CN219927834U - Robot - Google Patents
Robot Download PDFInfo
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- CN219927834U CN219927834U CN202321094086.XU CN202321094086U CN219927834U CN 219927834 U CN219927834 U CN 219927834U CN 202321094086 U CN202321094086 U CN 202321094086U CN 219927834 U CN219927834 U CN 219927834U
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- robot
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- main body
- wheel
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- 230000007246 mechanism Effects 0.000 claims abstract description 71
- 238000004891 communication Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 230000009191 jumping Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The utility model relates to the technical field of robots, and discloses a robot, which comprises: a main body; leg components are respectively arranged at two sides of the main body, and each leg component comprises a leg motor, a first upper leg mechanism, a second upper leg mechanism and a lower leg mechanism; the wheel mechanism comprises a wheel motor and wheels. The robot provided by the utility model has the multifunction of legs and the rapid and smooth mobility of wheels on a flat ground.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a robot.
Background
The motions of a ground robot can be roughly divided into two main fields: leg-based and foot-based or wheel-based. Leg-based and foot-based robots are able to overcome some stairways or slippery terrain, but they typically require a significant amount of time to perform these complex tasks. Wheel-based robots can move quickly on flat ground, but they are often unable to handle rough terrain, such as rough terrain and small obstacles.
For the two tasks of moving quickly and smoothly on flat ground and overcoming obstacles dynamically, most ground robots are designed based primarily on accomplishing one of them, but neglecting their performance on the other task.
Disclosure of Invention
The present utility model has been made to solve the above problems, and provides a robot having versatility of legs and rapid and smooth mobility of wheels on a flat ground.
The present utility model provides a robot comprising:
a main body;
the leg assembly is respectively arranged at two sides of the main body and comprises a leg motor, a first upper leg mechanism, a second upper leg mechanism and a lower leg mechanism, and the leg motor is arranged on the main body;
the lower end of the first upper leg mechanism is hinged and connected with the lower leg mechanism through a shaft rotating, and the upper end of the first upper leg mechanism is connected with the output end of the leg motor;
the lower end of the second upper leg mechanism is hinged and connected with the lower leg mechanism, and the upper end of the second upper leg mechanism is hinged and connected with the main body;
the first upper leg mechanism is on one side of the second upper leg mechanism;
the wheel mechanism comprises a wheel motor and wheels, wherein the wheel motor is arranged at the lower end of the lower leg mechanism, and the wheels are connected with the output ends of the wheel motor.
Preferably, the body comprises at least one layer of platform.
Preferably, the leg assembly further comprises a torsion spring connected to the lower end of the first upper leg mechanism and the lower leg mechanism, respectively.
Preferably, the main body is provided with a communication module and a control module.
Preferably, install the module of making a video recording, report the module, survey the module and locate the module in the main part.
Preferably, the main body is provided with a biaxial holder, and the camera module is arranged on the biaxial holder.
Preferably, the wheel mechanism further comprises an encoder connected to the output of the wheel motor, the encoder being configured to detect the rotation angle of the wheel motor.
The utility model has the following beneficial effects:
1. the first upper leg mechanism, the second upper leg mechanism and the lower leg mechanism of the leg assembly form a three-bar mechanism so as to realize the multi-functionalities of telescoping legs and the like, and meanwhile, the robot can realize the rapid and smooth mobility on a flat ground through the wheels of the leg assembly, thereby combining the two performances of rapidly and smoothly moving on the flat ground and dynamically overcoming obstacles.
2. The torsion elastic piece of the leg component can provide supporting force for the whole robot and strengthen elastic force formed when the legs stretch.
3. The robot provided by the utility model can realize a blind guiding function based on the camera module, the broadcasting module, the detection module and the positioning module, and can perform remote interaction with the wearing device based on the communication module.
4. The robot provided by the utility model can realize closed-loop control of the moving speed based on the encoder of the wheel mechanism.
Drawings
Fig. 1 is an isometric view of a robot provided by an embodiment of the present utility model;
fig. 2 is a front view of a robot provided by the embodiment of the present utility model;
fig. 3 is a right side view of a robot provided by the implementation of the present utility model.
