CN211765958U

CN211765958U - Robot suitable for bumpy road surface movement

Info

Publication number: CN211765958U
Application number: CN202020229109.3U
Authority: CN
Inventors: 肖文豪; 刘燕祯; 朱强
Original assignee: Shanxi Yiwen Technology Co ltd
Current assignee: Shanxi Yiwen Technology Co ltd
Priority date: 2020-02-27
Filing date: 2020-02-27
Publication date: 2020-10-27
Anticipated expiration: 2030-02-27

Abstract

The utility model discloses a robot suitable for bumpy road surface movement, which comprises a robot body, a support plate is fixedly connected with the lower end of the robot body, a walking mechanism is arranged at the lower end of the support plate and comprises two support leg connecting rods, the upper ends of the support leg connecting rods are movably connected with the lower end of the support plate through pin shafts, a rotating shaft and two fixing plates are arranged between the two support leg connecting rods, a first belt pulley is fixedly arranged on the rotating shaft between the two fixing plates, rotating wheels are fixedly sleeved outside the two ends of the rotating shaft, one side of the two rotating wheels, which is far away from each other, is eccentrically provided with a connecting rod, one end of the connecting rod is movably connected with one side surface of the rotating wheel through a bearing, the other end of the connecting rod is fixedly connected with a sliding sleeve, the sliding sleeve is movably sleeved in, one end of the rotating shaft of the driving motor is fixedly connected with a second belt pulley, and the first belt pulley and the second belt pulley are connected through belt transmission.

Description

Robot suitable for bumpy road surface movement

Technical Field

The utility model belongs to the technical field of the robot and specifically relates to a robot suitable for jolt road surface motion is related to.

Background

With the continuous improvement and rapid development of human society productivity, the world steps into an increasingly intelligent era, and a robot is one of representative products. The walking and the motion of the robot on the existing market are mostly realized by using wheels, and because the restriction of the self volume of the robot, the wheels can not be arranged too much, the influence that the robot receives road conditions when moving is serious, especially when more stones bump on the road surface, the motion of the robot is very inconvenient, secondly, because the diameters of the wheels of the robots are fixed, the distance between the robot main body and the ground can not be adjusted, and therefore, some bulges on the road surface easily cause collision to the robot main body.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a robot suitable for road surface motion of jolting to it is inconvenient to solve among the prior art wheeled robot and move on the more road surface of jolting of stone, and the unable problem of adjusting of distance between robot main part and the ground.

To achieve the purpose, the utility model adopts the following technical proposal:

a robot suitable for bumpy road surface movement comprises a robot body, wherein a supporting plate is fixedly connected to the lower end of the robot body, a walking mechanism is arranged at the lower end of the supporting plate and comprises two supporting leg connecting rods, the upper ends of the supporting leg connecting rods are movably connected with the lower end of the supporting plate through pin shafts, a rotating shaft and two fixing plates are arranged between the two supporting leg connecting rods, the upper ends of the fixing plates are fixedly connected with the lower end face of the supporting plate, the two ends of the rotating shaft respectively penetrate through the lower ends of the two fixing plates and are movably connected with the lower ends of the fixing plates through bearings, a first belt pulley is fixedly arranged on the rotating shaft between the two fixing plates, rotating wheels are fixedly sleeved on the outer sides of the two ends of the rotating shaft through keys, one side, far away from each other, of the two rotating wheels is eccentrically, the connecting rod on the other rotating wheel is positioned at the lowest position, one end of the connecting rod is movably connected with one side surface of the rotating wheel through a bearing, the other end of the connecting rod is fixedly connected with a sliding sleeve which is movably sleeved in the middle of the outer side of the supporting foot connecting rod, a driving motor is arranged on the upper end surface of the supporting plate, one end of a rotating shaft of the driving motor is fixedly connected with a second belt pulley, the first belt pulley and the second belt pulley are in transmission connection through a belt, the lower end of the support leg connecting rod is provided with an adjustable support leg, the middle part of the upper end of the adjustable supporting leg is provided with a round hole, the outer wall of the lower end of the supporting leg connecting rod and the inner wall of the upper end of the round hole are both provided with threads, the adjustable support legs are installed on the outer side of the lower ends of the support leg connecting rods through threads, springs are installed in the lower ends of the round holes, and the upper ends of the springs are abutted to the lower ends of the support leg connecting rods.

