CN216859750U

CN216859750U - Novel movable six-wheel projectile robot

Info

Publication number: CN216859750U
Application number: CN202220721276.9U
Authority: CN
Inventors: 董方明; 吴昱璇; 卢佳瑶; 王鑫梦; 李源程; 王源; 白剑宏; 张哲恺; 胡云翻; 杨帅奎; 张烁; 陈树; 王涛; 赫煜; 袁宝军; 邓添予; 李浩冉; 史永康; 王云飞
Original assignee: Zhengzhou Changmeng Intelligent Technology Co ltd
Current assignee: Zhengzhou Changmeng Intelligent Technology Co ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-07-01
Anticipated expiration: 2032-03-31

Abstract

The utility model discloses a novel movable six-wheel projecting robot which comprises a vehicle body, wherein inner side plates are respectively arranged on the left inner side and the right inner side of the vehicle body, outer side plates are respectively arranged on the left outer side and the right outer side of the vehicle body, moving mechanisms are respectively arranged at the front end and the rear end of each outer side plate, an auxiliary wheel set is arranged between the middle parts of the two outer side plates, a grabbing mechanism is arranged at the front end of the vehicle body, and a projecting mechanism is arranged at the rear end of the vehicle body. According to the utility model, the driving motors are respectively arranged at each tire to realize the movement in a four-wheel drive mode, the auxiliary wheel set is arranged, so that when the robot encounters a rugged and complicated terrain, more power can be provided by the auxiliary wheel to cross the road surface, and the auxiliary wheel set ensures that a vehicle body bottom plate cannot be blocked by the road surface, so that the mobility of the mobile robot is increased, the obstacle crossing capability can be improved, and the robot can cross more terrains.

Description

Novel six portable round throwing robots

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a novel movable six-wheel throwing robot.

Background

In the internet era, the research and development of robots are an important part of scientific research in the whole world. With the development of science and technology, people pay more and more attention to the utility model and creation of robots on the basis of the current situation.

In practice, it is found that most of existing throwing robots are simple in structure and move simply in a four-tire two-drive motion mode, and although the mode can meet the requirement for movement on flat ground, the obstacle crossing capability of the throwing robots is greatly reduced when the throwing robots encounter rugged road in complex terrain, so that the throwing robots can possibly fall over or cannot continue to operate due to the fact that a chassis is clamped, and the requirements of people cannot be met.

Based on the defects in the prior art, the utility model discloses a novel movable six-wheel throwing robot, which is characterized in that a driving motor is arranged at each tire, so that the robot can move in a four-wheel driving mode, an auxiliary wheel group is arranged, so that the auxiliary wheels can provide more power to cross the road surface when the robot encounters a rugged and complicated terrain, and the auxiliary wheels are arranged, so that a vehicle body bottom plate cannot be clamped by the road surface, the mobility of the mobile robot is improved, the obstacle crossing capability is improved, and the robot can climb over more terrains.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model aims to provide a novel movable six-wheel throwing robot.

The utility model provides the following technical scheme:

the utility model provides a novel six portable wheels throw robot, includes the automobile body, two inboards are provided with the interior plate respectively about the automobile body, two outsides are provided with the outer panel respectively about the automobile body, every both ends are provided with moving mechanism, two respectively around the outer panel be provided with supplementary wheelset between the middle part of outer panel, the front end of automobile body is provided with snatchs the mechanism, the rear end of automobile body is provided with throws the mechanism.

Preferably, the moving mechanism comprises a tire, a driving motor and a motor support plate, the motor support plate is connected with the outer side plate, the driving motor is arranged at the lower end of the motor support plate, and a rotating shaft of the driving motor is connected with a hub of the tire through a coupler.

Preferably, the auxiliary wheel set comprises auxiliary wheels and second motor supporting plates, the second motor supporting plates are arranged on the left side and the right side of the vehicle body, an auxiliary wheel direct-current speed reduction motor is arranged at the lower end of each second motor supporting plate, and the auxiliary wheel direct-current motor is connected with a wheel hub of each auxiliary wheel through an auxiliary wheel flange coupling; and the outer diameter of the auxiliary wheel is smaller than the outer diameter of the tire.

Preferably, the grabbing mechanism comprises a shovel plate, a shovel arm and a worm and gear assembly used for enabling the shovel arm to rotate, the shovel plate is located in front of the vehicle body, the left side and the right side of the rear end of the shovel plate are respectively provided with the shovel arm, and the other end of the shovel arm is connected with the worm and gear assembly.

