CN216067475U

CN216067475U - Building blocks robot walking portion

Info

Publication number: CN216067475U
Application number: CN202121721443.1U
Authority: CN
Inventors: 张波; 俞鑫
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: 2022-03-18
Anticipated expiration: 2031-07-27

Abstract

The utility model relates to the technical field of robots, in particular to a building block robot walking part, which aims to overcome the defect of large structural limitation of the walking part in the prior art and is mainly realized by the following technical scheme: the utility model provides a building blocks robot walking portion, includes the shell body, still includes: the connecting part is arranged on the outer shell and comprises a ball head connecting piece and a connecting turntable; the swinging assembly is arranged in the outer shell and comprises a gear set, a driving piece, a swinging rod and a connecting rod, the driving piece drives the gear set to rotate and then drives the swinging rod and the connecting rod to move, the gear set is positioned and rotatably arranged in the outer shell, and the connecting rod is movably connected with the foot; the foot still is equipped with damper, and foot and swing subassembly junction still are equipped with the reinforcement, and the problem of current robot walking portion action harsh machinery has been solved in the cooperation of connecting portion, swing subassembly and foot.

Description

Building blocks robot walking portion

Technical Field

The utility model relates to the technical field of robots, in particular to a building block robot walking part.

Background

Along with the development of science and technology, in order to improve interest and teaching performance of building block toys, a computer and building blocks are organically combined together, and building block type building block robot development sets are developed. The building block type robot is formed by splicing and assembling a plurality of building block pieces, connecting pieces, sensors, steering engines and the like according to a certain splicing rule, can realize diversified appearance types of the building block type robot, and can also perform circuit simulation and motion trail simulation. The building block type robot can stimulate the learning interest of students, improve the practical ability and the innovation ability of the students, cultivate the comprehensive ability of the students and greatly help to improve the personal comprehensive quality of the students.

In the related art, the relevant parts of the robot body are often referred to as a base, a waist, an arm, a wrist, a hand (gripper or end effector), a walking part (for a mobile robot), and the like. For the walking part, the leg parts of most robots adopt a wheel type structure, the motion similar to the walking of people can not be realized, and the leg parts and the foot parts of a few robots which do not adopt the wheel type structure have large motion limitation and can only carry out linear motion in a single direction, so that the walking motion of the robot legs is hard, the structure of the leg parts of a few robots which can realize multi-degree-of-freedom motion is quite complex, and the cost and the selling price are very high. In addition, the existing walking part is complex to install, is not connected tightly and is easy to break or is connected too tightly, has poor mobility, and parts are easy to lose and are inconvenient to use due to the fact that the building block walking part comprises too many parts.

SUMMERY OF THE UTILITY MODEL

Therefore, the technical problem to be solved by the utility model is to overcome the defect of large structural limitation of the walking part in the prior art, and provide the walking part of the building block robot.

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

the utility model provides a building blocks robot walking portion, includes the shell body, still includes:

the connecting part is arranged on the outer shell and comprises a ball head connecting piece and a connecting rotary table, the connecting rotary table is rotatably connected with the foot part through a swinging assembly, and the ball head connecting piece is used for being connected with other building blocks;

the swinging assembly is arranged in the outer shell and comprises a gear set, a driving piece, a swinging rod and a connecting rod, the driving piece drives the gear set to rotate and then drives the swinging rod and the connecting rod to move, the gear set is positioned and rotatably arranged in the outer shell, and the connecting rod is movably connected with the foot;

the foot is connected with the bottom of the connecting rod, a damping assembly is further arranged in the foot, and a reinforcing member is further arranged at the joint of the foot and the swinging assembly.

By adopting the technical scheme, the connecting part, the swinging assembly and the foot part are matched, so that the force of the driving part driving the swinging assembly is converted into the driving force of the whole robot walking part with multiple degrees of freedom, the conversion from a single direction to the robot walking part with multiple degrees of freedom is realized, and the problem that the existing robot walking part acts as a hard machine is solved.

Further, the shell body comprises a first joint and a second joint, the first joint is connected with the second joint through a swing assembly, an arc transition surface is arranged at the position, close to the second joint, of the first joint, and a plurality of cylindrical connecting pieces are arranged on the outer surfaces of the first joint and the second joint.

