CN213566215U

CN213566215U - Robot walking device

Info

Publication number: CN213566215U
Application number: CN202022759499.8U
Authority: CN
Inventors: 王聚和
Original assignee: Guzheng Baohe Health Technology Chengdu Co ltd
Current assignee: Guzheng Baohe Traditional Chinese Medicine Technology Chengdu Co ltd
Priority date: 2020-11-25
Filing date: 2020-11-25
Publication date: 2021-06-29
Anticipated expiration: 2030-11-25

Abstract

The utility model provides a robot walking device, include: installing a base; the walking module comprises a supporting seat, a steering gear, a wheel shaft and walking wheels; the supporting seat is rotatably arranged on the mounting base; the steering gear is fixedly arranged at one end of the supporting seat and is coaxial with the rotating shaft of the supporting seat, the wheel shaft is rotatably arranged at the other end of the supporting seat, and the travelling wheel is arranged on the wheel shaft; the walking modules are not less than three groups and are distributed on the same circle on the mounting base; the steering gears are rotatably arranged on the mounting base and are meshed with the steering gears; the steering motor is arranged on the mounting base and used for driving the steering gear; and the driving module is used for driving the wheel shaft to rotate and is connected with the wheel shaft, and the orientation of a display screen installed on the installation base through the robot main body is not changed, so that a user can conveniently watch the display screen.

Description

Robot walking device

Technical Field

The utility model relates to an intelligent robot technical field, concretely relates to robot running gear.

Background

With the development of technology, intelligent robots have slowly entered the lives of people. The intelligent robot can be used for accompanying children, learning and tutoring, voice conversation and chatting and the like, and brings convenience to life of people.

Most of the existing intelligent robots are designed with a display screen for displaying characters or playing multimedia contents, so that the interactivity with users is enhanced. Meanwhile, the intelligent robot can walk or move by itself, so that the portability and the use interest of the intelligent robot are improved. However, due to the limitation of the traveling mechanism, the existing intelligent robot needs a larger turning radius when changing the moving direction. Meanwhile, the change of the movement direction of the intelligent robot can cause the change of the orientation of the display screen of the intelligent robot, so that the display screen is separated from the sight of the user, and the user is inconvenient to watch the displayed content. The user needs to change the viewing position or adjust the posture to view the display screen.

SUMMERY OF THE UTILITY MODEL

To the not enough that prior art exists, the utility model provides a robot running gear. The utility model provides a robot running gear is used for installing the robot main part, and robot running gear can original place change direction of motion, and when its direction of motion changed, the orientation of the display screen of robot can remain unchanged.

The utility model provides a robot walking device includes:

installing a base;

the walking module comprises a supporting seat, a steering gear, a wheel shaft and walking wheels; the supporting seat is rotatably arranged on the mounting base; the steering gear is fixedly arranged at one end of the supporting seat and is coaxial with the rotating shaft of the supporting seat; the wheel shaft is rotatably arranged at the other end of the supporting seat, and the travelling wheel is arranged on the wheel shaft; the walking modules are not less than three groups and are distributed on the same circle on the mounting base;

the steering gears are rotatably arranged on the mounting base and are meshed with the steering gears;

the steering motor is arranged on the mounting base and used for driving the steering gear;

and the driving module is used for driving the wheel shaft to rotate and is connected with the wheel shaft.

According to the technical scheme, the utility model provides a during the assembly of robot running gear, adjust steering gear and the cooperation angle of transferring to the gear, make each walking wheel be parallel to each other. When the robot is used, the robot main body is arranged on the mounting base, and the display screen is arranged on the robot main body and keeps relatively static with the mounting base. When the robot walking device turns, the steering motor drives the steering gear to rotate, and the steering gear drives the steering gears and the supporting seat to rotate. Because each steering gear is the same and is engaged with the steering gear, the rotating angle and the direction of each supporting seat are the same, and each walking wheel also has the same deflection angle and direction. Therefore, the robot walking device can change the movement direction on site and can move linearly along the changed movement direction. Meanwhile, the original orientation of the installation base can be kept unchanged, so that the orientation of the display screen is also unchanged, and the user can watch the display screen conveniently.

Furthermore, a crown gear is arranged on the wheel shaft, and the wheel shaft is in transmission connection with the driving module through the crown gear.

The crown gear transmits the driving force output by the driving module, so that the wheel shaft drives the travelling wheel to rotate. The transmission structure is compact, and occupies a small space.

Furthermore, the walking module further comprises a transmission shaft, the transmission shaft is rotatably arranged on the supporting seat, a lower transmission gear meshed with the crown gear is arranged at one end of the transmission shaft, and an upper transmission gear in transmission connection with the driving module is arranged at the other end of the transmission shaft.

