Flea robot and control method thereof

Abstract

The present invention provides a flea robot and a control method thereof, comprising a casing and a pair of front feet arranged on both sides of the front part of the casing and a pair of rear feet arranged on both sides of the rear part of the casing, the front feet and the rear feet are in an arc shape, the inner ends of the pair of front feet are connected by a first connecting shaft penetrating the casing, the inner ends of the pair of rear feet are connected by a second connecting shaft penetrating the casing, the first connecting shaft is driven to rotate by a first motor, and the second connecting shaft is driven to rotate by a second motor, a steering rotary rod is further arranged in the middle of the casing, the steering rotary rod is driven to rotate by a steering motor fixed in the casing, and an opening is provided at the bottom of the casing for the steering rotary rod to be pushed out, the present invention has a simple structure, controls the movement of the front feet and the rear feet by two independent motors, thereby reducing the overall mass, and the front feet and the rear feet in an arc shape can conveniently climb slopes and ladders, and the lateral displacement of the machine body is satisfied by the steering rotary rod, and the operation is stable.

Description

Technical Field

[0001] The invention relates to a flea robot and a control method thereof. Background Art

[0002] The existing robots are complex in structure and heavy in weight, and are directly driven by motors or use belt transmission structures, which are prone to reducer tooth breakage or insufficient power, especially in road conditions where there are no slopes or steps. Summary of the invention

[0003] The present invention improves the above-mentioned problem, that is, the technical problem to be solved by the present invention is that the existing small robots have poor stability and are not easy to adapt to stairs or slopes, and the robots cannot flexibly adjust their directions.

[0004] The specific implementation scheme of the present invention is: a flea robot includes a casing and a pair of front feet arranged on both sides of the front part of the casing and a pair of rear feet placed on both sides of the rear part of the casing, the front feet and the rear feet are arc-shaped, the inner ends of the pair of front feet are connected by a first connecting shaft passing through the casing, and the inner ends of the pair of rear feet are connected by a second connecting shaft passing through the casing, the first connecting shaft is driven to rotate by a first motor, and the second connecting shaft is driven to rotate by a second motor, and a steering lever is also provided in the middle of the casing, and the steering lever is driven to rotate by a steering motor fixed in the casing, and the bottom of the casing has an opening for the steering lever to be pushed out, and the axis of the steering lever is connected to the output shaft of the steering motor through a steering connecting rod, and the steering connecting rod is perpendicular to the first connecting shaft.

[0005] Furthermore, the first motor and the second motor are fixed to the bottom surface of the casing, the output shaft of the first motor is fixed with a first driving gear, the first connecting shaft is fixed with a first passive gear meshing with the first driving gear, bearing seats are fixed on both sides of the first connecting shaft in the casing, and both ends of the first connecting shaft are connected to the casing via bearings in the bearing seats.

[0006] Furthermore, a second driving gear is fixed to the output shaft of the second motor, a second passive gear meshing with the second driving gear is fixed to the second connecting shaft, bearing seats are fixed on both sides of the second connecting shaft in the casing, and both ends of the second connecting shaft are connected to the casing via bearings in the bearing seats.

[0007] Furthermore, the outer curved surfaces of the front foot and the rear foot have toothed surfaces.

[0008] Furthermore, the outside of the front foot and the rear foot are wrapped with a silicone sleeve.

[0009] Furthermore, the front legs and rear legs are made of carbon fiber material.

[0010] Furthermore, a lithium battery and a control circuit are fixed in the housing, and the lithium battery is connected to the first motor, the second motor and the steering motor via the control circuit.

[0011] Furthermore, the surface of the casing has heat dissipation holes, and the casing includes a base and an upper cover, and the base and the upper cover are fixedly connected by bolts.

[0012] Furthermore, the control circuit has a remote switch module.

[0013] The present invention also includes a flea robot control method, including using the flea robot as described above, and the specific operation is as follows: when moving, the first motor and the second motor are used to drive the first connecting shaft and the second connecting shaft to rotate in the same direction. When deflection is required, the steering motor is used to drive the steering rod to rotate in the direction of required deflection, thereby driving the entire casing to deflect.

