WO2021056619A1

WO2021056619A1 - Transport robot

Info

Publication number: WO2021056619A1
Application number: PCT/CN2019/111118
Authority: WO
Inventors: 陈文强
Original assignee: 唐山维数科技有限公司
Priority date: 2019-09-27
Filing date: 2019-10-15
Publication date: 2021-04-01
Also published as: CN211388794U

Abstract

A transport robot (100), having a robot body (1), and an electric motor (2), a transmission system (3) and a travel mechanism (4) which are provided on the robot body (1). The robot (100) is provided with a carrying device (300) connected to the robot body (1); the transmission system (3) comprises an output shaft gear (5) connected to an output shaft (20) of the electric motor (2), a main gear (6) connected to the output shaft gear (5), a rotating shaft (7) provided on the main gear (6), and two eccentric members (8) passing through the rotating shaft (7) and provided at two ends (71, 72) of the rotating shaft (7) respectively; the travel mechanism (4) comprises a first connecting rod (41), a second connecting rod (42) and a third connecting rod (43), and when the eccentric members (8) rotate, the first connecting rod (41), the second connecting rod (42) and the third connecting rod (43) are driven to move in a linkage manner; the robot body (1) is displaced under the action of the travel mechanism (4) so as to drive the carrying device (300) to be displaced.

Description

Transport robot

【Technical Field】

The invention relates to a robot, in particular to a transportation robot used for toys or teaching.

【Background technique】

With the development of robotics technology and more and more structural optimizations, toy robots of various styles are not only favored by young people in the high-end teaching aids and toy market, but also can enhance young people’s innovative thinking and practical ability, and early thinking of children Development has also greatly improved and helped. At present, there are problems such as walking coordination and production cost in biped robots.

[Summary of the invention]

The invention provides a transportation robot, which can better solve the problems of robots in the prior art.

According to the present invention, there is provided a transportation robot, and a motor, a transmission system and a walking mechanism arranged on the body, the robot is provided with a carrying device connected to the body; the transmission system includes a motor output shaft connected The output shaft gear, the main gear connected with the output shaft gear, the rotating shaft provided on the main gear, and two eccentric members passing through the rotating shaft are respectively provided at both ends of the rotating shaft, two The eccentric members are symmetrical around the intersection center O of the main gear and the rotating shaft; the walking mechanism includes a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod and The eccentric member is connected, the other end is rotatably connected with the upper end of the second link, one end of the third link is rotatably connected to the body, and the other end is rotatably connected with the upper end of the second link Connection; wherein when the eccentric member rotates, the first connecting rod, the second connecting rod, and the third connecting rod are driven to produce linkage; wherein the body is displaced by the walking mechanism, thereby driving the carrying device to generate displacement .

In one embodiment, the machine body includes a first plate body and a second plate body, the main gear is installed between the first plate body and the second plate body, and the rotating shafts are respectively inserted through On the first board and the second board.

In one embodiment, the transportation robot includes a power supply, and the power supply is fixedly installed on the first board and the second board.

In one embodiment, the first plate body and the second plate body are respectively provided with arm plates, and the arm plates are mounted on the first plate body and the second plate body in a plug-in manner on.

In one embodiment, the carrying device is a two-wheeled vehicle with a seat, the two-wheeled vehicle is provided with a rod, and the rod is connected with the arm plate.

In one embodiment, the transportation robot includes a battery arranged on the two-wheeled vehicle, and a wire is provided on the rod and the arm plate to connect the power source and the motor.

In one embodiment, the two eccentrics are symmetrical around the center O of the intersection of the main gear and the rotating shaft.

In one embodiment, the eccentric member includes a first eccentric member and a second eccentric member, and the first connecting rod is installed between the first eccentric member and the second eccentric member.

In one embodiment, the first link is in the shape of a thigh frame, the second link is in the shape of a calf frame, and the lower end of the second link is hinged with a supporting foot.

The transportation robot in the present invention imitates the movement structure of the human body, and can be used for teaching and research of young robots, and can also be used for children's play, with simple structure and low manufacturing cost.

