CN215433705U

CN215433705U - Building blocks robot lower margin bearing structure

Info

Publication number: CN215433705U
Application number: CN202121721420.0U
Authority: CN
Inventors: 张波; 秦燕
Original assignee: Jiangsu Jintian Artificial Intelligence Technology Co ltd
Current assignee: Nantong Ruihui Information Technology Co ltd
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2022-01-07
Anticipated expiration: 2031-07-27

Abstract

The utility model relates to the technical field of robots, in particular to a building block robot foot support structure, which aims to overcome the defect of poor impact resistance of a building block robot in the prior art and is mainly realized by the following technical scheme: a building blocks robot lower margin bearing structure includes: the robot comprises a robot body, a connecting piece and a supporting piece, wherein the robot body is provided with the connecting piece and the supporting piece; the side edge of the connecting piece is symmetrically provided with hinged edges which are hinged with the supporting piece through a hinged shaft, the center of the bottom of the connecting piece is also provided with a spherical hinge column, and the spherical hinge column is connected with the spherical hinge of the supporting piece; support piece is from last to including first backup pad, second backup pad and supporting legs down in proper order, sets up connecting piece and support piece in the cooperation of robot body bottom, has promoted robot body overall structure's stability to promote the impact resistance, avoid it to damage in the motion process.

Description

Building blocks robot lower margin bearing structure

Technical Field

The utility model relates to the technical field of robots, in particular to a building block robot foot supporting structure.

Background

The building blocks are popular educational toys, and various building blocks of different types are comprehensively utilized to build a real object together, so that the building blocks are beneficial to the cultivation of imagination and creativity of children. With the development of modern technology, it is also a popular trend to combine building blocks with programming robots. Along with the more and more extensive application of building block robots, the robot and the application that remove chassis complex are also more and more. Most of the existing driving modes of the moving chassis are that a driving wheel is matched with an auxiliary wheel. When the robot moves on the movable chassis, the chassis shakes under the influence of inertia along with the movement of the robot. In addition, the chassis can incline due to uneven ground of some fields. This situation results in the robot motion accuracy not being guaranteed. In order to guarantee the motion precision of building block robot, use lower margin bearing structure to support at present more.

Lower margin bearing structure is less for guaranteeing to take up an area of, adopts electronic lower margin bearing structure more among the prior art to be convenient for adjust the level, but its inside spare part of electronic lower margin bearing structure is loaded down with trivial details and not convenient for install, under the circumstances that ground unevenness, barrier are more, electronic lower margin bearing structure operation is complicated, and shock resistance is low, can not guarantee building blocks robot overall structure's stability. Therefore, there is a need for a construction-simplified anchor support structure for a building block robot to solve the above problems.

SUMMERY OF THE UTILITY MODEL

Therefore, the technical problem to be solved by the utility model is to overcome the defect of poor impact resistance of the building block robot in the prior art, and thus provide a building block robot foot supporting structure.

The technical purpose of the utility model is realized by the following technical scheme:

a building blocks robot lower margin bearing structure includes:

the robot comprises a robot body, a connecting piece and a supporting piece, wherein the robot body is formed by splicing a plurality of building blocks, the robot body is provided with the connecting piece and the supporting piece, the connecting piece is positioned and rotatably installed at the bottom of the robot body, and the supporting piece is arranged at the bottom of the connecting piece;

the robot comprises a connecting piece, wherein an installation rod is vertically arranged at the top end of the connecting piece, the installation rod is clamped and installed with a robot body, hinged edges are symmetrically arranged on the side edges of the connecting piece, the hinged edges are hinged with a supporting piece through a hinged shaft, a spherical hinge column is further arranged at the center of the bottom of the connecting piece, and the spherical hinge column is connected with the spherical hinge of the supporting piece;

the support piece, support piece includes first backup pad, second backup pad and supporting legs from last to down in proper order, first backup pad sets up with the connecting piece is articulated, second backup pad and supporting legs fixed connection.

Through adopting above-mentioned technical scheme, set up connecting piece and support piece in the cooperation of robot body bottom, promoted robot body overall structure's stability, when the robot body motion, can reduce vibrations, avoid strikeing to effectively protect the robot body, avoid damaging in the motion process.

Furthermore, a rotating bearing is further sleeved on the installation rod, and the outer part of the joint of the robot body and the connecting piece is fastened through a plurality of nuts.

Through adopting above-mentioned technical scheme, set up rolling bearing on the installation pole to be used for supporting the installation pole, reduce the coefficient of friction of installation pole and robot body motion in-process, and promote the gyration precision between installation pole and the robot body.