The transmission shaft transmits the driving force output by the driving module through the lower transmission gear and the upper transmission gear, so that the walking wheel rotates. The transmission is efficient, stable and reliable.

Further, the driving module comprises a driving gear and a driving motor; the driving gear is rotatably arranged on the mounting base and is meshed and connected with the upper driving gear; the driving motor is installed on the installation base, and the driving gear is connected with the driving motor through gear meshing.

The driving motor drives the driving gear to rotate, and the driving gear drives the upper transmission gear to rotate, so that the driving travelling wheel rotates.

Further, the number of the driving modules is one group, and the driving gear is simultaneously meshed with each upper transmission gear.

The driving motor enables the walking wheels to synchronously rotate through the driving gear, so that the robot walking device can walk linearly, each walking wheel is a driving wheel, and the passing capacity of the robot walking device is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention, the drawings used in the embodiments will be briefly described below. In all the drawings, the elements or parts are not necessarily drawn to actual scale.

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

FIG. 2 is a front cross-sectional view of the walking module shown in FIG. 1;

FIG. 3 is a schematic structural view of the mounting base shown in FIG. 1;

reference numerals:

1-mounting a base, 11-a motor bracket and 12-a stepped shaft;

2-a walking module, 21-a supporting seat, 22-a steering gear, 23-a walking wheel, 24-a wheel shaft, 25-a crown gear, 26-a transmission shaft, 261-an upper transmission gear and 262-a lower transmission gear;

31-steering gear, 32-steering motor, 4-driving module, 41-driving gear and 42-driving motor.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.

In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the present invention.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; 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.

Referring to fig. 1 to 3, the present invention provides a robot walking device, including: the device comprises a mounting base 1, a direction adjusting gear 31, a steering motor 32, a driving module 4 and at least three walking modules 2. The steering motor 32 can drive the steering gear 31 to control each walking module 2 to steer synchronously, so that the robot walking device changes the movement direction in situ, and the orientation of the mounting base 1 cannot be changed.

Specifically, the mounting base 1 serves as a robot traveling device main body for carrying related parts and the robot main body. The display screen for human-computer interaction is mounted on the robot body and remains relatively stationary with the mounting base 1.

The walking module 2 comprises a supporting base 21, a steering gear 22, an axle 24 and walking wheels 23. The support base 21 is rotatably mounted on the mounting base 1. Specifically, the mounting base 1 is provided with a mounting hole in the vertical direction for mounting the support seat 21. In one embodiment, the support base 21 is a cylindrical structure, and the support base 21 is vertically inserted into the mounting hole. The steering gear 22 is fixed to one end of the support base 21 and is coaxial with the rotation axis of the support base 21. Specifically, the steering gear 22 is mounted on the upper end of the support base 21. The axis of the steering gear 22 coincides with the axis of rotation of the support base 21 on the mounting base 1. The steering gear 22 may be integrally formed with the support base 21, or may be fastened and connected by welding, bonding, or fastening. An axle 24 is rotatably provided at the other end of the support base 21, and road wheels 23 are provided on the axle 24. Specifically, the wheel shaft 24 is rotatably arranged at the lower end of the support base 21 in a penetrating manner, and the walking wheels 23 are arranged on the wheel shaft 24 and rotate along with the wheel shaft. In one embodiment, the two ends of the wheel shaft 24 are respectively provided with a walking wheel 23, and the supporting base 21 is located between the two walking wheels 23. The walking modules 2 are not less than three groups and are distributed on the same circle on the installation base 1. In one embodiment, three sets of walking modules 2 are arranged on the mounting base 1, and the walking modules 2 are distributed on the same circle in an isosceles triangle shape. It can be understood that, since the components of the walking module 2 are all mounted on the supporting base 21, the rotation of the supporting base 21 means that the whole walking module 2 rotates.

The steering gear 31 is rotatably mounted on the mounting base 1 and simultaneously meshes with the steering gears 22. Specifically, the center of the circle of the walking module 2 is provided with a stepped shaft 12, and the steering gear 31 is rotatably mounted on the stepped shaft 12 and meshed with each steering gear 22. The steering gear 31 rotates to drive the steering gears 22 and the support base 21 to rotate synchronously. Therefore, the walking modules 2 can synchronously turn, and the robot walking device can turn in situ. The walking module 2 is installed on the installation base 1, and the rotation of walking module 2 can not lead to the installation base 1 to rotate, and the orientation of installation base 1 can not change.