Through adopting above-mentioned technical scheme, robot walking portion length can be adjusted to the shell body of double joint to make the robot more pleasing to the eye, circular arc transition avoids both to produce the structure and interferes and cause the influence between first joint and second joint, and the connecting piece of first joint and second joint surface can cooperate other building blocks practical, thereby constitutes the robot of different shapes.

Furthermore, the gear train location is rotated and is installed in first joint, the gear train includes first gear, main drive wheel and the rotation wheel that connects in order, driving piece drive main drive wheel motion.

Through adopting above-mentioned technical scheme, use the gear train to realize the purpose of driving piece drive bulk motion, gear drive stable in structure just has auto-lock nature, guarantees the safety of motion process.

Furthermore, the gear set also comprises driven teeth in meshing transmission with the first gear, the driven teeth are symmetrically arranged on two sides of the first gear, the swinging rod is rotationally connected with the driven teeth, and the rotating shaft of the swinging rod coincides with the axis of the driven teeth.

Through adopting above-mentioned technical scheme, driven tooth and swinging arms cooperation to make the swinging arms motion drive the motion of robot foot, realize the purpose that the walking portion removed, use the indirect transmission of swinging arms and driven tooth cooperation to reduce initiative wearing and tearing.

Further, still be equipped with in the shell and hold the chamber, it is fixed with the driving piece to hold the intracavity, the driving piece is micro motor, driving piece output shaft passes the main drive wheel axle center.

Through adopting above-mentioned technical scheme, hold the chamber and be used for placing micro motor, guarantee the stability of driving piece when using, do not influence follow-up output drive to main drive wheel.

Furthermore, the rotating wheel and the connecting turntable are coaxially and fixedly arranged, an eccentric shaft is vertically arranged on the connecting turntable, the top end of the connecting rod is rotatably connected to the eccentric shaft, and reinforcing grains are further arranged on the connecting rod.

Through adopting above-mentioned technical scheme, the connecting rod is joined in marriage with the eccentric shaft and is equipped with, drives the motion of foot, strengthens line promotion connecting rod structural strength on the connecting rod, avoids the motion in-process fracture probably.

Furthermore, the bottom end of the connecting rod is hinged to the reinforcing piece, reinforcing ribs are arranged on the periphery of the reinforcing piece, and winding posts are further arranged on the connecting rod.

Through adopting above-mentioned technical scheme, the strengthening rib further promotes structural strength, and the wrapping post can realize that the building block internal line is neat, the follow-up maintenance of being convenient for overhauls.

Further, damper includes the support cushion of the cross muscle in the foot and foot bottom, the foot is circular-arc design all around, be equipped with damping spring in the support cushion.

Through adopting above-mentioned technical scheme, use the structural strength of crossing muscle reinforcing foot, the foot is more stable when the motion, supports cushion and damping spring and is used for the shock attenuation of foot, guarantees its overall structure's stability.

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

1. the building block robot walking part provided by the utility model has the advantages that the connection part, the swinging component and the foot part are matched, so that the force of the driving component driving the swinging component is converted into the driving force of the whole robot walking part with multiple degrees of freedom, and the conversion of the robot walking part from a single direction to multiple degrees of freedom is realized.

2. According to the building block robot walking part provided by the utility model, the purpose of driving the whole body to move by the driving piece is realized by using the gear set, the gear transmission structure is stable and has self-locking property, the safety of the movement process is ensured, and the driven teeth are matched with the oscillating rod, so that the oscillating rod moves to drive the foot part of the robot to move, and the purpose of moving the walking part is realized.

3. According to the building block robot walking part provided by the utility model, the damping device and the crossed ribs are added, so that the stability of the motion process and the stability of the whole structure are realized, and the safety and stability of the building block robot walking part are 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 walking part according to an embodiment of the present invention;

fig. 2 is an exploded view of a building block robot walking part according to an embodiment of the present invention;

FIG. 3 is a cross-sectional view of a building robot walking part provided in an embodiment of the present invention;

fig. 4 is a cross-sectional structural view of a first joint and a second joint provided in an embodiment of the present invention.

Description of reference numerals:

1. an outer housing; 11. a first joint; 12. a second joint; 13. a cylindrical connecting piece; 14. an accommodating chamber; 2. a connecting portion; 21. a ball head connecting piece; 22. connecting the rotary table; 221. an eccentric shaft; 3. a swing assembly; 31. a gear set; 311. a first gear; 312. a main drive wheel; 313. a rotating wheel; 314. a driven tooth; 32. a drive member; 33. a swing lever; 34. a connecting rod; 341. reinforcing lines; 342. a winding post; 4. a foot portion; 41. a shock absorbing assembly; 411. cross ribs; 412. a support cushion; 4121. a damping spring; 42. a reinforcement; 421. and (5) reinforcing ribs.

