CN218317006U - Four-wheel robot with variable working modes - Google Patents
Four-wheel robot with variable working modes Download PDFInfo
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- CN218317006U CN218317006U CN202222649518.0U CN202222649518U CN218317006U CN 218317006 U CN218317006 U CN 218317006U CN 202222649518 U CN202222649518 U CN 202222649518U CN 218317006 U CN218317006 U CN 218317006U
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Abstract
The utility model provides a changeable mode four rounds of robots, include: the electric bicycle comprises a bicycle body and a motor assembly, wherein the motor assembly is arranged in the bicycle body; the connecting rod assembly is connected with the motor assembly; the wheel assembly is connected with the connecting rod assembly; wherein, link assembly includes initiative connecting rod, gear train and passive connecting rod, and the one end and the motor element of initiative connecting rod are connected, and the other end is connected with the gear train, and the one end and the wheel subassembly of passive connecting rod are connected, and the other end is connected with the gear train. Based on this four-wheeled robot of changeable mode, realize the initiative through motor element and hang to realize the even running of robot, realize the shock attenuation. In addition, through the connecting rod structure, the front wheels and the rear wheels can be kept in the vertical direction under any condition, so that the requirement on control is reduced, and the opposite adaptability of the robot is easier to realize. In addition, the connecting rod structure is mechanical, the structure of the mechanism is simple, and the universality is high.
Description
Technical Field
The utility model relates to a robot, concretely relates to four rounds of robots of changeable mode.
Background
Since the birth of robots, applications of robots have been related to various fields. With the continuous improvement of the intelligence level of the robot, the requirements on the use scene and the universality of the robot are higher and higher.
At present, the working scenes of various robots such as four-wheel robots and six-wheel robots in the market are relatively single or specific, and the robots cannot adapt to the diversification of the demands of the market on the robots. The conventional robot obstacle crossing capacity determining factor is the wheel diameter, if the wheel diameter is large, the obstacle crossing capacity is large, otherwise, the obstacle crossing capacity is small; there is little ability to overshoot the step.
In addition, the existing robot has an unchangeable use mode or a complex realization form and structure mode.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that: aiming at the technical defects that the application scene of the robot is single, the robot has no step capability, the use mode is not changeable and the like, a four-wheel robot with changeable work modes is provided.
In order to solve the technical problem, the utility model provides a four-wheeled robot of changeable working mode, this four-wheeled robot of changeable working mode includes: the vehicle body, the motor assembly is set up in the vehicle body; the connecting rod assembly is connected with the motor assembly; the wheel assembly is connected with the connecting rod assembly; the connecting rod assembly comprises a driving connecting rod, a gear set and a driven connecting rod, one end of the driving connecting rod is connected with the motor assembly, the other end of the driving connecting rod is connected with the gear set, one end of the driven connecting rod is connected with the wheel assembly, and the other end of the driven connecting rod is connected with the gear set.
The utility model provides an among the changeable mode four-wheel robot, can also have such characteristic: the connecting rod assembly further comprises a mounting plate, and the mounting plate is arranged at a position, corresponding to the motor, outside the vehicle body.
The utility model provides an among the changeable mode four-wheel robot, can also have such characteristic: one end of the driving connecting rod is connected with an output shaft of the motor component through a mounting plate.
The utility model provides an among the changeable mode four-wheel robot, can also have such characteristic: the connecting rod assembly further comprises a transmission connecting rod and a four-point connecting rod, one end of the transmission connecting rod is connected with the vehicle body through the mounting plate, and the other end of the transmission connecting rod is connected with the four-point connecting rod.
The utility model provides an among the changeable mode four-wheel robot, can also have such characteristic: the driven connecting rod comprises a first driven connecting rod and a second driven connecting rod, one end of the first driven connecting rod is connected with the gear set, the other end of the first driven connecting rod is connected with the wheel assembly, one end of the second driven connecting rod is connected with the wheel assembly, and the other end of the second driven connecting rod is connected with the four-point connecting rod.
The utility model provides an among the changeable mode four-wheel robot, can also have such characteristic: the gear set comprises a first gear and a second gear, the first gear is connected with the driving connecting rod, and the second gear is connected with the driven connecting rod and meshed with the first gear.
