CN211893453U

CN211893453U - Robot walking joint

Info

Publication number: CN211893453U
Application number: CN201922348394.0U
Authority: CN
Inventors: 赵志鹏
Original assignee: Beijing Roc Theurgy Technology Co ltd
Current assignee: Beijing Roc Theurgy Technology Co ltd
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2020-11-10
Anticipated expiration: 2029-12-25

Abstract

The utility model belongs to the technical field of the robot, a robot walking joint is disclosed, including first rocking arm, second rocking arm, first rocking arm with the second rocking arm rotates to be connected, two sets of first rocking arm and second rocking arm upper end fixed connection subassembly, first rocking arm bottom is fixed with electronic round, and electronic round is connected with electric drive assembly, and electric drive assembly fixes in first rocking arm inboard, and the second rocking arm is close to and is equipped with the runner with first rocking arm pin joint, and first rocking arm can carry out multi-angle adjustment, and first rocking arm is kept away from electric drive assembly and is equipped with adjusting part; the utility model discloses a form robot walking joint through first rocking arm and the articulated second rocking arm, and set up adjusting part between first rocking arm and second rocking arm, through the rotation of driving pulley, can drive first rocking arm and rotate towards the parallel ground direction, and then carry out the conversion that two runners reach to ground to four runners, applicable road conditions in the difference, and practice thrift the electric energy by a wide margin.

Description

Robot walking joint

Technical Field

The utility model belongs to the technical field of the robot, especially, relate to a robot walking joint.

Background

With the progress of science and technology, robots are more and more widely applied to the fields of industrial production, medical care, national defense space, service industry and the like, foot type walking robots have the advantages of flexible action, strong environmental adaptability, high robustness and the like, can work in extreme environments where humans cannot involve in, are applied to the fields of field operation, disaster reduction and rescue, military reconnaissance, space exploration, polar scientific investigation and the like, and become indispensable important tools for humans.

In summary, the problems of the prior art are as follows: the existing robot walking joint generally walks with double feet or silk feet, and is suitable for walking with double feet on flat ground and walking with four feet on uneven ground, so that the robot walking joint is inconvenient to use.

SUMMERY OF THE UTILITY MODEL

To the problem that prior art exists, the utility model provides a robot walking joint.

The utility model discloses a realize like this, a robot walking joint includes first rocking arm, second rocking arm, and first rocking arm is equipped with two with the second rocking arm altogether, first rocking arm with the second rocking arm rotates to be connected, and is two sets of first rocking arm and second rocking arm upper end fixed connection subassembly, first rocking arm bottom is fixed with electronic round, and affiliated ground electric wheel is connected with the electric drive subassembly, the electric drive subassembly is fixed first rocking arm is inboard, the second rocking arm be close to with first rocking arm pin joint is equipped with the runner, first rocking arm can carry out the multi-angle and adjust, and convertible to parallel ground angle simultaneously, first rocking arm is kept away from the electric drive subassembly is equipped with adjusting part.

As the utility model relates to a preferred technical scheme of robot walking joint, coupling assembling is including fixing the connecting plate that the articulated point goes out is kept away from to the second rocking arm, the connecting plate upper end is fixed with the spliced pole, the spliced pole distributes in connecting plate top optional position.

As the utility model relates to a preferred technical scheme of robot walking joint, the spliced pole is kept away from the connecting plate end and is fixed with threaded connection head, be fixed with buffer spring between spliced pole and the connecting plate.

As the utility model relates to a preferred technical scheme of robot walking joint, four sides of connecting plate all are fixed with the baffle, the baffle height is less than the spliced pole height.

As the utility model relates to a preferred technical scheme of robot walking joint, the electric drive subassembly is connected including rotating the connecting rod of first rotor bottom, the connecting rod both ends are stretched out first rotor both sides are close to the outside end and are fixed with electronic round, and the other end is fixed with first motor.

As the utility model relates to a preferred technical scheme of robot walking joint, first rotor bottom is fixed with places the box, first motor is fixed place inside the box, place the box and keep away from first rotor end and be fixed with the heating panel.

As the utility model relates to a preferred technical scheme of robot walking joint, it keeps away from first pivot end and is fixed with the heating panel to place the box.

As the utility model relates to a preferred technical scheme of robot walking joint, adjusting part keeps away from the slide bar of electric drive subassembly end including sliding connection at first bull stick, be fixed with first band pulley on the slide bar, first bull stick is kept away from to first band pulley is equipped with the second band pulley, the second band pulley is located the coupling assembling bottom, be connected through the belt between first band pulley and the second band pulley.

As the utility model relates to a preferred technical scheme of robot walking joint, the second band pulley is fixed inside the backup pad, the backup pad is fixed the connecting plate bottom, the second band pulley is connected with the second motor.

