CN220096500U - Robot motion control assembly - Google Patents

Abstract

The utility model discloses a robot motion control assembly, which relates to the technical field of robots and comprises a robot body, a base shell and a moving assembly, wherein a fixed plate is arranged at the lower end of the base shell, a driving assembly for driving the lower half part of the moving assembly to rotate is arranged on the moving assembly, one end of a rotating seat is rotatably clamped on the fixed plate, the rotating seat is formed by two assemblies of a rolling shaft and a rotating disc, the rotating seat is rotatably clamped on the rolling shaft, the rotating seat is connected with the moving assembly for driving the moving assembly to rotate, a driving device is movably clamped on the robot body and is used for driving the base shell to rotate, the driving device comprises a rotating shaft, one end of the rotating shaft is fixedly connected with the base shell, the free end of the rotating shaft penetrates through a fixed seat and is connected with a motor driving end, and a clamping block is arranged at one end of the fixed seat far away from the rotating shaft, so that the height of the robot body can be reduced, the moving stability is improved, and the standing stability of the robot body can be stably supported.

Description

Robot motion control assembly

Technical Field

The utility model relates to the technical field of robots, in particular to a robot motion control assembly.

Background

The quadruped robot is a bionic robot which simulates the motion of quadruped animals, and in a simple way, the structure of the robot comprises a trunk and four legs positioned in four directions of the trunk, and each leg comprises thighs and calves.

In the prior art, the utility model patent with the publication number of CN218489779U provides a robot movement structure and a robot, wherein the robot movement structure comprises a base shell, a connecting piece, a driving component, a control component and a movement component; the base shell comprises a connecting part and a plurality of fixing parts, one end of the connecting piece is suitable for being fixedly connected with the robot trunk, and the other end of the connecting piece is movably connected with the connecting part; the driving assembly comprises a plurality of driving pieces, any one of which is connected with the fixing part so as to enable the driving piece to synchronously move with the base shell, wherein the driving end of one driving piece is connected with the connecting piece so as to drive the base shell to rotate relative to the connecting piece; the control component is arranged in the base shell and is electrically connected with the driving piece, the movement component is connected with the driving component, and the movement component is configured to be driven by the driving component to move.

This robot motion structure and robot, third driving piece establish in basic shell below, and then increased the ground clearance of robot truck, influenced the stability of removal, the driving piece does not be equipped with locking device, has influenced the stability that the robot stood, and we propose a robot motion control subassembly for this purpose and are used for solving above-mentioned problem.

Disclosure of Invention

The present utility model is directed to a robot motion control assembly, which solves the above-mentioned problems.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a robot motion control subassembly, includes robot body, basal shell and moving assembly, establishes the fixed plate at basal shell lower extreme, is equipped with on the moving assembly and is used for driving moving assembly lower half pivoted drive assembly, rotate joint rotation seat one end on the fixed plate, the rotation seat comprises roller bearing and carousel, the rotation seat carousel rotates the joint on the roller bearing, the rotation seat is connected and is used for driving the moving assembly and rotates, the last removal joint of robot body has drive arrangement, drive arrangement is used for driving basal shell rotation, drive arrangement includes the pivot of one end fixed connection basal shell, pivot free end rotates and runs through the fixing base and connect the motor drive end, pivot one end is kept away from to the fixing base and is equipped with the fixture block, threaded connection has the bolt that is used for restricting the fixture block and breaks away from the robot body on the fixture block, all be equipped with the screens device on rotation seat and the drive arrangement.

Preferably, the clamping device is provided with two groups of clamping devices respectively used for limiting the rotation of the rotating shaft and the rolling shaft.

Preferably, the clamping device comprises a telescopic rod arranged on the base shell, the bottom end of the telescopic rod is connected with a clamping plate for pushing the clamping plate to lift, and the clamping plate is movably clamped into the gear teeth to be used for limiting the rolling shaft to rotate.

Preferably, the outer wall of the rotating shaft is provided with gear teeth, the rotating shaft is used for driving the base shell to rotate, and the fixing seat and the clamping block are clamped in from the side wall of the robot body.

Preferably, the motor is arranged in the fixing seat, and the vertical threads of the bolts penetrate through the robot body to be used for movably connecting the clamping blocks.

Preferably, the other group of telescopic links is connected to the side wall of the fixed seat, the two groups of clamping plates are slidably clamped on the side wall of the turntable and the side wall of the fixed seat, and the two groups of gear teeth are respectively arranged on the rolling shaft and the rotating shaft.

