic rod; 251-an outer rod body; 252-inner rod body; 253-a third elastic member; 260-strut; 270-a contact plate; 300-a friction assembly; 310-a movable bar; 311-convex ring; 320-a second elastic member; 330-friction plate; 331-a fixed ring; 332-friction groove; 340-a push rod; 400-a connection assembly; 410-a connecting rod; 420-a connecting plate; 430-connecting ring.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

Referring to fig. 1 to 6, the present invention provides a driving structure for robot walking, including a walking assembly 100, a buffering assembly 200 and a friction assembly 300.

Wherein, buffering subassembly 200 sets up on walking subassembly 100's surface, and this buffering subassembly 200 is used for slowing down walking subassembly 100 and the dynamics of other object striking, and friction subassembly 300 is through rubbing with ground or other contact surface, slows down walking subassembly 100's translation rate, reduces walking subassembly 100 and the dynamics of other object striking.

Referring to fig. 1, a walking assembly 100 includes a base 110, two walking wheels 120 and a driving motor 130, the walking wheels 120 are provided with two walking wheels 120, and the two walking wheels 120 are respectively rotatably installed at two ends of one side of the base 110, the driving motor 130 is fixedly installed inside the base 110, one walking wheel 120 is in transmission connection with the driving motor 130, in the specific implementation process, one robot is provided with two walking assemblies 100, and the two walking assemblies are arranged at two sides of the robot, and driven by the driving motor 130, one walking wheel 120 can be rotated to drive the base 110 to move, and the other walking wheel 120 is rotated, a motor base matched with the driving motor 130 is installed in the base 110, the driving motor 130 is fixed in the motor base, so that the installation of the driving motor 130 is more stable, a rotating rod is fixed at the center of the walking wheel 120, and one side of the rotating rod is rotatably installed, the rotating rod is in transmission connection with an output shaft of the driving motor 130 through a coupler, so that the driving motor 130 can drive one traveling wheel 120 to rotate.

Referring to fig. 1-4, the damping assembly 200 includes a housing 210, a guide bar 220, a sliding member 230, a first elastic member 240, a telescopic bar 250, a supporting bar 260 and a contact plate 270, the housing 210 is disposed on one side of the base 110, the guide bar 220 is fixed inside the housing 210, the sliding member 230 is slidably mounted on a surface of the guide bar 220, the first elastic member 240 is fixed on one end of the guide bar 220, the other end of the first elastic member 240 is mounted on one side of the sliding member 230, one end of the telescopic bar 250 is rotatably mounted on a surface of the housing 210, the other end of the telescopic bar 250 is rotatably connected to a surface of the contact plate 270, one end of the supporting bar 260 is rotatably connected to a surface of the sliding member 230, and the other end of the supporting bar 260 is rotatably mounted on a surface of the contact plate 270, in an implementation process, when the walking assembly 100 has a, so that the supporting rod 260 pushes the sliding member 230 to move, the first elastic member 240 supports the sliding member 230, and slows down the moving speed of the sliding member 230, thereby slowing down the moving speed of the contact plate 270, and reducing the impact force between the base 110 and an external object, the contact plate 270 is located outside the housing 210, the housing 210 is provided with the through groove 211, one end of the supporting rod 260 passes through the through groove 211, so as to facilitate the movement of the supporting rod 260, two ends of the telescopic rod 250 are respectively connected with the housing 210 and the contact plate 270 through the hinge seats, two ends of the supporting rod 260 are also respectively connected with the sliding member 230 and the contact plate 270 through the hinge seats, so that the rotation of the telescopic rod 250 and the supporting rod 260 is smoother, the telescopic rod 250 comprises an outer rod body 251, an inner rod body 252 and a third elastic member 253, the inner rod body 252 is movably installed inside the outer rod body 251, the third elastic member 253 is, in a specific implementation, the first elastic member 240, the second elastic member 320 and the third elastic member 253 are all springs.