Further, it sets up for the circular arc to articulate limit and be close to first backup pad one side, it is articulated with articulated axle with the telescopic link to be fixed with on the first backup pad, the telescopic link symmetry is established on first backup pad and is corresponded with articulated limit.

Through adopting above-mentioned technical scheme, the articulated limit of telescopic link cooperation, when the connecting piece rotates, one side compression, the opposite side is tensile, realizes connecting piece interlock support piece's purpose, promotes the impact resistance of robot body bottom.

Further, first backup pad center is equipped with the ball pivot pole with ball pivot post complex, the ball pivot pole passes the second backup pad, it is equipped with tension spring still to vertically overlap on the telescopic link, also vertically be equipped with buffer spring in the ball pivot post.

Through adopting above-mentioned technical scheme, the spherical hinge post is connected with the spherical hinge pole cooperation, and tension spring cover establishes and provides the restoring force for the telescopic link on the telescopic link, guarantees telescopic link department stable in structure, guarantees the stability of robot body under quiescent condition.

Furthermore, a through hole for the ball hinge rod to pass through is reserved in the center of the second supporting plate, a gap is reserved between the first supporting plate and the second supporting plate, and a buffer part is arranged between the first supporting plate and the second supporting plate.

Through adopting above-mentioned technical scheme, the through-hole supplies the ball hinge pole to slide in the second backup pad to can adjust the distance between first backup pad and the second backup pad, the bolster promotes the shock resistance of first backup pad and second backup pad, when first backup pad or second backup pad atress, can absorb the impact force and keep stable through inertia.

Further, the bolster is the spring part of a plurality of vertical settings, first backup pad lower surface and second backup pad upper surface still are equipped with rubber butt joint ball.

By adopting the technical scheme, the rubber abutting ball is additionally arranged, so that the first supporting plate and the second supporting plate are prevented from being too close to each other, and the subsequent adjustment is not facilitated.

Furthermore, still be equipped with the adjustment of a plurality of symmetries on the first backup pad and tie, adjustment is tied and first backup pad threaded connection, adjustment is tied bottom and second backup pad upper surface butt.

Through adopting above-mentioned technical scheme, use the adjustment to tie and be used for adjusting second backup pad and first backup pad interval, a plurality of adjustment are tied and are convenient for control different positions intervals to can finely tune the operation on uneven ground, the fitness is high.

Furthermore, a plurality of reinforcing members are fixedly connected between the second supporting plate and the supporting legs, a rubber pad is further arranged at the bottom of each supporting leg, and anti-skid grains are arranged on the rubber pad.

Through adopting above-mentioned technical scheme, use the reinforcement to promote the joint strength between second backup pad and supporting legs, the rubber pad plays anti-skidding absorbing effect, further promotes the shock resistance of supporting legs department.

In summary, the technical scheme of the utility model has the following advantages:

1. according to the building block robot foot margin supporting structure, the connecting piece and the supporting piece are arranged at the bottom of the robot body in a matched mode, so that the stability of the whole structure of the robot body is improved, vibration can be reduced when the robot body moves, impact is avoided, the robot body is effectively protected, and damage in the moving process is avoided.

2. According to the building block robot foot margin supporting structure, the spherical hinge column is connected with the spherical hinge rod in a matched mode, the telescopic rod is matched with the hinge edge, when the connecting piece rotates, one side of the telescopic rod is compressed, the other side of the telescopic rod is stretched, the purpose that the connecting piece is linked with the supporting piece is achieved, and the impact resistance of the bottom of the robot body is improved.

3. According to the building block robot foot supporting structure provided by the utility model, the connection strength between the second supporting plate and the supporting foot is improved by using the reinforcing piece, and the rubber pad plays a role in skid prevention and shock absorption, so that the shock resistance of the supporting foot is further improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic overall structure diagram of a building block robot foot support structure according to an embodiment of the present invention;

fig. 2 is a schematic cross-sectional structural view of a foundation support structure of a construction robot according to an embodiment of the present invention.

Description of reference numerals:

1. a robot body; 11. a nut; 2. a connecting member; 21. mounting a rod; 211. a rotating bearing; 22. a hinged edge; 221. hinging a shaft; 23. a spherical hinge post; 231. a buffer spring; 3. a support member; 31. a first support plate; 311. a telescopic rod; 3111. a tension spring; 312. a ball hinge rod; 313. adjusting the bolt; 32. a second support plate; 321. a through hole; 322. a buffer member; 323. a rubber abutment ball; 33. supporting legs; 331. a reinforcement; 332. a rubber pad; 3321. and (4) anti-skid lines.

