CN219007976U - Multi-foot mobile platform - Google Patents

Abstract

The utility model relates to the technical field of robots, in particular to a multi-foot mobile platform, which comprises a platform main body, wherein a plurality of multi-foot units are arranged on two sides of the platform main body, each multi-foot unit comprises a rotating shaft and at least two walking support legs with the same structure, the rotating shaft is rotationally connected to the platform main body, through holes for fixing the rotating shaft are formed in a rotating disc, the through holes are eccentrically arranged on the rotating disc, the walking support legs are driven to swing in the rotating process of the rotating disc, the adjacent rotating discs are different, so that the walking support legs of each multi-foot unit can swing in a staggered manner, and the walking support legs are also provided with limiting structures for limiting the swing amplitude of the walking support legs.

Description

Multi-foot mobile platform

Technical Field

The utility model relates to the technical field of robots, in particular to a multi-foot mobile platform.

Background

The existing robot can be divided into a wheeled robot and a crawler robot according to a travelling mechanism, the wheeled robot has the advantages of high speed and stable movement, but has poor adaptability to the terrain, the crawler robot has obstacle crossing capability, and the crawler robot has a complex structure and is heavy.

Disclosure of Invention

In order to solve the problem that a wheeled robot in the prior art has poor terrain adaptability, the utility model provides a multi-foot mobile platform for improving the terrain adaptability.

The technical scheme adopted for solving the technical problems is as follows:

the utility model provides a multi-legged mobile platform, includes the platform main part, platform main part both sides be equipped with a plurality of multi-legged units, multi-legged unit include the walking stabilizer blade that axis of rotation and at least two structures are the same, the axis of rotation rotates to be connected in the platform main part, be equipped with on the rolling disc and be used for the through-hole fixed with the axis of rotation, the through-hole sets up eccentrically on the rolling disc, the rolling disc rotates the in-process and drives the walking stabilizer blade swing, and adjacent rolling disc is concentric for every multi-legged unit's walking stabilizer blade can alternate the swing, the walking stabilizer blade still be equipped with the limit structure who is used for restricting its swing range.

Further, through holes matched with the corresponding rotating discs are formed in the walking support legs, and the rotating discs can rotate relative to the through holes.

Furthermore, the lower end of the walking support leg is provided with walking teeth.

Further, the platform main body be fixed with at least one curb plate, limit structure including fixing the spacing post on the curb plate, the walking stabilizer blade be equipped with the bar hole, the spacing post sets up in the bar hole.

Further, the shape of the limiting column is cylindrical, and the width of the limiting column is matched with the width of the strip-shaped hole.

Further, a transmission gear is fixed on the rotating shaft, an intermediate gear is arranged between adjacent transmission gears, and the transmission gear is meshed with the intermediate gear to realize transmission.

Further, at least one rotation shaft on each side of the platform main body is connected with a driving motor, the driving motors on two sides are symmetrically arranged, mounting plates are fixed on the inner walls of two sides of the platform main body, the driving motors on two sides are respectively fixed on the mounting plates, a cylinder is fixed between the mounting plates on two sides, and the motor is arranged in the cylinder. Therefore, the motor can be protected, the side plate of the platform main body can be supported, and the overall structural strength is improved.

Further, the rotating shaft is a square shaft, and the through hole is a square hole matched with the square shaft.

Further, the number of multi-foot units on each side of the platform body is at least 3.

The beneficial effects are that:

(1) The multi-foot mobile platform adopts a plurality of multi-foot units, and each multi-foot unit comprises at least two walking support legs which swing in a staggered manner, so that the terrain adaptability is improved;

(2) The lower ends of the walking support legs are provided with walking teeth, so that the gripping force is stronger relative to the wheeled robot;

(3) The driving motor symmetry setting of both sides, the driving motor of platform main part both sides inner wall is fixed with the mounting disc, and the driving motor of both sides is fixed respectively on the mounting disc, is fixed with the drum between the mounting disc of both sides, the motor arrange in the drum in, can play the effect of protection motor like this, can support platform main part curb plate simultaneously again, improve overall structure intensity.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is an overall block diagram of a multi-legged mobile platform of the present utility model;

fig. 2 is a view of a structure with a cylinder omitted;

FIG. 3 is a block diagram with one side plate and one walking leg omitted;

FIG. 4 is a side view with one side plate omitted;

fig. 5 is a side view of the side plate and the walking leg of one side of the platform body hidden.

The device comprises a platform body, a platform, a multi-foot unit, a rotating shaft, a walking support leg, 221, a bar-shaped hole, 222, walking teeth, 23, a rotating disc, 3, a side plate, 4, a limit column, 5, a transmission gear, 6, an intermediate gear, 7, a driving motor, 8, a mounting disc, 9 and a cylinder.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the utility model, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present utility model unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present utility model, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present utility model; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present utility model.