Preferably, the turbine worm subassembly includes turbine worm, motor, turbine worm, motor are located two between the interior curb plate, the motor with the input of turbine worm is connected, the output of turbine worm is provided with turbine worm output shaft, two are run through respectively at the both ends of turbine worm output shaft the interior curb plate, just the both ends of turbine worm output shaft respectively with two the shovel arm is connected. The motor is 3508 motor.

Preferably, two ends of the worm gear output shaft are respectively connected with the two outer side plates through bearings.

Preferably, throw the mechanism and include bracing piece, throw thing pole, fixed fence, throw thing supporting seat, spring, rope and be used for making the pretension piece that the rope moved down, the vertical setting of bracing piece is in the automobile body upper end, the upper end of bracing piece is provided with throws the thing supporting seat, throw the one end of thing pole pass through the hinge with throw thing supporting seat and connect, throw the other end of thing pole with fixed fence connects, fixed fence pass through the spring with throw thing supporting seat and connect, still be provided with the rope on the fixed fence, the other end of rope with pretension piece connects.

Preferably, the moving mechanism further includes a shock absorber, one end of the shock absorber is connected to the outer side plate, and the other end of the shock absorber is connected to one end of the motor support plate, which is far away from the outer side plate.

Preferably, the pretensioning piece includes U type seat, U type seat is located two between the interior plate, just U type seat is located the below position of rope, be provided with the rectangle frame in the U type seat, two inboards are provided with the slide rail respectively about U type seat, the rectangle frame about both sides respectively with slide rail adapter coupling, the inboard on the left side of rectangle frame is provided with the rack, rack department adapter coupling has the pinion, pinion department adapter coupling has step motor, step motor with the body coupling, the upper end of rectangle frame be provided with the go-between that the rope is connected.

Preferably, the middle parts of the front side face and the rear side face of the U-shaped seat are provided with limiting plates, the lower end faces of the limiting plates are provided with first buffer layers, and the bottom of the inner side of the rectangular frame is provided with a second buffer layer.

Compared with the prior art, the utility model has the following beneficial effects:

according to the novel movable six-wheel throwing robot, the driving motors are respectively arranged at the positions of the tires, the robot can move in a four-wheel driving mode, the auxiliary wheel groups are arranged, so that when the robot encounters rugged and complicated terrains, more power can be provided by the auxiliary wheels to cross the road surface, and the auxiliary wheels are arranged, so that a vehicle body bottom plate cannot be clamped by the road surface, the moving capability of the movable robot is improved, the obstacle crossing capability can be improved, and the robot can cross more terrains.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments are briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural diagram of the gripping mechanism of the present invention.

Figure 3 is a schematic view of the ejection mechanism of the present invention.

Fig. 4 is a schematic view of the preload member of the present invention.

FIG. 5 is a schematic cross-sectional view taken at A-A of FIG. 4 in accordance with the present invention.

In the figure: 1. a vehicle body; 2. an inner side plate; 3. an outer panel; 41. a tire; 42. a drive motor; 43. a motor bracket plate; 44. a shock absorber; 5. an auxiliary wheel set; 61. a shovel plate; 62. a shovel arm; 63. a worm gear; 64. a worm gear output shaft; 65. a motor; 7. a projectile mechanism; 71. a support bar; 72. a parabolic rod; 73. fixing the fence; 74. a parabolic support seat; 75. a spring; 76. a rope; 81. a U-shaped seat; 82. a rectangular frame; 83. a slide rail; 84. a half gear; 85. a rack; 86. a connecting ring; 87. a limiting plate; 88. a first buffer layer; 89. a second buffer layer.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments of the present invention, belong to the protection scope of the present invention.

Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Referring to fig. 1-5, a novel movable six-wheel projecting robot comprises a vehicle body 1, wherein inner side plates 2 are respectively arranged on the left inner side and the right inner side of the vehicle body 1, outer side plates 3 are respectively arranged on the left outer side and the right outer side of the vehicle body 1, moving mechanisms are respectively arranged at the front end and the rear end of each outer side plate 3, an auxiliary wheel set is arranged between the middle parts of the two outer side plates 3, a grabbing mechanism is arranged at the front end of the vehicle body 1, and a projecting mechanism 7 is arranged at the rear end of the vehicle body 1. Through setting up the auxiliary wheel group, can make the robot when meetting rugged and uneven complicated topography, provide more power by the auxiliary wheel and stride across the road surface, and owing to be equipped with the auxiliary wheel, guaranteed that the automobile body bottom plate can not be by road surface card owner, increased mobile robot's action ability to can improve the ability of crossing the obstacle, make it can cross more topography.