【Explanation of the drawings】

The drawings described here are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Figure 1 is a schematic diagram of the robot (1);

Figure 2 is a schematic diagram of the robot (two);

Figure 3 is a schematic diagram of the robot (three);

Figure 4 is a schematic diagram of the structure of the transmission system and the walking mechanism (1);

Figure 5 is a schematic diagram of the structure of the transmission system and the walking mechanism (2);

Figure 6 is a schematic diagram of the structure of the transmission system and the walking mechanism (3);

Fig. 7 is an enlarged schematic diagram of area A in Fig. 6;

Figure 8 is a schematic diagram of the transmission system structure (1);

Figure 9 is a schematic diagram of the transmission system structure (2);

Figure 10 is a schematic diagram of the controller;

In the figure: 100 is the body, 200 is the battery, 300 is the carrier, 400 is the smart terminal, 1 is the body, 2 is the motor, 3 is the transmission system, 4 is the traveling mechanism, 5 is the output shaft gear, and 6 is the main gear , 7 is the shaft, 8 is the eccentric part, 9 is the arm plate, 10 is the limit device, 11 is the first plate body, 12 is the second plate body, 13 is the power supply, 14 is the control system, 15 is the controller, 16 It is a communication module, 17 is a speed measurement module, 18 is a magnetic block, and 19 is a Hall sensor.

【detailed description】

Hereinafter, the present invention will be described in detail with reference to the drawings and in conjunction with the embodiments. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other if there is no conflict. All parts in the embodiment can be disassembled into parts, which is convenient for young people to learn the structure and working principle of the robot by installing the robot by themselves.

Figure 1 is a schematic diagram of the robot (1), Figure 2 is a schematic diagram of the robot (2), Figure 3 is a schematic diagram of the robot (3), Figure 4 is a schematic diagram of the transmission system and walking mechanism (1), Figure 5 is the transmission system Figure 6 is a schematic diagram of the transmission system and walking mechanism (3), Figure 7 is an enlarged schematic diagram of area A in Figure 6, Figure 8 is a schematic diagram of the transmission system (1), Figure 9 It is a schematic diagram of the transmission system structure (two), as shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5, Figure 6, Figure 7, Figure 8, and Figure 9:

In the first embodiment, a robot 100 is provided, which has a body 1, and a motor 2, a transmission system 3, and a walking mechanism 4 provided on the body 1.

The body 1 includes a first plate body 11 and a second plate body 12, the plate body is designed in the shape of an upper body of an adult, and the motor 2 is installed on the first plate body 11 or the second plate body 12. The power source 13 used by the motor 2 is a battery 200, the battery 200 is fixedly installed on the body 1, and the electromagnetic 200 is detachable.

As shown in Figure 6, the transmission system 3 includes an output shaft gear 5 connected to the output shaft 20 of the motor 2, a main gear 6 connected to the output shaft gear 5, a rotating shaft 7 arranged on the main gear 6 and passing through the rotating shaft 7. The two eccentric pieces 8 are respectively arranged at the two

ends

71 and 72 of the rotating shaft 7. The two eccentric pieces 8 are symmetrical around the center O of the intersection of the main gear 6 and the rotating shaft 7, with a phase difference of 180°.

As shown in FIGS. 3 and 4, the main gear 6 is installed between the first plate body 11 and the second plate body 12, and the rotating shaft 7 passes through the first plate body 11 and the second plate body 12, respectively. The first plate body 11 and the second plate body 12 are respectively provided with arm plates 9, and the arm plates 9 are installed on the first plate body 11 and the second plate body 12 in a plug-in manner.

As shown in Figure 6, the walking mechanism 4 includes a first link 41, a second link 42 and a third link 43. The first link 41 can be designed in the shape of a thigh frame, and the second link 42 is designed in the shape of a calf frame. , The lower end 422 of the second link 42 can be hingedly connected to the supporting leg 44.

One end 411 of the first link 41 is connected to the eccentric 8, the other end 412 is rotatably connected (such as riveting, hinged, etc.) to the upper end 421 of the second link 42, and one end 431 of the third link 43 is rotatably connected to the body 1, the other end 432 is rotatably connected with the upper end 421 of the second link 42; the eccentric member 8 drives the first link 41, the second link 42 and the third link 43 to generate linkage when the eccentric member 8 rotates.