[0014] Compared with the prior art, the present invention has the following beneficial effects: the present invention adopts an arc-shaped front foot and rear foot structure, which can meet the uphill requirements of slopes and steps by swinging the ends during rotation. In this embodiment, the front foot and rear foot are driven by independent motors, which can not only effectively meet the power requirements but also reduce costs; the robot can also flexibly adjust its direction through the steering lever in the middle.

[0015] The front foot and the rear foot in the embodiment of the present invention are made of carbon fiber material. Carbon fiber has many excellent properties, such as high axial strength and modulus, low density, high specific performance, no creep, ultra-high temperature resistance in non-oxidizing environment, good fatigue resistance, specific heat and conductivity between non-metal and metal, small thermal expansion coefficient and anisotropy, good corrosion resistance, good X-ray transmittance, etc., which can improve the strength of the overall structure;

[0016] In addition, the outer sides of the front foot and the rear foot in the embodiment of the present invention are provided with toothed surfaces or covered with silicone sleeves to increase friction and ensure stability during exercise. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the front foot structure with a tooth surface of the present invention.

[0019] Figure 3 It is a schematic diagram of the internal structure of the casing of the present invention.

[0020] Figure 4 It is a schematic diagram of the partial internal structure of the casing of the present invention. DETAILED DESCRIPTION

[0021] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1 to 4 As shown, embodiment 1, a flea robot, includes a housing 10 and a pair of front feet 20 arranged on both sides of the front portion of the housing and a pair of rear feet 30 placed on both sides of the rear portion of the housing, the front feet 20 and the rear feet 30 are arc-shaped, the inner ends of the pair of front feet are connected by a first connecting shaft 210 passing through the housing, the inner ends of the pair of rear feet are connected by a second connecting shaft 310 passing through the housing, the first connecting shaft is driven to rotate by a first motor 220, and the second connecting shaft is driven to rotate by a second motor 320, a steering lever 40 is also provided in the middle of the housing, the steering lever is driven to rotate by a steering motor 410 fixed in the housing, and the bottom of the housing has an opening 110 for the steering lever 40 to be pushed out.

[0023] In this embodiment, the casing 10 includes a base 101 and an upper cover 102, and the base and the upper cover are fixedly connected by bolts. In actual design, the base and the upper cover can also be fixedly connected by welding or other methods. The first motor 220 and the second motor 320 are fixed to the upper surface of the base 101 in the casing, and the output shaft of the first motor 220 is fixed with a first driving gear 221. The first connecting shaft 210 is fixed with a first passive gear 211 meshing with the first driving gear 221. Bearing seats 50 are fixed on both sides of the first connecting shaft in the casing, and both ends of the first connecting shaft are connected to the casing through bearings in the bearing seats.

[0024] Similarly, in this embodiment, the output shaft of the second motor 320 is fixed with a second driving gear 321, the second connecting shaft 310 is fixed with a second passive gear 311 meshing with the second driving gear, and bearing seats 50 are fixed on both sides of the second connecting shaft in the housing, and both ends of the second connecting shaft are connected to the housing via bearings in the bearing seats.

[0025] In this embodiment, during operation, the front foot 20 and the rear foot 30 rotate around the first connecting shaft 210 and the second connecting shaft 310 respectively, and the casing body is lifted by the arched protrusion to move to the front or rear side, and the axis of the steering rotary rod 40 is connected to the output shaft of the steering motor 410 through the steering connecting rod 401. The steering connecting rod 401 is perpendicular to the first connecting shaft. When lateral movement is required, the casing is lifted as a whole and then moved laterally through the rotation of the steering rotary rod 40.

[0026] In this embodiment, the outer arc surfaces of the front leg and the rear leg have toothed surfaces 60 .

[0027] Furthermore, in the actual design, the outside of the front foot and the rear foot are wrapped with a silicone sleeve to improve the grip on the ground.

[0028] In this embodiment, the front legs and the rear legs are made of carbon fiber material.

[0029] Carbon fiber has many excellent properties. It has high axial strength and modulus, low density, high specific performance, no creep, ultra-high temperature resistance in non-oxidizing environment, good fatigue resistance, specific heat and conductivity between non-metal and metal, small thermal expansion coefficient and anisotropy, good corrosion resistance, good X-ray transmittance, etc. It can improve the strength of the overall structure and reduce weight.