Detailed Description

The present invention will be described in further detail with reference to the following drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

The utility model provides a building blocks robot lower margin bearing structure, as shown in figure 1, includes robot 1, connecting piece 2 and support piece 3, and robot 1 has a plurality of building blocks concatenation to form, can constitute multiple pattern, and robot 1 bottom is rotated and is connected with connecting piece 2, and connecting piece 2 bottom swing joint has support piece 3. Support member 3 includes first backup pad 31, second backup pad 32 and supporting legs 33 from last down in proper order, first backup pad 31 sets up with connecting piece 2 is articulated, second backup pad 32 and supporting legs 33 fixed connection. Set up connecting piece 2 and support piece 3 in the cooperation of robot body 1 bottom, promoted 1 overall structure's of robot stability, when robot body 1 moves, can reduce vibrations, avoid strikeing to effectively protect robot body 1, avoid damaging in the motion process.

As shown in fig. 1, the second support plate 32 is fixedly connected to the support legs 33 through a plurality of reinforcing members 331, the reinforcing members 331 are inclined and arranged along the circumference of the support legs 33 in an array, the bottom of the support legs 33 are further provided with rubber pads 332, the rubber pads 332 are provided with anti-skid patterns 3321, the reinforcing members 331 are used for improving the connection strength between the second support plate 32 and the support legs 33, and the rubber pads 332 play a role in anti-skid and shock absorption, so as to further improve the shock resistance of the support legs 33.

As shown in fig. 1 and 2, the top end of the connecting piece 2 is vertically provided with an installation rod 21, the installation rod 21 is further sleeved with a rotating bearing 211, the connection part of the robot body 1 and the connecting piece 2 is externally fastened through a plurality of nuts 11, the installation rod 21 is installed in a clamping manner with the robot body 1, the rotating bearing 211 is arranged on the installation rod 21 and used for supporting the installation rod 21, the friction coefficient of the installation rod 21 and the robot body 1 in the motion process is reduced, and the rotation precision between the installation rod 21 and the robot body 1 is improved.

As shown in fig. 2, 2 side symmetries of connecting piece are equipped with articulated limit 22, and articulated limit 22 is close to first backup pad 31 one side and is the circular arc setting, and articulated limit 22 is articulated through articulated shaft 221 and telescopic link 311, and telescopic link 311 bottom is fixed on first backup pad 31, and telescopic link 311 cooperates articulated limit 22, and when connecting piece 2 rotated, one side compression, the opposite side is tensile, realizes connecting piece 2 interlock support piece 3's purpose, promotes the impact resistance of robot body 1 bottom. Connecting piece 2 bottom center still is equipped with ball pivot post 23, first backup pad 31 center be equipped with ball pivot post 23 complex ball pivot pole 312, ball pivot pole 312 passes second backup pad 32, it is equipped with tension spring 3111 still to go up vertical cover on the telescopic link 311, also vertically be equipped with buffer spring 231 in the ball pivot post 23, ball pivot post 23 and ball pivot pole 312 cooperate and are connected, tension spring 3111 cover is established and is provided the restoring force for telescopic link 311 on telescopic link 311, guarantee telescopic link 311 department stable in structure, ensure robot body 1's stability under quiescent condition.

As shown in fig. 2, a through hole 321 is reserved in the center of the second support plate 32 for the ball hinge rod 312 to pass through, a plurality of symmetrical adjusting bolts 313 are further disposed on the first support plate 31, the adjusting bolts 313 are disposed at four corners of the first support plate 31 and can be operated independently, the adjusting bolts 313 are in threaded connection with the first support plate 31, bottoms of the adjusting bolts 313 are abutted to the upper surface of the second support plate 32, a gap is reserved between the first support plate 31 and the second support plate 32, a buffer 322 is disposed between the first support plate 31 and the second support plate 32, the buffer 322 is a plurality of vertically disposed spring members, a rubber abutting ball 323 is further disposed on the lower surface of the first support plate 31 and the upper surface of the second support plate 32, and the rubber abutting ball 323 is additionally disposed to avoid that the first support plate 31 and the second support plate 32 are too close to be unfavorable for subsequent adjustment. The through hole 321 allows the ball hinge rod 312 to slide in the second support plate 32, so that the distance between the first support plate 31 and the second support plate 32 can be adjusted, and the buffer 322 can improve the impact resistance of the first support plate 31 and the second support plate 32, absorb the impact force and keep stable through the elastic inertia when the first support plate 31 or the second support plate 32 is stressed. The adjusting bolts 313 are used for adjusting the distance between the second support plate 32 and the first support plate 31, and the plurality of adjusting bolts 313 are convenient for controlling the intervals of different parts, so that fine adjustment operation can be performed on uneven ground, and the adaptability is high.