Referring to fig. 1, 2, 3 and 5, the friction assembly 300 includes a movable rod 310, a second elastic member 320, a friction plate 330 and a push rod 340, the movable rod 310 penetrates one side of the housing 210, the second elastic member 320 is fixed at one end of the movable rod 310, one end of the second elastic member 320 is tightly attached to the inner wall of the housing 210, the friction plate 330 is fixed at one end of the movable rod 310, the push rod 340 is installed on the surface of the sliding member 230, and the other end of the push rod 340 is connected to the surface of the movable rod 310, in the specific implementation process, the sliding member 230 pushes the push rod 340 to move when moving, so that the push rod 340 supports the movable rod 310 to move, so that the movable rod 310 drives the friction plate 330 to move, the friction plate 330 contacts with the ground or other contact surfaces, and generates friction, so as to increase the resistance when the walking assembly 100 moves, slow down the moving speed of the walking assembly 100, and further reduce the impact force between the, the shell 210 is provided with a through hole 212 matched with the movable rod 310, the movable rod 310 is movably arranged in the through hole 212, so that the movable rod 310 can move, one end of the movable rod 310, which is positioned in the shell 210, is provided with a convex ring 311, the diameter of the convex ring 311 is larger than that of the through hole 212, the convex ring 311 is used for limiting the moving range of the movable rod 310, the possibility that the movable rod 310 is separated from the shell 210 is reduced, friction grooves 332 are arranged at intervals on one side of a friction plate 330, a fixed ring 331 matched with the movable rod 310 is arranged on the other side of the friction plate 330, one end of the movable rod 310 is fixedly arranged in the fixed ring 331, and therefore the movable rod 310 can be better connected with the friction.

Referring to fig. 1 and 6, specifically, in this embodiment, the driving structure for robot walking further includes a connecting assembly 400, the connecting assembly 400 includes a connecting rod 410, a connecting plate 420 and a connecting ring 430, the connecting rod 410 is fixedly mounted on the surface of the base 110, the connecting plate 420 is sleeved on the surface of the connecting rod 410, one side of the connecting plate 420 is fixedly connected to the surface of the shell 210, the connecting ring 430 is screwed with the connecting rod 410, the connecting plate 420 is located between the base 110 and the connecting ring 430, in the specific mounting process, the connecting plate 420 is sleeved on the outer side of the connecting rod 410, then the connecting ring 430 is screwed on the surface of the connecting rod 410, and the connecting ring 430 presses the connecting plate 420 to fix the connecting plate 420, so that the shell 210 can be fixed.

Specifically, the working principle of the driving structure for robot walking is as follows: when the robot is moved, the robot is disposed on the surface of the base 110, and when the robot is moved, the robot is driven by the driving motor 130, so as to rotate one traveling wheel 120, thereby driving the base 110 to move, thereby moving the robot, when the base 110 in the traveling assembly 100 tends to collide with an external object, the contact plate 270 may first collide with the external object, thereby pushing the contact plate 270 to move, so that the contact plate 270 pushes the supporting rod 260, thereby the supporting rod 260 pushes the sliding member 230 to move, the first elastic member 240 may support the sliding member 230, thereby slowing the moving speed of the contact plate 270, further slowing the moving speed of the robot and the traveling assembly 100, and reducing the force of the collision of the external object on the base 110, in addition, the sliding member 230 may push the push rod 340 to move, so that the push rod 340 supports the movable rod 310 to move, thereby enabling the movable, the friction plate 330 is in contact with the ground or other contact surfaces and generates friction, so that the resistance of the walking assembly 100 during moving can be increased, the moving speed of the walking assembly 100 is reduced, the impact force of the walking assembly 100 and other objects is further reduced, and the possibility of damaging the walking assembly 100 is reduced.

It should be noted that the specific model specification of the driving motor 130 needs to be determined by type selection according to the actual specification of the device, and the specific type selection calculation method adopts the prior art in the field, so detailed description is omitted.