The steering motor 32 is mounted on the base 1 for driving the steering gear 31. Specifically, the mounting base 1 is provided with a motor bracket 11 for mounting a steering motor 32. The output shaft of the steering motor 32 is provided with a gear which is meshed with the steering gear 31. In one embodiment, the steering motor 32 is a stepper motor. The steering motor 32 controls and drives the steering gear 31 to rotate, and the steering function of the robot walking device is realized. Through gear engagement transmission, steering control can be more accurate and reliable.

The driving module 4 is used for driving the axle 24 to rotate and is connected with the axle 24. Specifically, a crown gear 25 is arranged on the wheel shaft 24, and the wheel shaft 24 is in transmission connection with the driving module 4 through the crown gear 25. The walking module 2 further comprises a drive shaft 26. The transmission shaft 26 is rotatably arranged on the support base 21, one end of the transmission shaft 26 is provided with a lower transmission gear 262 meshed with the crown gear 25, and the other end of the transmission shaft 26 is provided with an upper transmission gear 261 in transmission connection with the driving module 4. The drive module 4 includes a drive gear 41 and a drive motor 42. The driving gear 41 is rotatably mounted on the mounting base 1 and is engaged with the upper driving gear 261. The driving motor 42 is installed on the installation base 1, and the driving gear 41 is engaged with the driving motor 42 through a gear. In one embodiment, the crown gear 25 is fixedly mounted on the axle 24. The transmission shaft 26 is arranged on the support base 21 in a penetrating mode, and the transmission shaft 26 is coaxial with the support base 21. The lower transmission gear 262 is a spur gear, and the lower transmission gear 262 is engaged with the crown gear 25. The driving motor 42 drives the driving gear 41 to rotate, the driving gear 41 drives the upper transmission gear 261 to rotate, the transmission shaft 26 transmits the driving force output by the driving module 4 through the lower transmission gear 262 and the upper transmission gear 261, and the wheel shaft 24 drives the traveling wheels 23 to rotate through the crown gear 25. The transmission mechanism has compact structure, small occupied space and high-efficiency, stable and reliable power transmission. It will be appreciated that the lower drive gear 262 and crown gear 25 may be replaced by bevel gears, respectively. In one embodiment, the number of drive modules 4 is one, and the drive gear 41 is simultaneously engaged with each of the upper drive gears 261. Specifically, the driving gear 41 and the direction-adjusting gear 31 are coaxially arranged and rotatably mounted on the stepped shaft 12, the driving gear 41 is engaged with each upper transmission gear 261, and an output shaft of the driving motor 42 is provided with a gear engaged with the driving gear 41. The power output by the drive motor 42 can be uniformly distributed to each of the road wheels 23, so that each of the road wheels 23 is a driving wheel. The passing ability of the robot running gear is improved, and the number of the driving motors 42 is reduced. It will be appreciated that it is also possible to provide a plurality of sets of drive modules 4, each set of drive modules 4 driving each set of travelling wheels 23 individually. Of course, by adjusting the position and size of the driving gear 41, it is also possible to cause the driving gear 41 to engage only one or more upper transmission gears 261, driving part of the traveling wheels 23 to rotate.

The utility model provides a during the robot running gear assembly, adjust steering gear 22 and transfer to gear 31's cooperation angle, make each walking wheel 23 be parallel to each other. When in use, the robot main body is arranged on the installation base 1, and the display screen is arranged on the robot main body and keeps relatively static with the installation base 1. When the robot walking device turns, the turning motor 32 drives the turning gear 31 to rotate, and the turning gear 31 drives the turning gears 22 and the supporting seat 21 to rotate. Since the steering gears 22 are identical and meshed with the steering gear 31, the rotation angles and directions of the supporting seats 21 are identical, and the travelling wheels 23 also have the same deflection angles and directions. Therefore, the robot walking device can change the movement direction on site and can move linearly along the changed movement direction. Meanwhile, the original orientation of the installation base 1 can be kept unchanged, so that the orientation of the display screen is also unchanged, and the user can watch the display screen conveniently.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.

Claims

1. A robot walking device, comprising:

installing a base;

2. The robot walker according to claim 1, wherein a crown gear is provided on the wheel shaft, and the wheel shaft is in driving connection with the drive module through the crown gear.

3. The walking device of claim 2, wherein the walking module further comprises a transmission shaft rotatably disposed on the supporting base, one end of the transmission shaft is provided with a lower transmission gear engaged with the crown gear, and the other end of the transmission shaft is provided with an upper transmission gear in transmission connection with the driving module.

4. The robotic walker of claim 3 wherein the drive module includes a drive gear and a drive motor; the driving gear is rotatably arranged on the mounting base and is meshed and connected with the upper driving gear; the driving motor is installed on the installation base, and the driving gear is connected with the driving motor through gear meshing.

5. The robot walker according to claim 4, wherein the number of the driving modules is one, and the driving gears are simultaneously engaged with the upper driving gears.