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 walking portion, as shown in fig. 1 and 2, including outer casing 1, still include connecting portion 2, swing subassembly 3 and foot 4, outer casing 1 includes first joint 11 and second joint 12, first joint 11 is equipped with the circular arc transition face with second joint 12 department of being close to each other, first joint 11 all is equipped with a plurality of cylindric connecting pieces 13 with second joint 12 surface, robot walking portion length can be adjusted to double-jointed outer casing 1, thereby make the robot more pleasing to the eye, circular arc transition avoids both to produce the structure and interferes the influence between first joint 11 and second joint 12, the connecting piece of first joint 11 and second joint 12 surface can cooperate other building blocks to use, thereby constitute the robot of different shapes. Connecting portion 2 includes bulb connecting piece 21 and connects carousel 22, bulb connecting piece 21 is fixed on first joint 11 top, connect carousel 22 location and rotate in first joint 11, be connected through swing assembly 3 between first joint 11 and second joint 12, swing assembly 3 includes gear train 31, driving piece 32, swinging arms 33 and connecting rod 34, connecting rod 34 bottom and foot 4 swing joint, connecting rod 34 is equipped with reinforcement 42 with foot 4 junction, still be equipped with damper 41 in the foot 4. The connection part 2, the swing component 3 and the foot part 4 are matched, so that the force of the driving part 32 for driving the swing component 3 is converted into the driving force of the whole robot walking part with multiple degrees of freedom, the conversion from a single direction to the robot walking part with multiple degrees of freedom is realized, and the problem that the existing robot walking part acts as a hard machine is solved.

As shown in fig. 2 and 3, the gear set 31 is rotatably and fixedly installed in the first joint 11, the gear set 31 includes a first gear 311, a main driving wheel 312 and a rotating wheel 313 which are connected in sequence, the driving member 32 drives the main driving wheel 312 to move, the gear set 31 further includes a driven gear 314 which is in meshing transmission with the first gear 311, the driven gear 314 is symmetrically arranged at two sides of the first gear 311, the swinging rod 33 is rotatably connected with the driven gear 314 and the rotating shaft thereof coincides with the axis of the driven gear 314, the rotating wheel 313 and the connecting turntable 22 are coaxially and fixedly arranged, an eccentric shaft 221 is vertically arranged on the connecting turntable 22, and the top end of the connecting rod 34 is rotatably connected with the eccentric shaft 221. The main driving wheel 312 moves to drive the first gear 311 to rotate, the first gear 311 is meshed with the driven tooth 314, and the swinging rod 33 is coaxial with the driven tooth 314, so that the swinging rod 33 swings slightly in the first joint 11 and the second joint 12 to drive the first joint 11 and the second joint 12; the main driving wheel 312 is also meshed with the rotating wheel 313, and because the eccentric shaft 221 and the connecting rod 34 are coaxially arranged, the connecting rod 34 is driven by the eccentric shaft 221 to intermittently move up and down, so that the action of lifting and falling of soles during walking of a person is simulated, the aim of personification is achieved, and the action of the robot is prevented from being harsh.

As shown in fig. 2 and fig. 3, the bottom end of the connecting rod 34 is hinged to the reinforcing member 42, reinforcing ribs 421 are arranged around the reinforcing member 42, reinforcing patterns 341 are further arranged on the connecting rod 34, wrapping posts 342 are further arranged on the connecting rod 34, the reinforcing patterns 341 on the connecting rod 34 improve the structural strength of the connecting rod 34, the possibility of fracture in the movement process is avoided, the reinforcing ribs 421 further improve the structural strength of the reinforcing member 42, the feet 4 are prevented from falling off, the wrapping posts 342 can realize that the internal circuit of the building block is neat, and the follow-up maintenance and repair are convenient. Damping component 41 includes the support cushion 412 of crossing muscle 411 and the 4 bottoms of foot in the foot 4, and foot 4 is circular-arc design all around, still is equipped with damping spring 4121 in the support cushion 412, uses the structural strength of crossing muscle 411 reinforcing foot 4, and foot 4 is more stable when the motion, supports cushion 412 and damping spring 4121 and is used for the 4 shock absorptions of foot, guarantees its overall structure's stability.