The working principle and the use method of the building block robot foot margin supporting structure are as follows: firstly, mounting a connecting piece 2 at the bottom of a robot body 1, and then mounting the connecting piece 2 and a support piece 3; when the device is used, the adjusting bolt 313 is operated to adjust the levelness of the supporting foot 33 according to the ground condition, so as to ensure that the supporting foot 33 adapts to the ground; in the using process, the telescopic rod 311 rotates along with the movement of the robot body 1, and the stability between the connecting piece 2 and the supporting piece 3 is ensured by compressing or stretching the tension spring 3111; the buffer 322 is used for buffering the vibration in the movement process, so as to improve the impact resistance of the robot body 1, and the rubber pad 332 plays a role in anti-skidding and shock absorption, so as to further improve the impact resistance of the supporting feet 33.

While the foregoing description shows and describes the preferred embodiments of the present invention, it is to be understood that the utility model is not limited to the forms disclosed herein, but is not intended to be exhaustive or to exclude other embodiments and may be used in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the utility model as defined by the appended claims.

Claims

1. The utility model provides a building blocks robot lower margin bearing structure which characterized in that includes:

the robot comprises a robot body (1), wherein the robot body (1) is formed by splicing a plurality of building blocks, a connecting piece (2) and a supporting piece (3) are arranged on the robot body (1), the connecting piece (2) is positioned and rotatably installed at the bottom of the robot body (1), and the supporting piece (3) is arranged at the bottom of the connecting piece (2);

the robot comprises a connecting piece (2), wherein an installation rod (21) is vertically arranged at the top end of the connecting piece (2), the installation rod (21) is installed in a clamping mode with a robot body (1), hinged edges (22) are symmetrically arranged on the side edges of the connecting piece (2), the hinged edges (22) are hinged to a supporting piece (3) through hinged shafts (221), a spherical hinge column (23) is further arranged in the center of the bottom of the connecting piece (2), and the spherical hinge column (23) is connected with the supporting piece (3) in a spherical hinge mode;

support piece (3), support piece (3) are from last to including first backup pad (31), second backup pad (32) and supporting legs (33) down in proper order, first backup pad (31) and articulated the setting of connecting piece (2), second backup pad (32) and supporting legs (33) fixed connection.

2. The building block robot foot supporting structure is characterized in that a rotating bearing (211) is further sleeved on the mounting rod (21), and the outer part of the joint of the robot body (1) and the connecting piece (2) is fastened through a plurality of nuts (11).

3. The building block robot anchor supporting structure according to claim 2, wherein the side of the hinged edge (22) close to the first supporting plate (31) is arranged in an arc, a telescopic rod (311) fixed on the first supporting plate (31) is hinged to the hinge shaft (221), and the telescopic rods (311) are symmetrically arranged on the first supporting plate (31) and correspond to the hinged edge (22).

4. A building block robot foot supporting structure according to claim 3, characterized in that a ball hinge rod (312) matched with the ball hinge column (23) is arranged in the center of the first supporting plate (31), the ball hinge rod (312) passes through the second supporting plate (32), a tension spring (3111) is vertically sleeved on the telescopic rod (311), and a buffer spring (231) is also vertically arranged in the ball hinge column (23).

5. The building block robot anchor support structure according to claim 4, wherein a through hole (321) for a ball hinge rod (312) to pass through is formed in the center of the second support plate (32), a gap is formed between the first support plate (31) and the second support plate (32), and a buffer member (322) is disposed between the first support plate (31) and the second support plate (32).

6. A building block robot foot support structure according to claim 5, characterized in that the buffer member (322) is a plurality of vertically arranged spring members, and the lower surface of the first support plate (31) and the upper surface of the second support plate (32) are further provided with rubber abutment balls (323).

7. A building block robot foot support structure according to claim 6, characterized in that a plurality of symmetrical adjusting bolts (313) are further arranged on the first support plate (31), the adjusting bolts (313) are in threaded connection with the first support plate (31), and the bottom of the adjusting bolts (313) is abutted to the upper surface of the second support plate (32).

8. The building block robot foot supporting structure according to claim 7, characterized in that the second supporting plate (32) is fixedly connected with the supporting foot (33) through a plurality of reinforcing members (331), a rubber pad (332) is further arranged at the bottom of the supporting foot (33), and anti-skid lines (3321) are arranged on the rubber pad (332).