As a further improvement of the scheme, four traveling mechanisms and four driving motors are arranged, the four traveling mechanisms are respectively located at four corners of the lower end face of the supporting plate, and the driving motors are located above the traveling mechanisms.

The utility model has the advantages that:

1) the robot can span a plurality of stones when moving on a bumpy road surface with more stones by rotating the driving motor and driving the traveling mechanism to perform the movement of imitating the walking through the belt, thereby greatly reducing the bumping and ensuring the movement to be more convenient;

2) the lower extreme of stabilizer blade connecting rod has adjustable stabilizer blade through screw thread fixedly connected with, can change the combination length of adjustable stabilizer blade and stabilizer blade connecting rod through rotating adjustable stabilizer blade, and then makes the distance between robot and the ground adjustable, has avoided arch and robot on the road surface to bump.

Drawings

Fig. 1 is a schematic overall structure diagram of a robot suitable for moving on a bumpy road according to an embodiment of the present invention;

fig. 2 is a schematic structural section view of a traveling mechanism of a robot suitable for moving on a bumpy road according to an embodiment of the present invention;

fig. 3 is a schematic side sectional view of an adjustable leg structure of a robot suitable for moving on a bumpy road according to an embodiment of the present invention.

Detailed Description

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

Referring to fig. 1 to 3, in the present embodiment, a robot suitable for a bumpy road surface includes a robot body 1, a supporting plate 2 is fixedly connected to a lower end of the robot body 1, and a traveling mechanism 3 is disposed at a lower end of the supporting plate 2.

Specifically, the traveling mechanism 3 comprises two leg connecting rods 4, the upper ends of the leg connecting rods 4 are movably connected with the lower end of the supporting plate 2 through a pin 12, so that the leg connecting rods 4 can rotate around the pin 12, a rotating shaft 5 and two fixing plates 13 are arranged between the two leg connecting rods 4, the upper ends of the fixing plates 13 are fixedly connected with the lower end face of the supporting plate 2, two ends of the rotating shaft 5 respectively penetrate through the lower ends of the two fixing plates 13 and are movably connected with the lower ends of the fixing plates 13 through bearings, a first belt pulley 10 is fixedly arranged on the rotating shaft 5 between the two fixing plates 13, rotating wheels 6 are fixedly sleeved on the outer sides of two ends of the rotating shaft 5 through keys 14, so that the rotating wheels 6 can be driven to synchronously rotate when the rotating shaft 5 rotates, one side, away from each other, of the two rotating wheels 6 is eccentrically provided with a, connecting rod position 7 on another runner wheel 6 is located the minimum, bearing and the side swing joint who rotates wheel 6 are passed through to the one end of connecting rod 7, the other end fixedly connected with slip cap 8 of connecting rod 7, consequently, connecting rod 7 can rotate and drive slip cap 8 and rotate on rotating wheel 6, slip cap 8 activity cup joints at stabilizer blade connecting rod 4's outside middle part, drive two when axis of rotation 5 rotates and rotate wheel 6, it drives slip cap 8 through connecting rod 7's linkage effect and is circular motion to rotate wheel 6, because slip cap 8 activity cup joints the outside at stabilizer blade connecting rod 4, consequently, can drive stabilizer blade connecting rod 4 during the motion and do reciprocating swing's motion around round pin 12, consequently, the motion of two stabilizer blade connecting rods 4 forms the motion that is similar to people's both legs, thereby drive the motion of this device.

Secondly, the up end of backup pad 2 is provided with driving motor 11, the one end fixedly connected with second belt pulley of driving motor 11's pivot, connect through belt transmission between first belt pulley 10 and the second belt pulley, running gear 3 and driving motor 11 all are provided with four, four running gear 3 are located the four corners department of backup pad 2's lower terminal surface respectively, driving motor 11 is located running gear 3's top, driving motor 11 during operation drives driving motor 11 and rotates the epaxial second belt pulley of pivot, and drive first belt pulley 10 through belt transmission and rotate, thereby drive axis of rotation 5 and rotate.