As shown in fig. 1 to 5, a multi-foot mobile platform comprises a platform main body 1, wherein a plurality of multi-foot units 2 are arranged on two sides of the platform main body 1, the number of the two sides is consistent, and the number of the multi-foot units 2 on each side is at least 3, so that the multi-foot units 2 can mutually support to adapt to various terrains, each multi-foot unit 2 comprises a rotating shaft 21 and at least two walking support legs 22 with the same structure, the rotating shaft 21 is rotatably connected to the platform main body 1, the lower ends of the walking support legs 22 are provided with walking teeth 222, the walking support legs 22 are rotatably connected with a rotating disc 23, through holes for fixing the rotating shaft 21 are formed in the rotating disc 23, the through holes are eccentrically arranged on the rotating disc 23, the rotating shaft 21 is a square shaft, the through holes are square holes matched with the square shaft, and the walking support legs 22 are driven to swing in the rotating process of the rotating disc 23 because the rotating disc eccentrically rotates, the walking support legs 22 can be arranged on one side of the rotating disc 23, for example, the rotating disc 23 drives the walking support legs 22 to swing, and then the walking support legs 22 swing under the action of gravity; as an embodiment of the present utility model, through holes matched with the corresponding rotating discs 23 are provided on the walking support legs 22, the rotating discs 23 are placed in the through holes, and the rotating discs 23 can rotate relative to the through holes, and the walking support legs 22 are further provided with a limiting structure for limiting the swing amplitude of the walking support legs 22, so that the forward and reverse swing of the walking support legs 22 is driven by the rotating discs 23, and the reciprocating swing is realized, and the adjacent rotating discs 23 are not concentric, so that the walking support legs 22 of each multi-foot unit 2 can swing in a staggered manner.

The platform main body 1 is fixed with at least one side plate 3, and the limit structure includes the spacing post 4 of fixing on the side plate 3, and walking stabilizer blade 22 is equipped with bar hole 221, and spacing post 4 sets up in bar hole 221. Spacing post 4 and bar hole 221 cooperation are equivalent to the swing fulcrum structure of walking stabilizer blade 22, and spacing post 4 can be than the size in bar hole 221 little, and in the swing like this in-process, walking stabilizer blade 22 can follow the rolling disc 23 and rotate, when spacing post 3 touches the boundary in bar hole 221, then walking stabilizer blade 22 and rolling disc 23 relatively rotate, and preferably, the shape of spacing post 4 is cylindrical, and the width adaptation of spacing post 4 and bar hole 221, and in this way, rolling disc 23 and walking stabilizer blade 22 relatively rotate, and rolling disc 23 eccentric rotation turns into the swing of walking stabilizer blade 22.

The rotation shaft 21 is fixed with a transmission gear 5, and an intermediate gear 6 is arranged between adjacent transmission gears 5. At least one rotation shaft 21 on each side of the platform main body 1 is connected with a driving motor 7, the driving motors 7 on two sides are symmetrically arranged, mounting plates 8 are fixed on the inner walls of the two sides of the platform main body 1, the driving motors 7 on two sides are respectively fixed on the mounting plates 8, a cylinder 9 is fixed between the mounting plates 8 on two sides, and the motor is arranged in the cylinder 9.

Working principle:

when the movable platform needs to turn, the motors on two sides can rotate forward or backward, and because the adjacent rotating discs 23 are not concentric, the bar holes 221 at the upper ends of the walking support legs 22 are limited by the limiting columns 4, the walking support legs 22 of each multi-foot unit 2 can swing up and down in a staggered manner, so that walking is realized and different terrains can be adapted.

The present utility model is not limited to the above-mentioned embodiments, and any person skilled in the art, based on the technical solution of the present utility model and the inventive concept thereof, can be replaced or changed within the scope of the present utility model.

Claims (9)

1. A multi-foot moving platform is characterized by comprising a platform main body (1), wherein a plurality of multi-foot units (2) are arranged on two sides of the platform main body (1), each multi-foot unit (2) comprises a rotating shaft (21) and at least two walking support legs (22) with the same structure, the rotating shafts (21) are rotatably connected to the platform main body (1), through holes used for being fixed with the rotating shafts (21) are formed in rotating discs (23), the through holes are eccentrically formed in the rotating discs (23), the walking support legs (22) are driven to swing in the rotating process of the rotating discs (23), the adjacent rotating discs (23) are not concentric, the walking support legs (22) of each multi-foot unit (2) can swing in a staggered mode, and limiting structures used for limiting the swing amplitude of the walking support legs (22) are further arranged.

2. A multi-foot mobile platform according to claim 1, wherein: the walking support legs (22) are provided with through holes matched with the corresponding rotating discs (23), and the rotating discs (23) can rotate relative to the through holes.

3. A multi-foot mobile platform according to claim 1, wherein: the lower ends of the walking support legs (22) are provided with walking teeth (222).

4. A multi-foot mobile platform according to claim 1, wherein: the novel walking platform is characterized in that at least one side plate (3) is fixed on the platform main body (1), the limiting structure comprises a limiting column (4) fixed on the side plate (3), the walking support legs (22) are provided with strip-shaped holes (221), and the limiting column (4) is arranged in the strip-shaped holes (221).

5. A multi-foot mobile platform according to claim 4, wherein: the shape of the limiting column (4) is cylindrical, and the width of the limiting column (4) is matched with the width of the strip-shaped hole (221).

6. A multi-foot mobile platform according to claim 1, wherein: the rotating shaft (21) is fixedly provided with a transmission gear (5), and an intermediate gear (6) is arranged between adjacent transmission gears (5).

7. A multi-foot mobile platform according to claim 1, wherein: at least one rotation shaft (21) on each side of the platform main body (1) is connected with a driving motor (7), the driving motors (7) on two sides are symmetrically arranged, mounting plates (8) are fixed on the inner walls of two sides of the platform main body (1), the driving motors (7) on two sides are respectively fixed on the mounting plates (8), a cylinder (9) is fixed between the mounting plates (8) on two sides, and the motor is arranged in the cylinder (9).

8. A multi-foot mobile platform according to claim 1, wherein: the rotating shaft (21) is a square shaft, and the through hole is a square hole matched with the square shaft.

9. A multi-foot mobile platform according to claim 1, wherein: the number of the multi-foot units (2) on each side of the platform body (1) is at least 3.

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