The power supply of the driving motor 130 and its principle will be clear to those skilled in the art and will not be described in detail here.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A driving structure for robot walking is characterized by comprising

The walking assembly (100) comprises a base (110), two walking wheels (120) and two driving motors (130), wherein the two walking wheels (120) are respectively and rotatably installed at two ends of one side of the base (110), the driving motors (130) are fixedly installed in the base (110), and one walking wheel (120) is in transmission connection with the driving motors (130);

the buffering assembly (200) comprises a shell (210), a guide rod (220), a sliding member (230), a first elastic member (240), a telescopic rod (250), a supporting rod (260) and a contact plate (270), wherein the shell (210) is arranged on one side of the base (110), the guide rod (220) is fixed inside the shell (210), the sliding member (230) is slidably mounted on the surface of the guide rod (220), the first elastic member (240) is fixed at one end of the guide rod (220), the other end of the first elastic member (240) is mounted on one side of the sliding member (230), one end of the telescopic rod (250) is rotatably mounted on the surface of the shell (210), the other end of the telescopic rod (250) is rotatably connected to the surface of the contact plate (270), one end of the supporting rod (260) is rotatably connected to the surface of the sliding member (230), the other end of the supporting rod (260) is rotatably arranged on the surface of the contact plate (270);

friction assembly (300), friction assembly (300) includes movable rod (310), second elastic component (320), friction plate (330) and push rod (340), movable rod (310) runs through casing (210) one side, second elastic component (320) are fixed in movable rod (310) one end, just the one end of second elastic component (320) is hugged closely casing (210) inner wall, friction plate (330) are fixed the one end of movable rod (310), push rod (340) install in slider (230) surface, the other end of push rod (340) connect in movable rod (310) surface.

2. The driving structure for robot walking according to claim 1, wherein a motor base matched with the driving motor (130) is installed in the base (110), and the driving motor (130) is fixed in the motor base.

3. The driving structure for robot walking as claimed in claim 1, wherein a rotating rod is fixed at the center of the walking wheel (120), and one side of the rotating rod is rotatably mounted on the surface of the base (110), and the rotating rod is in transmission connection with the output shaft of the driving motor (130) through a coupling.

4. The driving structure for robot walking as claimed in claim 1, wherein said contact plate (270) is located outside said housing (210), said housing (210) is opened with a through slot (211), and one end of said strut (260) passes through said through slot (211).

5. The driving structure for robot walking according to claim 1, wherein both ends of said telescopic rod (250) are respectively connected with said housing (210) and said contact plate (270) through hinge seats, and both ends of said supporting rod (260) are also respectively connected with said sliding member (230) and said contact plate (270) through hinge seats.

6. The driving structure for walking of robot as claimed in claim 1, wherein said telescoping rod (250) comprises an outer rod (251), an inner rod (252) and a third elastic member (253), said inner rod (252) is movably mounted inside said outer rod (251), said third elastic member (253) is disposed inside said outer rod (251), and one side of said third elastic member (253) is fixed to one end of said outer rod (251).

7. The driving structure for robot walking as claimed in claim 1, wherein said housing (210) is opened with a through hole (212) matching with said movable rod (310), said movable rod (310) is movably installed inside said through hole (212).

8. The driving structure for walking of robot as claimed in claim 7, wherein said movable rod (310) is provided with a protruding ring (311) at one end inside the housing (210), said protruding ring (311) having a diameter larger than that of said through hole (212).

9. The driving structure for the robot walking according to claim 1, wherein a friction groove (332) is formed at one side of the friction plate (330) at an interval, a fixing ring (331) which is matched with the movable rod (310) is installed at the other side of the friction plate (330), and one end of the movable rod (310) is fixedly installed in the fixing ring (331).

10. The driving structure for walking of robot as claimed in claim 1, further comprising a connecting assembly (400), wherein said connecting assembly (400) comprises a connecting rod (410), a connecting plate (420) and a connecting ring (430), said connecting rod (410) is fixedly mounted on the surface of said base (110), said connecting plate (420) is sleeved on the surface of said connecting rod (410), one side of said connecting plate (420) is fixedly connected to the surface of said housing (210), said connecting ring (430) is screwed with said connecting rod (410), said connecting plate (420) is located between said base (110) and said connecting ring (430).