When the eccentric member 8 rotates, the body 1, the first connecting rod 41, the second connecting rod 42, and the third connecting rod 43 form a four-bar linkage structure, which is flexible in combination and firm in structure, and is used to imitate the knee-lifting movement of humans when walking. Form a simulated motion trajectory, which is equivalent to a human leg.

The robot 100 is equipped with two sets of the above-mentioned walking mechanisms respectively connected to the above-mentioned two eccentric members 8, corresponding to the left and right feet of a person, respectively. During the movement, the left leg mechanism and the right leg mechanism are lifted or downward from the neutral position by the action of the eccentric member, always supported by one leg, and lifted by the other leg, moving forward alternately, so that the robot can walk.

The above-mentioned first connecting rod 41 is installed between the first eccentric member 81 and the second eccentric member 82, the first connecting rod 41 is provided with a circular hole 410, and the second eccentric member 83 passes through the circular hole 410 and is assembled to the first eccentric member. 81 on.

Preferably, as shown in FIGS. 8 and 9, the eccentric member 8 includes a first eccentric member 81 and a second eccentric member 82. The first eccentric member 81 is fixed on the rotating shaft 7, and the second eccentric member 82 is assembled in a detachable manner. On the first eccentric member 81, such as clamping, gluing and so on.

In this embodiment, the first eccentric member 81 is provided with an insertion hole 810, the second eccentric member 82 is provided with an insertion pin 821, and the second eccentric member 82 is inserted into the insertion hole 810 on the first eccentric member 81 through the insertion pin 821. There are three sockets 810 and three corresponding plug pins 820. The sockets 810 and the plug pins 820 are arranged in the inner circle formed by the annular groove 410. It can also be designed such that the first eccentric member 81 is provided with a plug pin, and the second eccentric member 82 is provided with a socket.

In the second embodiment, a walking robot 100 is provided, which has a body 1, and a motor 2, a transmission system 3, and a walking mechanism 4 provided on the body 1. The body 1, the motor 2 and the transmission system 3 are the same as or partially the same as the solutions in the first embodiment, and are combined with each other, which will not be repeated here.

As shown in Figure 7, the walking mechanism 4 includes a first link 41, a second link 42 and a third link 43. The first link 41 can be designed in the shape of a thigh frame, and the second link 42 is designed in the shape of a calf frame. , The lower end 422 of the second link 42 can be hingedly connected to the supporting leg 44.

One end 411 of the first link 41 is connected to the eccentric 8, and the other end 412 is rotatably connected (such as riveting, hinged, etc.) to the upper end 421 of the second link 42. One end 431 of the third link 43 is rotatably connected to the first link. On the protrusion 111 of a plate 11, the other end 432 is rotatably connected with the upper end 421 of the second connecting rod 42; wherein the eccentric member 8 rotates to drive the first connecting rod 41, the second connecting rod 42 and the third connecting rod 43 to produce Gearing.

The first plate body 11, the first connecting rod 41, the second connecting rod 42 and the third connecting rod 43 constitute four connecting rods, which are flexible in combination and strong in structure. They are used to imitate the knee-lifting motion of human walking and form a simulated motion track. .

As shown in FIG. 7, the first connecting rod 41 is installed between the first eccentric member 81 and the second eccentric member 82. The first connecting rod 41 is provided with a circular hole 410, and the second eccentric member 83 passes through the circular hole 410. Assembled on the first eccentric 81.

The robot 100 is equipped with two sets of the above-mentioned walking mechanisms 4, which are respectively connected to the above-mentioned two eccentric parts 8, corresponding to the left and right feet of the robot 100, respectively. During movement, the left-leg walking mechanism and the right-leg walking mechanism are lifted or down from the neutral position by the action of the eccentric member, always supporting one leg, and lifting the other leg, moving forward alternately, so that the robot can imitate human walking. .

As shown in FIG. 7, the robot 100 is further provided with a limiting device 10, and the limiting device 10 is provided on the body 1 and the walking mechanism 4 to raise the first link 41 to a set height. The limiting device 10 includes a limiting rod 101 provided on the first connecting rod 41 and a limiting member 102 provided on the first plate 11, and the limiting rod 101 moves under the restriction of the limiting member 102.