As shown in fig. 2 and 4, the first joint 11 is further provided with an accommodating cavity 14, the accommodating cavity 14 is internally fixed with a driving element 32, the driving element 32 is a micro motor, an output shaft of the driving element 32 penetrates through an axis of the main driving wheel 312, and the accommodating cavity 14 is used for accommodating the micro motor, so that stability of the driving element 32 in use is ensured, and subsequent output driving of the main driving wheel 312 is not affected.

The working principle and the use method of the building block robot walking part are as follows: during construction, a first joint 11 and a second joint 12 with proper lengths are selected to determine the outer shell 1 of the walking part, then a driving piece 32, a main driving wheel 312, a first gear 311, driven teeth 314 and a connecting turntable 22 are sequentially arranged in the first joint 11, then a swinging rod 33 is arranged, and then the connecting rod 34 is connected with the foot part 4; when the robot is used, the main driving wheel 312 is driven by the driving piece 32 to transmit motion, and then the walking part generates walking action, so that the aim of walking the robot is fulfilled.

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 walking portion, includes shell body (1), its characterized in that still includes:

the connecting part (2) is arranged on the outer shell (1), the connecting part (2) comprises a ball head connecting piece (21) and a connecting turntable (22), and the connecting turntable (22) is rotatably connected with the foot part (4) through a swinging assembly (3);

the swing assembly (3) is arranged in the outer shell (1), the swing assembly (3) comprises a gear set (31), a driving piece (32), a swing rod (33) and a connecting rod (34), the driving piece (32) drives the gear set (31) to rotate and then drives the swing rod (33) and the connecting rod (34) to move, the gear set (31) is rotatably installed in the outer shell (1) in a positioning mode, and the connecting rod (34) is movably connected with the foot part (4);

foot (4), foot (4) are connected with connecting rod (34) bottom, still be equipped with damper assembly (41) in foot (4), foot (4) still are equipped with reinforcement (42) with swing subassembly (3) junction.

2. The building block robot walking part according to claim 1, characterized in that the outer shell (1) comprises a first joint (11) and a second joint (12), the first joint (11) and the second joint (12) are connected through a swing component (3), an arc transition surface is arranged at a position where the first joint (11) and the second joint (12) are close to each other, and a plurality of cylindrical connecting pieces (13) are arranged on the outer surfaces of the first joint (11) and the second joint (12).

3. A building block robot running gear according to claim 2, characterized in that the gear set (31) is fixed in rotation in the first joint (11), the gear set (31) comprises a first gear wheel (311), a main driving wheel (312) and a rotating wheel (313) connected in sequence, and the driving member (32) drives the main driving wheel (312) to move.

4. A toy building robot running gear according to claim 3, characterised in that the gear set (31) further comprises driven teeth (314) in meshing transmission with the first gear (311), the driven teeth (314) are symmetrically arranged on both sides of the first gear (311), the swinging rod (33) is rotatably connected with the driven teeth (314) and the rotating shaft of the swinging rod coincides with the axis of the driven teeth (314).

5. The building block robot walking part according to claim 4, characterized in that an accommodating cavity (14) is further arranged in the outer shell (1), a driving element (32) is fixed in the accommodating cavity (14), the driving element (32) is a micro motor, and an output shaft of the driving element (32) penetrates through the axis of the main driving wheel (312).

6. The building block robot walking part according to claim 3, characterized in that the rotating wheel (313) is coaxially and fixedly arranged with the connecting turntable (22), an eccentric shaft (221) is vertically arranged on the connecting turntable (22), the top end of the connecting rod (34) is rotatably connected to the eccentric shaft (221), and the connecting rod (34) is further provided with a reinforcing thread (341).

7. The building block robot walking part of claim 6, characterized in that the bottom end of the connecting rod (34) is hinged with a reinforcement (42), the reinforcement (42) is provided with reinforcing ribs (421) at the periphery, and the connecting rod (34) is further provided with a winding post (342).

8. A building block robot running part according to claim 1, characterized in that the shock-absorbing assembly (41) comprises cross ribs (411) in the foot part (4) and a support cushion (412) at the bottom of the foot part (4), the foot part (4) is designed in a circular arc shape around, and a shock-absorbing spring (4121) is arranged in the support cushion (412).