The utility model provides an among the changeable mode four-wheel robot, can also have such characteristic: the connecting rod group price also comprises a fixed connecting rod, and the driven connecting rod is connected with the wheel assembly through the fixed connecting rod.
The utility model provides an among the changeable mode four-wheel robot, can also have such characteristic: the number of the connecting rod assemblies corresponds to the number of wheels and the number of the motor assemblies in the wheel assembly.
The utility model provides an among the changeable mode four-wheel robot, can also have such characteristic: the motor assembly comprises four motors which are respectively arranged at four corners in the vehicle body.
The utility model provides an among the changeable mode four-wheel robot, can also have such characteristic: the wheel assembly comprises four wheels, and the four wheels are respectively connected with the motor assembly through connecting rod assemblies.
The beneficial effects of the utility model reside in that:
the utility model discloses a four-wheel robot with changeable working modes, which comprises a vehicle body, a motor component, a connecting rod component and a wheel component, wherein the connecting rod component comprises an active connecting rod, a gear set and a passive connecting rod, one end of the active connecting rod is connected with the motor component, and the other end is connected with the gear set; one end of the driven connecting rod is connected with the wheel assembly, and the other end of the driven connecting rod is connected with the gear set. Based on this four-wheeled robot of changeable mode, realize the initiative through motor element and hang to realize the even running of robot, realize the shock attenuation. In addition, through the connecting rod structure, the front wheels and the rear wheels can be kept in a vertical direction under any condition (rising or lowering), so that the requirement on control is reduced, and the opposite adaptability of the robot is easier to realize. In addition, the connecting rod structure is mechanical, the structure of the mechanism is simple, the universality is high, and the same structure of four wheel trains can be realized.
In addition, the connecting rod assembly further comprises a transmission connecting rod and a four-point connecting rod, the transmission connecting rod and the driven connecting rod are both connected with the four-point connecting rod, and the driving of the driving connecting rod to the driven connecting rod is achieved through the four-point connecting rod and the gear set.
Drawings
Fig. 1 is a schematic structural diagram of a four-wheeled robot with multiple variable working modes in the embodiment;
fig. 2 is a schematic structural view of the link assembly in the present embodiment.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 2, the multi-variable working mode four-wheel robot of the present embodiment includes a vehicle body 10, a motor assembly, a connecting rod assembly, and a wheel assembly.
The vehicle body 10 is a rectangular frame, and the inside of the frame is an accommodating space capable of being used for carrying articles.
The motor assembly comprises four motors 20, the wheel assembly comprises four wheels 40, and the number of the connecting rod assemblies is equal to that of the motors 20 and the wheels 40 of the motor assembly and is 4.
The four motors 20 are respectively arranged at four positions close to the corners in the vehicle body 10, and output shafts of the four motors 20 extend out of the vehicle body 10. Two wheels 40 of the four wheels 40 are provided on the front side of the vehicle body 10 as front wheels of the four-wheel robot, and the other two wheels 40 are provided on the rear side of the vehicle body 10 as rear wheels of the four-wheel robot.
Each set of link assemblies is connected to the motor 20 and the wheel 40 in the same manner, and one set of link assemblies is taken as an example and is explained in detail below.
The linkage assembly includes a mounting plate 31, a drive link 32, a drive link 33, a four-point link 34, a gear set, a driven link, and a fixed link 35. The gear set includes a first gear 36 and a second gear 37. The passive links include a first passive link 38 and a second passive link 39.
The mounting plate 31 is correspondingly arranged outside the vehicle body 10 corresponding to the position of the motor 20. The mounting plate 31 is provided with a plurality of through holes. The output shaft of the motor 20 can protrude outward from the through hole.
One end of the driving link 32 is connected to an output shaft of the motor 20 and can be driven by the motor 20 to rotate, and the other end is connected to a central shaft of the first gear 36.
One end of the transmission link 33 is connected to the through hole of the mounting plate 31 through a rotating shaft 50 and can rotate around the connection point with the mounting plate 31, and the other end is rotatably connected to the four-point link 34.