Specifically, the limit rod 101 is disposed on one end 411 of the first link 41 and is driven by the first link 41 to generate movement. The limit member 102 is provided with a groove 100 for accommodating and restricting the movement of the limit rod 101. The limit rod 101 moves under the restriction of the groove 100, and the limit member 102 rotates synchronously when the limit rod 101 rotates. When the eccentric element 8 rotates to drive the first connecting rod 41 to move in conjunction with the limit rod 101, the limit element rotates adaptively, thereby restricting the movement and ensuring that the first connecting rod 41 can be effectively raised to the set point Height, to achieve a movement similar to the knee lift when a human walks.

In the third embodiment, a transportable robot 100 is provided, as shown in Figs. 1, 2 and 3, having a body 1, and a motor 2, a transmission system 3, and a walking mechanism 4 arranged on the body 1. It also includes a carrier 300 connected to the body 1. The body 1, the motor 2, the transmission system 3, and the running mechanism 4 are the same or partially the same as the solutions in the first and second embodiments, and are combined with each other, which will not be repeated here.

The body 1 includes a first plate body 11 and a second plate body 12, the plate body is designed in the shape of an upper body of an adult, and the motor 2 is installed on the first plate body 11 or the second plate body 12. The first plate body 11 and the second plate body 12 are respectively provided with an arm plate 9 which is installed on the first plate body 11 and the second plate body 12 in a plug-in manner, and the arm plate 9 is connected to the carrier 300 .

Specifically, the carrying device 300 is a two-wheeled vehicle with a seat. The two-wheeled vehicle is provided with a rod 301 connected to the arm plate 9 for connecting the two-wheeled vehicle 300 and the robot body 1.

The walking robot 100 is equipped with two sets of the above-mentioned walking mechanisms 4, which are respectively connected to the above-mentioned two eccentric members 8 and correspond to the left and right feet of the robot 100 respectively. During movement, the left-leg walking mechanism and the right-leg walking mechanism are lifted or down from the neutral position by the action of the eccentric member, always supporting one leg, and lifting the other leg, moving forward alternately, so that the robot can imitate human walking. , And the walking of the robot drives the displacement of the vehicle, that is, the body 1 is displaced by the action of the walking mechanism 4 to drive the displacement of the vehicle 300.

In this embodiment, the power source 13 of the driving motor is a battery 200, which is arranged and fixedly mounted on the first plate body 11 and the second plate body 12. Since the first plate body and the second plate body form the trunk of the human body, the battery is installed on the back of the trunk.

Preferably, as shown in FIG. 3, the power source 13, that is, the battery 200 may also be provided on the two-wheeled vehicle 300, and the rod 301 and the arm plate 9 are provided with wires 302 to connect the power source 200 and the motor 2. Since the battery 200 has a certain weight, compared with the two-wheeled vehicle, which increases a little friction for carrying, the battery 200 will consume extra power and the power of the robot when it is installed on the robot.

In the fourth embodiment, an intelligent robot 100 is provided, which has a body 1, and a motor 2, a transmission system 3, and a walking mechanism 4 arranged on the body 1, and further includes a control system 14. The body 1, the motor 2, the transmission system 3, and the running mechanism 4 are the same or partially the same as the solutions in the first and second embodiments, and are combined with each other, which will not be repeated here.

The control system 14 includes a controller 15, a motor 2 and a power source 13. FIG. 10 is a schematic diagram of the controller. As shown in FIG. 10, a communication module 16 is provided on the controller 15 to communicate with the intelligent terminal 400. Preferably, the communication module 16 is a Bluetooth device. After the Bluetooth device is paired with the smart terminal, the controller 15 sends information to the smart terminal or receives instructions from the smart terminal.

The communication module 16 receives and converts the instructions issued by the smart terminal 400 into control parameters. The controller 15 controls the rotation speed of the motor 2 according to the control parameters to control the rotation speed of the main gear 6 connected to the output shaft gear 5, thereby controlling the rotation speed of the eccentric 8 .