[0030] A lithium battery and a control circuit are fixed in the housing, and the lithium battery is connected to the first motor, the second motor and the steering motor via the control circuit.

[0031] The housing surface is provided with heat dissipation holes 120 to ensure heat dissipation of the battery and the control circuit during operation.

[0032] Embodiment 2: In this embodiment, the control circuit has a remote switch module, the first motor and the second motor are DC brushed motors, and the PPM interface of the motor driver is connected to the corresponding channel of the remote control receiver for receiving motion control instructions.

[0033] Unless otherwise stated, any technical solution disclosed in the present invention disclosed above, if it discloses a numerical range, then the disclosed numerical range is a preferred numerical range, and any technician in the field should understand that the preferred numerical range is only a numerical value with a more obvious technical effect or representative value among many implementable numerical values. Since there are too many numerical values ​​to be exhaustive, the present invention discloses some numerical values ​​to illustrate the technical solution of the present invention, and the numerical values ​​listed above should not constitute a limitation on the scope of protection of the present invention.

[0034] If the words "first", "second" and so on are used in this article to limit components, those skilled in the art should know that the use of "first" and "second" is only for the convenience of description to distinguish the components. Unless otherwise stated, the above words have no special meaning.

[0035] At the same time, if the above-mentioned invention discloses or involves components or structural parts that are fixedly connected to each other, then, unless otherwise stated, the fixed connection can be understood as: a detachable fixed connection (for example, connected by bolts or screws), and can also be understood as: a non-detachable fixed connection (for example, riveting, welding). Of course, the mutual fixed connection can also be replaced by an integrated structure (for example, manufactured by one-piece molding using a casting process) (except when it is obviously impossible to use an integrated molding process).

[0036] In addition, unless otherwise stated, the terms used to indicate positional relationships or shapes in any of the technical solutions disclosed in the present invention include states or shapes that are approximate, similar, or close to them.

[0037] Any component provided by the present invention may be assembled from a plurality of separate components, or may be a separate component manufactured by an integral forming process.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. Flea robot, characterized in that, It comprises a housing and a pair of front feet arranged on both sides of the front part of the housing and a pair of rear feet arranged on both sides of the rear part of the housing, the front feet and the rear feet are arc-shaped, the inner ends of the pair of front feet are connected by a first connecting shaft penetrating the housing, the inner ends of the pair of rear feet are connected by a second connecting shaft penetrating the housing, the first connecting shaft is driven to rotate by a first motor, and the second connecting shaft is driven to rotate by a second motor, a steering rotary rod is further arranged in the middle of the housing, the steering rotary rod is driven to rotate by a steering motor fixed in the housing, the bottom of the housing has an opening for the steering rotary rod to be ejected, the axis of the steering rotary rod is connected to the output shaft of the steering motor via a steering connecting rod, and the steering connecting rod is perpendicular to the first connecting shaft; The first motor and the second motor are fixed to the bottom surface of the housing, the output shaft of the first motor is fixed with a first driving gear, the first connecting shaft is fixed with a first passive gear meshing with the first driving gear, bearing seats are fixed on both sides of the first connecting shaft in the housing, and both ends of the first connecting shaft are connected to the housing via bearings in the bearing seats; The output shaft of the second motor is fixed with a second driving gear, the second connecting shaft is fixed with a second passive gear meshing with the second driving gear, bearing seats are fixed on both sides of the second connecting shaft in the housing, and both ends of the second connecting shaft are connected to the housing via bearings in the bearing seats; The outer arc surfaces of the front foot and the rear foot have toothed surfaces; The outside of the front foot and the rear foot are wrapped with a silicone sleeve; The front foot and the rear foot are made of carbon fiber material; A lithium battery and a control circuit are fixed in the housing, and the lithium battery is connected to the first motor, the second motor and the steering motor via the control circuit; The control circuit is provided with a remote switch module; The housing surface has heat dissipation holes, the housing includes a base and an upper cover, the base and the upper cover are fixedly connected by bolts; The specific operation is as follows: when moving, the first motor and the second motor are used to drive the first connecting shaft and the second connecting shaft to rotate in the same direction. When deflection is required, the steering motor drives the steering rod to rotate in the direction of the required deflection, thereby driving the entire casing to deflect.

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