As the utility model relates to a preferred technical scheme of robot walking joint, first rotor arm is kept away from electric drive subassembly end and has been seted up waist type groove, the inside connection that slides in waist type inslot the slide bar, the slide bar stretches out waist type groove end and is fixed with the dog, the dog diameter is greater than waist type groove diameter.

The utility model discloses an advantage and positive effect do: the utility model discloses a, constitute robot walking joint through first rocking arm and the articulated second rocking arm, and set up adjusting part between first rocking arm and second rocking arm, connect the slide bar of keeping away from electric drive subassembly end at first rocking arm including sliding, be fixed with first band pulley on the slide bar, first rocking arm is kept away from to first band pulley is equipped with the second band pulley, the second band pulley is located the coupling assembling bottom, be connected through the belt between first band pulley and the second band pulley, rotation through driving pulley, can drive first rocking arm and rotate towards parallel ground direction, and then carry out the conversion that contacts to earth of two runners to four, applicable road conditions in the difference, and practice thrift the electric energy by a wide margin.

Drawings

Fig. 1 is a schematic structural diagram provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an adjusting assembly provided in an embodiment of the present invention;

fig. 3 is a schematic diagram of an electric drive assembly and a connection assembly provided by an embodiment of the present invention;

in the figure: 1. a first rotating arm; 2. a second rotating arm; 3. a connecting assembly; 31. a connecting plate; 32. connecting columns; 33. a threaded connector; 34. a buffer spring; 35. a baffle plate; 4. an electric wheel; 5. an electric drive assembly; 51. a connecting rod; 52. a first motor; 53. placing the box body; 54. a heat dissipation plate; 6. a rotating wheel; 7. an adjustment assembly; 71. a slide bar; 72. a first pulley; 73. a second pulley; 74. a belt; 75. a support plate; 76. a second motor; 8. a waist-shaped groove; 9. and a stop block.

Detailed Description

In order to further understand the contents, features and effects of the present invention, the following embodiments are illustrated and described in detail with reference to the accompanying drawings.

The structure of the present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1 to 3, the embodiment of the utility model provides a robot walking joint includes first rocking arm 1, second rocking arm 2, and first rocking arm 1 is equipped with two with second rocking arm 2 altogether, first rocking arm 1 with second rocking arm 2 rotates to be connected, and is two sets of first rocking

arm

1 and 2 upper end fixed connection subassembly 3 of second rocking arm, first rocking arm 1 bottom is fixed with electronic round 4, electronic round 4 is connected with electric drive assembly 5, electric drive assembly 5 is fixed first rocking arm 1 is inboard, second rocking arm 2 be close to with first rocking arm 1 pin joint is equipped with runner 6, first rocking arm 1 can carry out multi-angle regulation, convertible to parallel ground angle simultaneously, first rocking arm 1 is kept away from electric drive assembly 5 is equipped with adjusting part 7.

Specifically, coupling assembling 3 is including fixing the second rocking arm 2 keeps away from the connecting plate 31 that the hinge point goes out, connecting column 32 is fixed with to the connecting plate 31 upper end, connecting column 32 distributes in the connecting plate 31 top optional position.

Specifically, the threaded connector 33 is fixed to the connecting column 32 far away from the connecting plate 31, the buffer spring 34 is fixed between the connecting column 32 and the connecting plate 31, and the buffer spring 34 can increase the cushioning performance and reduce the friction of the joint in the walking process of the robot.

Specifically, baffles 35 are fixed to four side surfaces of the connecting plate 31, and the heights of the baffles 35 are lower than the heights of the connecting columns 32.

Specifically, the electric driving assembly 5 includes a connecting rod 51 rotatably connected to the bottom of the first rotating arm 1, two ends of the connecting rod 51 extend out of two sides of the first rotating arm 1, an electric wheel 4 is fixed near the outer end, and a first motor 52 is fixed at the other end.

Specifically, a placing box 53 is fixed at the bottom of the first rotating arm 1, and the first motor 52 is fixed inside the placing box 53.

Specifically, the placing case 53 is fixed with a heat radiating plate 54 away from the end of the first rotating arm 1.

Specifically, the adjusting assembly 7 includes a sliding rod 71 connected to the first rotating arm 1 in a sliding manner and far away from the end of the electric driving assembly 5, a first belt pulley 72 is fixed on the sliding rod 71, the first belt pulley 72 is far away from the first rotating arm 1 and provided with a second belt pulley 73, the second belt pulley 73 is located at the bottom of the connecting assembly 3, the first belt pulley 72 and the second belt pulley 73 are connected through a belt 74, the second motor 76 is turned on to drive the second belt pulley 73 to rotate, the first belt pulley 72 is driven to rotate through the belt 74, when the first belt pulley 72 rotates, the sliding rod 71 simultaneously rotates and slides inside the waist-shaped groove 8, the first rotating arm 1 is driven to rotate along a hinge point, and the first rotating arm 1 is gradually adjusted to a position parallel to the ground.