Reference numerals:
1. a main body; 2. a leg motor; 3. a first upper leg mechanism; 4. a second upper leg mechanism; 5. a lower leg mechanism; 6. a wheel motor; 7. a wheel; 8. an encoder.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. 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.
The technical scheme of the utility model is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
Example 1
As shown in fig. 1-3, the present embodiment provides a robot for blind guiding functions.
The robot includes:
a main body 1. In this embodiment, the main body 1 is a double-deck platform for loading each functional module in layers. Specifically, the lower layer platform is loaded with a FOC control board and a battery, the upper layer platform is loaded with an ESP32 chip, a microcomputer, a laser radar and a two-axis holder, and a binocular camera is installed on the two-axis holder.
In other embodiments, the main body 1 may be configured, not limited to, basket-shaped, cage-shaped, or the like, or a loading manipulator to fit different application scenarios.
Leg components, in this embodiment, two sets of leg components are provided, which are respectively provided on both sides of the main body 1, for performing actions such as obstacle crossing, jumping, and the like, and for maintaining the stability of the robot as a whole on the ground.
The leg assembly includes a leg motor 2, a first upper leg mechanism 3, a second upper leg mechanism 4, and a lower leg mechanism 5, and the leg motor 2 is mounted on both sides of the body 1.
The upper end of the first upper leg mechanism 3 is connected with the output end of the leg motor 2. The lower ends of the first upper leg mechanism 3 and the second upper leg mechanism 4 are respectively and rotatably connected with the lower leg mechanism 5 in a shaft hinged manner, and the upper end of the second upper leg mechanism 4 is rotatably connected with the main body 1 in a shaft hinged manner. The first upper leg mechanism 3 is on one side of the second upper leg mechanism 4. The first upper leg mechanism 3, the second upper leg mechanism 4, and the lower leg mechanism 5 form a three-bar mechanism. Under the drive of corresponding shank motor 2, this three pole mechanism can independently extend and shrink to make the wheel of installing in the bottom carry out the rectilinear motion that is approximately perpendicular to ground, robot whole focus keeps on this straight line, can avoid main part 1 to take place the upset at flexible process, thereby realizes the stable equilibrium of main part 1 and the function module of loading on it.
The leg part component adopts a three-rod mechanism, so that not only can the height adjustment be realized, but also the following advantages are realized:
1. the method is simple: easy to manufacture and maintain.
2. Stabilization: the three-bar mechanism has higher stability and can keep the stability of the legs in operation.
3. Flexible: can move in three dimensions, and is convenient for the telescopic adjustment of legs.
4. High precision: the three-rod mechanism has higher precision and can accurately adjust the angle between the rod pieces.
5. High speed: because the rod piece is shorter, the three-rod mechanism is fast in adjusting speed, and is suitable for scenes needing high-speed response.
6. Low cost: compared with other robot structures, the three-rod mechanism is low in manufacturing cost and suitable for a cost-sensitive scene.
In this embodiment, the leg assembly further includes a torsion elastic member connected to the lower end of the first upper leg mechanism 3 and the lower leg mechanism 5, respectively, and the torsion elastic member can provide a supporting force to the whole robot, reduce the control cost of the leg motor and enhance the elasticity formed when the legs are extended and retracted, thereby improving the jumping height of the robot (to overcome the obstacle).
The wheel mechanism comprises a wheel motor 6 and a wheel 7, wherein the wheel motor 6 is arranged at the lower end of the lower leg mechanism 5, and the wheel 7 is connected with the output end of the wheel motor 6. The wheels 7 are used to achieve a fast, smooth movement of the robot on a flat ground.
Meanwhile, the wheel mechanism is also used for being matched with a three-rod mechanism, and in the telescopic process, the whole gravity center of the robot is kept right above the wheel 7 through movement of the wheel 7, so that the robot is prevented from toppling over.