Four through holes are arranged on the four-point connecting rod 34, wherein two through holes are arranged on one side and are close to each other; the other two through holes are arranged on the other side and are mutually arranged. The two through holes close to each other are respectively connected with the central shafts of the first gear 36 and the second gear 37 in a rotating way. Two through holes of the mutual principle are respectively and rotatably connected with the other end of the transmission connecting rod 33 and the second driven connecting rod 37.
The four through holes of the four-point connecting rod 34 are connected in a rotating way, and the first gear 36, the second gear 37, the transmission connecting rod 33 and the second driven connecting rod 39 can rotate around the connecting points.
The first gear 36 and the second gear 37 mesh with each other.
The fixed connecting rod 35 is a rectangular connecting rod, the middle of the connecting rod is of a hollow structure, and connecting holes are formed in the four corners of the connecting rod. The connecting hole on one corner is fixedly connected with the wheel 40, and two connecting holes adjacent to the connecting hole are respectively and rotatably connected with the first driven connecting rod 38 and the second driven connecting rod 39.
One end of the first passive link 38 is rotatably connected to the central axis of the second gear 37, and the other end is rotatably connected to the connection hole of the fixed link 35.
One end of the second passive link 39 is rotatably connected to the through hole of the four-point link 34, and the other end is rotatably connected to the connection hole of the fixed link 35.
The connection points of the first passive link 38 and the second passive link 39 to the fixed link 35 are located on the diagonal line on the fixed link 35.
The working principle of the four-wheeled robot with changeable working modes is as follows:
when the motor 20 rotates, the driving connecting rod 32 is driven to rotate, and the transmission connecting rod 33 follows up; therefore, the first driven link 38 is driven to rotate along with the meshing rotation of the first gear 36 and the second gear 37, and the second driven link 39 follows up, so that the heights of the wheel train of the robot and the vehicle body 10 are increased and decreased.
In addition, the stable work under various modes can be realized through the matching of the heights of different gear trains according to the actual situation.
When the front wheel of the four-wheel robot with the changeable working modes is a driven wheel, the front wheel can be a wheat wheel, an omnidirectional wheel, and the like, and when the rear wheel is a driving wheel. At the moment, the rear wheel is in rear drive, and the differential steering of the rear wheels can be realized; when the front wheel is a wheat wheel or an omnidirectional wheel, the front wheel can be steered without leaving the ground, and when the front wheel is other wheels, the front wheel leaves the ground optimally, so that the front wheel cannot be abraded with the ground. The mode is also used when the front wheel is a driving wheel and the rear wheel is a driven wheel; in the same way. When the front wheels meet the concave-convex surface, the front wheels can be lifted or lowered from the ground simultaneously, and the rear wheels adapt to the ground to run or one wheel can run smoothly from the ground. When necessary, the front wheel is lifted, and the rear wheel can realize the rear wheel jumping function under the action of the swing motor.
In addition, when the front wheel and the rear wheel are driven, the four-wheel drive mode is adopted; when the steering wheels are all omni-directional wheels, the opposite differential steering can be realized; when the wheat wheel is used, the difference and the transverse movement can be realized; in the case of a normal wheel, it is preferable that the front wheel or the rear wheel is lifted off to achieve steering. When encountering the concave-convex surface, the front wheel and the rear wheel can be freely lifted or lowered, the normal operation of the vehicle body can be kept as long as the two wheels are kept grounded, and the vehicle can climb stairs under the condition of continuous steps. When necessary, the front wheel is lifted, and the rear wheel can realize the rear wheel jumping function under the action of the swing motor; this function is equally applicable to the rear wheel remaining off the ground.
Moreover, the four-wheel robot can also realize heavy-load operation; when the vehicle runs on the conventional ground, when the driving connecting rod is parallel to the vehicle body, the motor does not output at the moment, the force arm and the vehicle body are integrated into a whole, and the whole vehicle is in a fixed height mode; in this case, the capability of excessive unevenness is reduced. In addition, the all-terrain walking with a certain load can be realized during four-wheel drive, and the capability of passing through a concave-convex surface is higher.