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

1. the roller is driven to rotate, so that the moving assembly rotates, and then the driving assembly is started to rotate the lower half part of the assembly, which is the prior art; promote the fixing base, move the card with fixing base and fixture block and go into robot body lateral wall, then rotate the bolt, the bolt removes threaded connection fixture block, accomplishes the installation work of basal shell, then driving motor rotates, and motor drive pivot rotates, and then makes basal shell rotate, and basal shell rotates makes moving assembly and drive assembly swing through fixed plate and rotation seat for can reduce the height of robot body, improve the stability of removal.

2. When needs restriction pivot or roller bearing rotate, the drive telescopic link, telescopic link flexible promotion cardboard goes up and down, and the cardboard free end removes the card and goes into the teeth of a cogwheel, and the restriction teeth of a cogwheel rotate, and then restriction pivot and roller bearing rotate for can the steady support robot body, improve the stability that the robot body stood.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic diagram of the structure of the driving device according to the present utility model;

FIG. 3 is a schematic diagram of the structure of the detent device according to the present utility model.

In the figure: 1. a robot body; 2. a base shell; 3. a fixing plate; 4. a rotating seat; 5. a moving assembly; 6. a drive assembly; 7. a driving device; 71. a rotating shaft; 72. a fixing seat; 73. a motor; 74. a clamping block; 75. a bolt; 8. a clamping device; 81. a telescopic rod; 82. a clamping plate; 83. gear teeth.

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. 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.

Referring to fig. 1-3, a robot motion control assembly includes a robot body 1, a base shell 2 and a moving assembly 5, a fixed plate 3 disposed at the lower end of the base shell 2, a driving assembly 6 disposed on the moving assembly 5 and used for driving the lower half of the moving assembly 5 to rotate, a driving machine of the driving assembly 6 disposed at the bottom end of the base shell 2, a rotating seat 4 disposed on the fixed plate 3 and connected with one end of the rotating seat 4, a roller and a turntable, the roller connected with the top end of the moving assembly 5, a roller motor disposed on the fixed plate 3, the turntable top end connected with the base shell 2, the turntable 4 rotatably connected with the roller, the rotating seat 4 connected with the moving assembly 5, a driving device 7 disposed on the robot body 1 and connected with the moving assembly 5, the driving device 7 for driving the base shell 2, the driving device 7 including a rotating shaft 71 with one end fixedly connected with the base shell 2, a free end of the rotating shaft 72 rotatably penetrating through a fixing seat 72 and connecting with a motor 73, a fixing seat 72 disposed at one end far from the rotating shaft 72, a clamping block 74 disposed on the fixing seat 72, a bolt 75 for limiting the clamping block 72 to be separated from the robot body 1, a gear tooth 83 disposed on the outer wall 71 for driving the fixing seat 72 and a threaded connection of the rotating seat 74 with the robot body 1, and the driving device 74 disposed in the fixing seat 72.

The roller is driven to rotate, so that the moving component 5 rotates, and then the driving component 6 is started, so that the lower half part of the component 5 rotates, which is the prior art; promote fixing base 72, move the card into robot body 1 lateral wall with fixing base 72 and fixture block 74, then rotate bolt 75, bolt 75 removes threaded connection fixture block 74, accomplish the installation work of base shell 2, then driving motor 73 rotates, motor 73 drive pivot 71 rotates, and then make base shell 2 rotate, base shell 2 rotates and makes moving assembly 5 and drive assembly 6 swing through fixed plate 3 and rotation seat 4 for can reduce the height of robot body 1, improve the stability of removal.

The rotating seat 4 and the driving device 7 are respectively provided with a clamping device 8, the clamping devices 8 are respectively provided with two groups of clamping devices for limiting the rotation of the rotating shaft 71 and the rolling shaft (the clamping devices 8 can be respectively arranged in a third group, a telescopic rod 81 in the third group of clamping devices 8 is arranged on the upper half part of the moving assembly 5, a clamping plate 82 is in sliding clamping connection with the upper half part of the moving assembly 5, gear teeth are arranged on the upper and lower parts of the moving assembly and are respectively arranged on a rotating connecting shaft), the clamping devices 8 comprise telescopic rods 81 arranged on the base shell 2, the bottom ends of the telescopic rods 81 are connected with the clamping plates 82 for pushing the clamping plates 82 to lift, the clamping plates 82 are respectively clamped into gear teeth 83 for limiting the rotation of the rolling shaft, the other group of the telescopic rods 81 are connected with the side wall of the fixed seat 72, the two groups of the clamping plates 82 are respectively arranged on the side wall of the rotating disc and the side wall of the fixed seat 72, and the two groups of the gear teeth 83 are respectively arranged on the rolling shaft and the rotating shaft 72.