The moving mechanism comprises a tire 41, a driving motor 42 and a motor support plate 43, the motor support plate 43 is connected with the outer side plate 3, the driving motor 42 is arranged at the lower end of the motor support plate 43, and a rotating shaft of the driving motor 42 is connected with a hub of the tire 41 through a coupler. Through driving motor's work, can drive the wheel hub rotation of tire 41, realize the rotation of tire, through set up driving motor respectively in every tire department, realize removing with the mode of four-wheel drive, can further improve the ability of crossing obstacles.

The moving mechanism further includes a damper 44, one end of the damper 44 is connected to the outer side plate, and the other end of the damper 44 is connected to one end of the motor support plate 43 away from the outer side plate.

The auxiliary wheel set comprises an auxiliary wheel 51 and second motor support plates 52, the second motor support plates 52 are arranged on the left side and the right side of the vehicle body 1, an auxiliary wheel direct-current speed reduction motor is arranged at the lower end of each second motor support plate 52, and the auxiliary wheel direct-current motor is connected with a wheel hub of the auxiliary wheel 51 through an auxiliary wheel flange coupling; and the outer diameter of the auxiliary wheel 51 is smaller than the outer diameter of the tire 41.

The grabbing mechanism comprises a shovel plate 61, a shovel arm 62 and a worm and gear assembly used for enabling the shovel arm 62 to rotate, the shovel plate 61 is located in front of the vehicle body 1, the left side and the right side of the rear end of the shovel plate 61 are respectively provided with the shovel arm 62, and the other end of the shovel arm 62 is connected with the worm and gear assembly.

The worm and gear assembly comprises a worm and gear 63 and a motor 65, the worm and gear 63 and the motor 65 are located between the two inner side plates 2, the motor 65 is connected with the input end of the worm and gear 63, a worm and gear output shaft 64 is arranged at the output end of the worm and gear 63, two ends of the worm and gear output shaft 64 penetrate through the two inner side plates 2 respectively, and two ends of the worm and gear output shaft 64 are connected with the two shovel arms 62 respectively. The motor is 3508 motor. Through the work of 3508 motor, can drive the work of turbine worm, make turbine worm output shaft 64 rotate clockwise or anticlockwise slowly, and then drive shovel arm, shovel board and use turbine worm output shaft 64 as the centre of a circle, upwards or rotate downwards. When the shovel board rotates to the maximum value downwards, the front end downside of shovel board contacts with ground this moment, makes things convenient for the projectile to get into the shovel board in, when the shovel board upwards rotates to the maximum value, the fixed fence just is located the shovel board under this moment, makes things convenient for the projectile in the shovel board to fall into the fixed fence in, realizes the loading.

The two ends of the worm gear output shaft 64 are respectively connected with the two outer side plates 3 through bearings. The stability of the worm gear output shaft 64 during rotation can be further improved.

The ejection mechanism 7 comprises a support rod 71, a parabolic rod 72, a fixed rail 73, a parabolic support seat 74, a spring 75, a rope 76 and a pre-tightening piece used for enabling the rope 76 to move downwards, wherein the support rod 71 is vertically arranged at the upper end of the vehicle body 1, the parabolic support seat 74 is arranged at the upper end of the support rod 71, one end of the parabolic rod 72 is connected with the parabolic support seat 74 through a hinge, the other end of the parabolic rod 72 is connected with the fixed rail 73, the fixed rail 73 is connected with the parabolic support seat 74 through the spring 75, the rope 76 is further arranged on the fixed rail 73, and the other end of the rope 76 is connected with the pre-tightening piece.

The pretensioning piece includes U type seat 81, U type seat 81 is located two between the interior plate, just U type seat 81 is located the below position of rope, be provided with rectangle frame 82 in the U type seat 81, two inboards are provided with slide rail 83 respectively about U type seat 81, both sides do not with slide rail 83 adaptation connection about rectangle frame 82, the inboard in the left side of rectangle frame 82 is provided with rack 85, rack 85 department adaptation connection has half gear 84, half gear 84 department adaptation connection has step motor, step motor with automobile body 1 connects, the upper end of rectangle frame be provided with the go-between 86 that the rope is connected.