Specifically, the second pulley 73 is fixed inside a support plate 75, the support plate 75 is fixed at the bottom of the connecting plate 31, and the second pulley 73 is connected with a second motor 76.

Specifically, waist type groove 8 has been seted up to first rotor arm 1 and kept away from electric drive assembly 5 end, the inside connection that slides in waist type groove 8 slide bar 71, slide bar 71 stretches out waist type groove 8 end and is fixed with dog 9, dog 9 diameter is greater than waist type groove 8 diameter.

The utility model discloses a theory of operation: when the robot walking joint is used, the whole robot walking joint is arranged at the bottom of the robot through the threaded connector 33, and after the robot walking joint is arranged, the first motor 52 is turned on to drive the electric wheel 4 to rotate so as to control the robot to walk; when the robot walks on a flat ground, the robot can rotate through the two electric wheels 4; if the ground is uneven, the second motor 76 can be turned on to drive the second belt wheel 73 to rotate, and then the belt 74 is used for driving the first belt wheel 72 to rotate, when the first belt wheel 72 rotates, the sliding rod 71 simultaneously rotates to slide inside the waist-shaped groove 8, so that the first rotating arm 1 is driven to rotate along the hinge point, the first rotating arm 1 is gradually adjusted to be parallel to the ground, the rotating wheel 6 rotates along the ground, and the rotating wheel is converted into four wheels to rotate, so that the electric energy is saved.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all the modifications and equivalents of the technical spirit of the present invention to any simple modifications of the above embodiments are within the scope of the technical solution of the present invention.

Claims

1. A robot walking joint is characterized by comprising a first rotating arm (1) and a second rotating arm (2), wherein the first rotating arm (1) and the second rotating arm (2) are provided with two parts, the first rotating arms (1) are rotatably connected with the second rotating arms (2), the upper ends of the two groups of the first rotating arms (1) and the second rotating arms (2) are fixedly connected with a connecting component (3), an electric wheel (4) is fixed at the bottom of the first rotating arm (1), the electric wheel (4) is connected with an electric drive assembly (5), the electric drive assembly (5) is fixed on the inner side of the first rotating arm (1), a rotating wheel (6) is arranged on the second rotating arm (2) close to the hinged point with the first rotating arm (1), the first rotating arm (1) can be adjusted in multiple angles, meanwhile, the angle parallel to the ground can be converted, and the first rotating arm (1) is provided with an adjusting component (7) far away from the electric driving component (5).

2. The robot walking joint according to claim 1, characterized in that the connecting assembly (3) comprises a connecting plate (31) fixed on the second rotating arm (2) far away from the hinge point, connecting columns (32) are fixed on the upper end of the connecting plate (31), and the connecting columns (32) are distributed at any position above the connecting plate (31).

3. The robot walking joint according to claim 2, characterized in that a threaded connector (33) is fixed on the end of the connecting column (32) far away from the connecting plate (31), and a buffer spring (34) is fixed between the connecting column (32) and the connecting plate (31).

4. The robot walking joint according to claim 2, wherein a baffle (35) is fixed on each of four sides of the connecting plate (31), and the height of the baffle (35) is lower than that of the connecting column (32).

5. The robot walking joint according to claim 1, characterized in that the electric driving assembly (5) comprises a connecting rod (51) rotatably connected to the bottom of the first rotating arm (1), wherein two ends of the connecting rod (51) extend out of two sides of the first rotating arm (1), an electric wheel (4) is fixed near the outer end, and a first motor (52) is fixed at the other end.

6. The robot walking joint according to claim 5, characterized in that a placing box (53) is fixed at the bottom of the first rotating arm (1), and the first motor (52) is fixed inside the placing box (53).

7. The walking joint of robot according to claim 6, wherein a heat sink plate (54) is fixed to the housing (53) away from the end of the first rotating arm (1).

8. The robot walking joint according to claim 2, wherein the adjusting assembly (7) comprises a sliding rod (71) slidably connected to the end of the first rotating arm (1) far away from the electric driving assembly (5), a first belt wheel (72) is fixed on the sliding rod (71), a second belt wheel (73) is arranged on the first belt wheel (72) far away from the first rotating arm (1), the second belt wheel (73) is located at the bottom of the connecting assembly (3), and the first belt wheel (72) and the second belt wheel (73) are connected through a belt (74).

9. The robot walking joint according to claim 8, wherein the second pulley (73) is fixed inside a support plate (75), the support plate (75) is fixed at the bottom of the connecting plate (31), and the second pulley (73) is connected with a second motor (76).

10. The robot walking joint according to claim 8, wherein the end of the first rotating arm (1) away from the electric driving assembly (5) is provided with a waist-shaped groove (8), the inside of the waist-shaped groove (8) is connected with the sliding rod (71) in a sliding manner, the end of the sliding rod (71) extending out of the waist-shaped groove (8) is fixed with a stop block (9), and the diameter of the stop block (9) is larger than that of the waist-shaped groove (8).