The FOC control board can trigger a pre-defined jump sequence, and the jump action of the robot is realized and the robot falls to the ground smoothly by controlling the expansion and contraction of the legs to simulate the spring so as to accumulate and release forward momentum. Meanwhile, different control parameters are adopted according to different jump scenes, such as in-situ jump, jump in running, jump up steps and the like.
Based on the blind guiding purpose of the robot, an ESP32 chip and a microcomputer are installed on the main body 1, and a positioning function is realized by connecting a GPS. When the user inputs the destination (through the wearing device), the microcomputer generates a travel route to guide the user to go.
A lidar (not shown) is mounted on the main body 1 for scanning the surrounding environment and obstacles and modeling on a microcomputer, guiding the user to avoid adverse terrain during traveling, and traveling along a flat route.
The main body 1 is provided with a two-axis cradle head (not shown), and the two-axis cradle head is provided with a binocular camera (not shown), so that the binocular camera always points to a user to monitor the position and surrounding conditions of the user, such as the approach of other objects.
The main body 1 is provided with a speaker (not shown), and when an emergency situation exists around the user, the user can prompt voice in time.
The robot is capable of remotely interacting with a user's wearable device, such as a wristwatch, using the communication function of the ESP32 chip. The user can give a voice instruction to the robot through the wearing device to enable the robot to perform corresponding actions, and the robot can realize feedback through the wearing device, such as enabling the wristwatch to vibrate in various intensities and modes or performing voice prompt. For example, the wrist watch is worn by both hands of the user, when the robot advances, the wrist watch on both hands starts vibrating, and when the robot needs to guide leftward movement, the left wrist watch increases the strength of vibration, and in this way, the advancing direction of the blind person is corrected.
The wheel mechanism further comprises an encoder 8, the encoder 8 is connected with the output end of the wheel motor 6, the encoder 8 is used for detecting the rotation angle of the wheel motor 6 and feeding back information to the FOC control board, so that the moving speed of the robot is controlled in a closed loop mode, the robot is matched with the travelling speed of a user, and the distance between the robot and the user is kept by matching with the monitoring of the binocular camera.
The robot can provide excellent blind guiding effect for users and greatly improve accompany performance.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.
Claims (7)
1. A robot, comprising:
a main body;
the leg assembly is respectively arranged at two sides of the main body and comprises a leg motor, a first upper leg mechanism, a second upper leg mechanism and a lower leg mechanism, and the leg motor is arranged on the main body;
the lower end of the first upper leg mechanism is hinged and connected with the lower leg mechanism through a shaft rotating, and the upper end of the first upper leg mechanism is connected with the output end of the leg motor;
the lower end of the second upper leg mechanism is hinged and connected with the lower leg mechanism, and the upper end of the second upper leg mechanism is hinged and connected with the main body;
the first upper leg mechanism is on one side of the second upper leg mechanism;
the wheel mechanism comprises a wheel motor and wheels, wherein the wheel motor is arranged at the lower end of the lower leg mechanism, and the wheels are connected with the output ends of the wheel motor.
2. The robot of claim 1, wherein the body comprises at least one layer of platform.
3. The robot of claim 1 wherein the leg assembly further comprises a torsion spring connected to a lower end of the first upper leg mechanism and the lower leg mechanism, respectively.
4. The robot of claim 1, wherein the body has a communication module and a control module mounted thereon.
5. The robot of claim 1, wherein the main body is provided with a camera module, a broadcasting module, a detecting module and a positioning module.
6. The robot of claim 5, wherein said body has a two-axis head mounted thereon, and said camera module is mounted thereon.
7. The robot of claim 1, wherein the wheel mechanism further comprises an encoder coupled to an output of the wheel motor, the encoder configured to detect a rotational angle of the wheel motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321094086.XU CN219927834U (en) | 2023-05-09 | 2023-05-09 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321094086.XU CN219927834U (en) | 2023-05-09 | 2023-05-09 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219927834U true CN219927834U (en) | 2023-10-31 |
Family
ID=88502217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321094086.XU Active CN219927834U (en) | 2023-05-09 | 2023-05-09 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219927834U (en) |
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2023
- 2023-05-09 CN CN202321094086.XU patent/CN219927834U/en active Active
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