The robot 100 is equipped with two sets of the above-mentioned walking mechanisms 4, which are respectively connected to the above-mentioned two eccentric parts 8, corresponding to the left and right feet of the robot 100, respectively. During movement, the left-leg walking mechanism and the right-leg walking mechanism are lifted or down from the neutral position by the action of the eccentric member, always supporting one leg, and lifting the other leg, moving forward alternately, so that the robot can imitate human walking. . Through the communication between the intelligent terminal and the robot, the speed of the robot can be controlled, and the interaction between the user and the robot can be increased.

The controller 15 also includes a speed measuring module 17. The speed measuring module 17 includes a magnetic block 18 arranged on the eccentric part 8 and a Hall sensor 19 correspondingly arranged on the body 1; the speed measuring module detects 17 the speed of the eccentric part 8 and generates the speed data Transfer to the controller 15. Every time the eccentric part 8 rotates, the Hall sensor 19 sends a pulse signal, which is output to the controller 15 by the Hall device circuit, and the controller 15 sends the speed data of the eccentric part 2 to the intelligent terminal through the communication module 16.

In addition, the controller 15 can also monitor the power information of the battery 200 and send the power information to the smart terminal through the communication module 16.

The various specific implementations described above and shown in the drawings are only used to illustrate the present invention, and are not all of the present invention. Within the scope of the basic technical idea of the present invention, any form of modification made to the present invention by a person of ordinary skill in the relevant technical field shall fall within the protection scope of the present invention.

Claims

A transportation robot has a body (1), a motor (2), a transmission system (3) and a walking mechanism (4) arranged on the body (1), and is characterized in that:

The robot is provided with a carrier device (300) connected to the body (1);

The transmission system (3) includes an output shaft gear (5) connected with the output shaft of the motor (2), and a main gear (6) connected with the output shaft gear (5), arranged on the main gear (6) The upper rotating shaft (7) passes through two eccentric pieces (8) on the rotating shaft (7), which are respectively arranged at both ends of the rotating shaft (7);

The walking mechanism (4) includes a first link (41), a second link (42), and a third link (43). One end (411) of the first link (41) is eccentric The other end (412) is rotatably connected with the upper end (421) of the second link (42), and one end (431) of the third link (43) is rotatably connected to the On the body (1), the other end (432) is rotatably connected with the upper end (421) of the second link (42); wherein the eccentric member (8) drives the first link (41), The second link (42) and the third link (43) are linked;

Wherein, the body (1) is displaced by the walking mechanism (4), thereby driving the carrying device (300) to produce displacement.
The transportation robot according to claim 1, wherein:

The body (1) includes a first plate body (11) and a second plate body (12), and the main gear (6) is mounted on the first plate body (11) and the second plate body (12). ), the rotating shaft (7) is respectively penetrated on the first plate body (11) and the second plate body (12).
The transportation robot according to claim 2, characterized in that it comprises:

A power supply (13), the power supply (13) is fixedly installed on the first board (11) and the second board (12).
The transportation robot according to claim 2, characterized in that:

The first board body (11) and the second board body (12) are respectively provided with arm boards (9), and the arm boards (9) are installed on the first board body ( 11) and the second board (12).
The delivery robot according to claim 4, characterized in that:

The carrying device (300) is a two-wheeled vehicle with a seat. The two-wheeled vehicle is provided with a rod (301), and the rod (301) is connected with the arm plate (9).
The walking robot according to claim 5, characterized by comprising:

A battery (200) arranged on the two-wheeled vehicle, a wire (302) is provided on the rod (301) and the arm plate (9) to connect the power source (13) and the motor (2) .
The transportation robot according to claim 1, wherein:

The two eccentric members (8) are symmetrical around the intersection center O of the main gear (6) and the rotating shaft (7).
The transportation robot according to claim 7, characterized in that:

The eccentric member (8) includes a first eccentric member (81) and a second eccentric member (82), and the first connecting rod (41) is mounted on the first eccentric member (81) and the second eccentric member (81). Between pieces (82).
The transportation robot according to claim 1, wherein:

The first link (41) is in the shape of a thigh frame, the second link (42) is in the shape of a calf frame, and the lower end (422) of the second link (42) is hinged with a supporting foot (44).