Moreover, the lower end of the support leg connecting rod 4 is provided with an adjustable support leg 9, the middle part of the upper end of the adjustable support leg 9 is provided with a round hole 15, the outer wall of the lower end of the support leg connecting rod 4 and the inner wall of the upper end of the round hole 15 are both provided with threads, the adjustable support leg 9 is arranged on the outer side of the lower end of the support leg connecting rod 4 through the threads, a spring 16 is arranged in the lower end of the round hole 15, the upper end of the spring 16 is abutted against the lower end of the support leg connecting rod 4, the combined length of the adjustable support leg 9 and the support leg connecting rod 4 can be changed by rotating the adjustable support leg 9, so that the distance between the lower end surface of the support plate 2 and the ground can be changed, the threaded connection between the adjustable support leg 9 and the support leg connecting rod 4 is tighter through the arrangement of the spring 16, the condition that the adjustable, when the road condition is poor and the stones are more, the lower ends of the adjustable supporting legs 9 can span a plurality of stones and stably contact with the ground, so that jolting is greatly reduced, and the device can be suitable for road surface movement with jolt.

The specific work flow of the robot suitable for the bumpy road motion comprises the following steps:

1) the driving motor 11 works to drive the second belt pulley on the rotating shaft of the driving motor 11 to rotate, and drives the first belt pulley 10 to rotate through belt transmission, so as to drive the rotating shaft 5 to rotate, the rotating shaft 5 drives the two rotating wheels 6 to rotate when rotating, and the rotating wheels 6 rotate to drive the sliding sleeve 8 to do circular motion through the connecting action of the connecting rod 7;

2) the sliding sleeve 8 is movably sleeved on the outer side of the support leg connecting rod 4, so that the sliding sleeve 8 can drive the support leg connecting rod 4 to do reciprocating swinging motion around the pin shaft 12 when doing circular motion, and the motion of the two support leg connecting rods 4 forms motion similar to that of two legs of a person, thereby driving the device to move;

3) when the relatively poor stone of road conditions is more, a lot of stones can be strideed across to the lower extreme of adjustable stabilizer blade 9 to stable and ground contact, thereby significantly reduced jolts, make this device can be applicable to the road surface motion of jolting, and can change the combination length of adjustable stabilizer blade 9 and stabilizer blade connecting rod 4 through rotating adjustable stabilizer blade 9, can change the distance between the lower terminal surface of backup pad 2 and the ground, avoided arch on the road surface to bump with the robot body.

The above embodiments have been merely illustrative of the basic principles and features of the present invention, and the present invention is not limited by the above embodiments, and does not depart from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A robot suitable for bumpy road surface movement comprises a robot body and is characterized in that a supporting plate is fixedly connected to the lower end of the robot body, a walking mechanism is arranged at the lower end of the supporting plate and comprises two supporting leg connecting rods, the upper ends of the supporting leg connecting rods are movably connected with the lower end of the supporting plate through pin shafts, a rotating shaft and two fixing plates are arranged between the two supporting leg connecting rods, the upper ends of the fixing plates are fixedly connected with the lower end face of the supporting plate, two ends of the rotating shaft penetrate through the lower ends of the two fixing plates respectively and are movably connected with the lower ends of the fixing plates through bearings, a first belt pulley is fixedly arranged on the rotating shaft between the two fixing plates, rotating wheels are fixedly sleeved on the outer sides of the two ends of the rotating shaft through keys, one side, away from each other, of the two rotating wheels is eccentrically provided with a, the connecting rod on the other rotating wheel is positioned at the lowest position, one end of the connecting rod is movably connected with one side surface of the rotating wheel through a bearing, the other end of the connecting rod is fixedly connected with a sliding sleeve which is movably sleeved in the middle of the outer side of the supporting foot connecting rod, a driving motor is arranged on the upper end surface of the supporting plate, one end of a rotating shaft of the driving motor is fixedly connected with a second belt pulley, the first belt pulley and the second belt pulley are in transmission connection through a belt, the lower end of the support leg connecting rod is provided with an adjustable support leg, the middle part of the upper end of the adjustable supporting leg is provided with a round hole, the outer wall of the lower end of the supporting leg connecting rod and the inner wall of the upper end of the round hole are both provided with threads, and the adjustable support legs are arranged on the outer side of the lower ends of the support leg connecting rods through threads, springs are arranged in the lower ends of the round holes, and the upper ends of the springs are abutted to the lower ends of the support leg connecting rods.

2. A robot adapted to move on a bumpy road according to claim 1, wherein there are four of said traveling mechanisms and four of said driving motors, said four traveling mechanisms being located at four corners of the lower end surface of said supporting plate, and said driving motors being located above said traveling mechanisms.