As shown in fig. 4, by the operation of the stepping motor, the half gear rotates counterclockwise to drive the rack and the rectangular frame 82 to move downward, the rectangular frame 82 drives the rope 76 to pull downward, the fixed rail 73 moves downward to stretch the tension spring 75, and when the half gear is about to separate from the rack, the stepping motor stops rotating to keep storing power; when the projectile is put into the fixed fence and needs to be thrown, through the secondary work of the stepping motor, the half gear and the rack are separated, the rectangular frame 82 is rapidly reset, the spring is contracted to be original length, and the rope is reset, so that the projectile is thrown out, and the projectile effect is achieved.

Limiting plates 87 are arranged in the middles of the front side face and the rear side face of the U-shaped seat 81, a first buffer layer 88 is arranged on the lower end face of each limiting plate 87, and a second buffer layer 89 is arranged at the bottom of the inner side of the rectangular frame 82. Can play certain cushioning effect when the rectangle frame playback does, slow down the dynamics that the rectangle frame strikeed the limiting plate.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solution of the present invention and the equivalent replacement or modification of the technical solution and the inventive concept thereof within the technical scope of the present invention.

Claims

1. The utility model provides a novel six portable round throwing robots, includes automobile body (1), its characterized in that: the automobile body (1) about two inboards be provided with interior plate (2) respectively, two outsides are provided with outer panel (3) respectively about automobile body (1), every both ends are provided with moving mechanism respectively around outer panel (3), two be provided with supplementary wheelset between the middle part of outer panel (3), the front end of automobile body (1) is provided with snatchs the mechanism, the rear end of automobile body (1) is provided with casts mechanism (7).

2. The novel movable six-wheel projecting robot is characterized in that the moving mechanism comprises a tire (41), a driving motor (42) and a motor support plate (43), the motor support plate (43) is connected with the outer side plate (3), the driving motor (42) is arranged at the lower end of the motor support plate (43), and a rotating shaft of the driving motor (42) is connected with a hub of the tire (41) through a coupler.

3. The novel movable six-wheel projecting robot is characterized in that the auxiliary wheel set comprises an auxiliary wheel (51) and second motor support plates (52), the second motor support plates (52) are arranged on the left side and the right side of the vehicle body (1), an auxiliary wheel direct-current speed reduction motor is arranged at the lower end of each second motor support plate (52), and the auxiliary wheel direct-current speed reduction motor is connected with a hub of the auxiliary wheel (51) through an auxiliary wheel flange coupler; and the outer diameter of the auxiliary wheel (51) is smaller than the outer diameter of the tire (41).

4. The novel movable six-wheel projecting robot is characterized in that the grabbing mechanism comprises a shovel plate (61), a shovel arm (62) and a worm and gear assembly for enabling the shovel arm (62) to rotate, the shovel plate (61) is located in front of the vehicle body (1), the shovel arms (62) are arranged on the left side and the right side of the rear end of the shovel plate (61), and the other end of each shovel arm (62) is connected with the worm and gear assembly.

5. The novel movable six-wheel projectile robot is characterized in that the worm and gear assembly comprises a worm and gear (63) and a motor (65), the worm and gear (63) and the motor (65) are located between the two inner side plates (2), the motor (65) is connected with the input end of the worm and gear (63), the output end of the worm and gear (63) is provided with a worm and gear output shaft (64), two ends of the worm and gear output shaft (64) penetrate through the two inner side plates (2) respectively, and two ends of the worm and gear output shaft (64) are connected with the two shovel arms (62) respectively.

6. The novel movable six-wheel projecting robot as claimed in claim 5, characterized in that the two ends of the worm gear output shaft (64) are respectively connected with the two outer side plates (3) through bearings.

7. The novel movable six-wheel projectile casting robot is characterized in that, the ejection mechanism (7) comprises a support rod (71), a parabolic rod (72), a fixed fence (73), a parabolic support seat (74), a spring (75), a rope (76) and a preload piece for enabling the rope (76) to move downwards, the supporting rod (71) is vertically arranged at the upper end of the vehicle body (1), a parabolic supporting seat (74) is arranged at the upper end of the supporting rod (71), one end of the parabolic rod (72) is connected with the parabolic supporting seat (74) through a hinge, the other end of the parabolic rod (72) is connected with the fixed fence (73), the fixed fence (73) is connected with the parabolic supporting seat (74) through a spring (75), the fixing fence (73) is further provided with a rope (76), and the other end of the rope (76) is connected with the pre-tightening piece.