When the rotation of the rotating shaft 71 or the rolling shaft is required to be limited, the telescopic rod 81 is driven, the telescopic rod 81 is used for telescopically pushing the clamping plate 82 to lift, the free end of the clamping plate 82 is movably clamped into the gear teeth 83, the gear teeth 83 are limited to rotate, the rotation of the rotating shaft 71 and the rolling shaft is further limited, the robot body 1 can be stably supported, and the standing stability of the robot body 1 is improved.

Working principle: the utility model drives the rolling shaft to rotate, so that the moving component 5 rotates, and then the driving component 6 is started, so that the lower half part of the component 5 rotates, which is the prior art; the fixed seat 72 is pushed, the fixed seat 72 and the clamping block 74 are movably clamped into the side wall of the robot body 1, then the bolt 75 is rotated, the bolt 75 is movably connected with the clamping block 74 in a threaded manner, the installation work of the base shell 2 is completed, then the driving motor 73 is rotated, the motor 73 drives the rotating shaft 71 to rotate, then the base shell 2 is rotated, the base shell 2 is rotated to enable the moving assembly 5 and the driving assembly 6 to swing through the fixing plate 3 and the rotating seat 4, the height of the robot body 1 can be reduced, the moving stability is improved, when the rotating shaft 71 or the rolling shaft is required to rotate, the telescopic rod 81 is driven, the telescopic rod 81 is telescopically pushed to lift the clamping plate 82, the free end of the clamping plate 82 is movably clamped into the gear teeth 83, the rotation of the gear teeth 83 is limited, the rotating shaft 71 and the rolling shaft are further limited to rotate, and the robot body 1 can be stably supported, and the standing stability of the robot body 1 is improved.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The utility model provides a robot motion control subassembly, includes robot body (1), base shell (2) and remove subassembly (5), establishes fixed plate (3) at base shell (2) lower extreme, is equipped with on removing subassembly (5) and is used for driving removal subassembly (5) lower half pivoted drive assembly (6), its characterized in that: the utility model provides a fixed plate (3) is gone up and is rotated joint rotation seat (4) one end, rotate seat (4) and constitute by roller bearing and carousel, rotate seat (4) carousel rotation joint on the roller bearing, rotate seat (4) and connect and remove subassembly (5) and be used for driving and remove subassembly (5) rotation, it has drive arrangement (7) to remove the joint on robot body (1), drive arrangement (7) are used for driving basal shell (2) rotation, drive arrangement (7) include pivot (71) of one end fixed connection basal shell (2), pivot (72) free end rotation runs through fixing base (72) and connects motor (73) drive end, fixing base (72) are kept away from pivot (72) one end and are equipped with fixture block (74), threaded connection has bolt (75) that are used for restricting fixture block (72) and break away from robot body (1) on fixture block (72), all be equipped with screens device (8) on rotation seat (4) and drive arrangement (7).

2. The robotic motion control assembly of claim 1, wherein: the clamping device (8) is provided with two groups for limiting the rotation of the rotating shaft (71) and the rolling shaft.

3. The robotic motion control assembly of claim 2, wherein: the clamping device (8) comprises a telescopic rod (81) arranged on the base shell (2), the bottom end of the telescopic rod (81) is connected with a clamping plate (82) and used for pushing the clamping plate (82) to lift, and the clamping plate (82) is movably clamped into gear teeth (83) and used for limiting the rolling shaft to rotate.

4. The robotic motion control assembly of claim 1, wherein: the outer wall of the rotating shaft (71) is provided with gear teeth (83), the rotating shaft (71) is used for driving the base shell (2) to rotate, and the fixing seat (72) and the clamping block (74) are clamped in from the side wall of the robot body (1).

5. The robotic motion control assembly of claim 1, wherein: the motor (73) is arranged in the fixed seat (72), and the vertical threads of the bolts (75) penetrate through the robot body (1) and are used for moving the connecting clamping blocks (74).

6. A robotic motion control assembly as claimed in claim 3, wherein: the telescopic rod (81) is connected to the side wall of the fixed seat (72) in the other group, the two components of the clamping plate (82) are slidably clamped on the side wall of the turntable and the side wall of the fixed seat (72), and the two groups of gear teeth (83) are respectively arranged on the rolling shaft and the rotating shaft (72).