According to the four-wheeled robot with the changeable working modes, the four-wheeled robot comprises a vehicle body, a motor assembly, a connecting rod assembly and a wheel assembly, wherein the connecting rod assembly comprises an active connecting rod, a gear set and a passive connecting rod, one end of the active connecting rod is connected with the motor assembly, and the other end of the active connecting rod is connected with the gear set; one end of the driven connecting rod is connected with the wheel assembly, and the other end of the driven connecting rod is connected with the gear set. Based on this four rounds of robots of changeable mode, realize the initiative through electrical component and hang to realize the even running of robot, realize the shock attenuation. In addition, through the connecting rod structure, the front wheels and the rear wheels can be kept in the vertical direction under any condition (lifting or lowering), so that the requirement on control is reduced, and the opposite adaptability of the robot is easier to realize. And the connecting rod structure is mechanical, the structure of the mechanism is simple, the universality is high, and the same structure can be applied to four wheel trains.
In addition, the connecting rod assembly further comprises a transmission connecting rod and a four-point connecting rod, the transmission connecting rod and the driven connecting rod are both connected with the four-point connecting rod, and the driving of the driving connecting rod to the driven connecting rod is achieved through the four-point connecting rod and the gear set.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their full equivalents, the present application is intended to include such modifications and variations.
Claims (10)
1. A changeable working mode four-wheeled robot, comprising:
a vehicle body, a front wheel and a rear wheel,
a motor assembly disposed within the body;
the connecting rod assembly is connected with the motor assembly;
the wheel assembly is connected with the connecting rod assembly;
wherein the connecting rod component comprises a driving connecting rod, a gear set and a driven connecting rod,
one end of the driving connecting rod is connected with the motor component, the other end of the driving connecting rod is connected with the gear set,
one end of the driven connecting rod is connected with the wheel assembly, and the other end of the driven connecting rod is connected with the gear set.
2. The multivariable working mode four-wheeled robot according to claim 1, wherein:
the connecting rod assembly further comprises a mounting plate,
the mounting panel sets up the automobile body is external with the motor corresponds the position department.
3. The polytropic mode of operation four-wheeled robot of claim 2, wherein:
one end of the driving connecting rod is connected with an output shaft of the motor assembly through the mounting plate.
4. The multivariable working mode four-wheeled robot of claim 3, wherein:
the connecting rod assembly further comprises a transmission connecting rod and a four-point connecting rod,
one end of the transmission connecting rod is connected with the vehicle body through the mounting plate, and the other end of the transmission connecting rod is connected with the four-point connecting rod.
5. The multivariable working mode four-wheeled robot of claim 4, wherein:
the passive connecting rod comprises a first passive connecting rod and a second passive connecting rod,
one end of the first passive connecting rod is connected with the gear set, the other end of the first passive connecting rod is connected with the wheel assembly,
one end of the second passive connecting rod is connected with the wheel assembly, and the other end of the second passive connecting rod is connected with the four-point connecting rod.
6. The multivariable working mode four-wheeled robot according to claim 1, wherein:
the gear set includes a first gear and a second gear,
the first gear is connected with the driving connecting rod,
the second gear is connected with the driven connecting rod and meshed with the first gear.
7. The polytropic mode of operation four-wheeled robot of claim 1, wherein:
the connecting rod assembly further comprises a fixed connecting rod,
the driven connecting rod is connected with the wheel assembly through the fixed connecting rod.
8. The polytropic mode of operation four-wheeled robot of claim 1, wherein:
the number of the connecting rod assemblies corresponds to the number of the wheels in the wheel assembly and the number of the motor assemblies.
9. The polytropic mode of operation four-wheeled robot of claim 1, wherein:
the motor assembly comprises four motors, and the four motors are respectively arranged at four corners in the vehicle body.
10. The polytropic mode of operation four-wheeled robot of claim 1, wherein:
the wheel assembly comprises four wheels, and the four wheels are respectively connected with the motor assembly through the connecting rod assemblies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222649518.0U CN218317006U (en) | 2022-10-09 | 2022-10-09 | Four-wheel robot with variable working modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222649518.0U CN218317006U (en) | 2022-10-09 | 2022-10-09 | Four-wheel robot with variable working modes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218317006U true CN218317006U (en) | 2023-01-17 |
Family
ID=84823869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222649518.0U Active CN218317006U (en) | 2022-10-09 | 2022-10-09 | Four-wheel robot with variable working modes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218317006U (en) |
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2022
- 2022-10-09 CN CN202222649518.0U patent/CN218317006U/en active Active
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