A new type of walking mechanism and special robot

Abstract

A novel walking mechanism and a special robot relate to the field of walking machinery. The novel walking mechanism includes a frame, a triangular support frame, a chain-type Mecanum wheel, a Mecanum wheel driver, and an action driver. The chain-type Mecanum wheel is arranged around the edge of the triangular support frame and is driven by the Mecanum wheel driver. The triangular support frame is rotatably fitted to the frame and is driven by the action driver. The special robot is provided with the above-mentioned novel walking mechanism. Both have a simple structure, excellent obstacle-crossing ability, can travel smoothly on roads with many stones, large potholes, or on stairs, have an extremely excellent ability to cross obstacles, have great application potential, and can adapt to special application scenarios.

Description

Technical Field

[0001] The present invention relates to the field of walking machinery, and more particularly, to a novel walking mechanism and a special robot. Background Art

[0002] The obstacle-crossing ability of existing walking mechanisms is not prominent. Especially when there are many stones, large potholes, or when moving on stairs, the obstacles are obvious. This greatly limits the application scope of existing walking mechanisms during use.

[0003] In view of this, the present application is specifically proposed. Summary of the Invention

[0004] The first object of the present invention is to provide a novel walking mechanism, which has a simple structure, excellent obstacle-crossing ability, can move smoothly on roads with many stones, large potholes, or on stairs, has very excellent obstacle-crossing ability, has great application potential, and can adapt to special application scenarios.

[0005] The second object of the present invention is to provide a special robot, which has a simple structure, excellent obstacle-crossing ability, can move smoothly on roads with many stones, large potholes, or on stairs, has very excellent obstacle-crossing ability, has great application potential, and can adapt to special application scenarios.

[0006] The embodiments of the present invention are implemented as follows:

[0007] A novel walking mechanism includes: a frame, a triangular support frame, a chain-type Mecanum wheel, a Mecanum wheel driver, and an action driver. The chain-type Mecanum wheel is arranged around the edge of the triangular support frame and is driven by the Mecanum wheel driver. The triangular support frame is rotatably fitted to the frame and is driven by the action driver.

[0008] Further, triangular support frames are installed on both sides of the frame. Optionally, there are four triangular support frames, which are respectively arranged on both sides of the frame, and two triangular support frames are provided on each side.

[0009] Further, both the Mecanum wheel driver and the action driver are installed on the frame. A relief through-hole is provided in the middle of the triangular support frame, and the drive shaft of the power output part of the Mecanum wheel driver is rotatably fitted in the relief through-hole. A drive wheel is installed on the drive shaft, and the drive wheel is in transmission connection with the sprocket of the chain-type Mecanum wheel.

[0010] Further, the triangular support frame is also provided with a tension wheel for cooperating with the chain-type Mecanum wheel.

[0011] Further, a mating sleeve is coaxially and fixedly connected to the triangular support frame, and the mating sleeve is sleeved on the drive shaft. Along the circumferential direction of the drive shaft, the mating sleeve is movably fitted with the drive shaft. The mating sleeve is in transmission cooperation with the action driver.

[0012] Furthermore, there are four triangular support frames which are arranged on both sides of the frame, and two triangular support frames are arranged on each side. The action driver transmission is matched with an action shaft, and the action shaft is arranged along the length direction of the frame. The matching sleeve has a gear ring, and the action shaft is provided with a matching gear for meshing with the gear ring.

[0013] Furthermore, the action drivers are divided into two groups and are arranged on both sides of the frame, and the matching sleeves of the triangular support frames located on the same side are meshed with the matching gears of the action shafts located on the side.

[0014] Furthermore, each chain-type Mecklenburg wheel is equipped with a Mecklenburg wheel driver.

[0015] Furthermore, the chain-type wheat wheels of the two triangular support frames located on the same side have opposite inclination directions, and the chain-type wheat wheels of the two triangular support frames located on the same rotation axis have opposite inclination directions.

[0016] A special robot comprises the above-mentioned novel walking mechanism.

[0017] The beneficial effects of the embodiments of the present invention are:

[0018] During use, the novel walking mechanism provided by the embodiment of the present invention uses a wheat wheel driver to drive the wheat wheel to run around the triangular support frame to achieve normal travel. When encountering obstacles (such as stones, stairs, platforms, etc.), the action driver can be used to drive the triangular support frame to rotate relative to the frame to complete the climbing action.

[0019] In general, the new walking mechanism provided by the embodiment of the present invention has a simple structure and excellent obstacle-crossing ability. It can smoothly move on a road with many stones, large potholes, or on stairs. It has excellent ability to cross obstacles, has great application potential, and can adapt to special application scenarios. The special robot provided by the embodiment of the present invention has a simple structure and excellent obstacle-crossing ability. It can smoothly move on a road with many stones, large potholes, or on stairs. It has excellent ability to cross obstacles, has great application potential, and can adapt to special application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A schematic structural diagram of a novel walking mechanism provided by an embodiment of the present invention from a first perspective;

[0022] Figure 2 is Figure 1 a schematic structural view of the second perspective of the novel walking mechanism;

[0023] Figure 3 is Figure 2 an enlarged view of area A in;

[0024] Figure 4 is Figure 1 a schematic structural view of the third perspective of the novel walking mechanism;

[0025] Figure 5 is Figure 1 a schematic diagram of the action process of the novel walking mechanism climbing stairs;

[0026] Figure 6 is Figure 1 a schematic diagram of the action process of the novel walking mechanism moving horizontally.

[0027] Icon: Novel walking mechanism 1000; Frame 100; Triangular support frame 200; Fitting sleeve 220; Gear ring 230; Chain wheel 300; Wheel driver 400; Action driver 500; Action shaft 510; Fitting gear 520; Driving wheel 610; Sprocket 620; Timing belt 630; Tensioning wheel 640. Specific embodiments

[0028] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0030] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0031] In the description of the present invention, it should also be noted that, unless otherwise clearly specified and defined, the terms "arrangement", "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0032] Embodiment

[0033] Please refer to Figures 1 to 4 , this embodiment provides a novel walking mechanism 1000.

[0034] The novel walking mechanism 1000 includes: a frame 100, a triangular support frame 200, a chain wheel 300, a wheel driver 400, and an action driver 500.

[0035] The chain wheel 300 is arranged around the edge of the triangular support frame 200 and is driven by the wheel driver 400. The triangular support frame 200 is rotatably fitted to the frame 100 and is driven by the action driver 500.

[0036] During use, the wheel driver 400 is used to drive the wheels to run around the triangular support frame 200 to achieve normal travel. When encountering obstacles (such as: stones, stairs, high platforms, etc.), the action driver 500 can be used to drive the triangular support frame 200 to rotate relative to the frame 100 to complete the over - climbing action.

[0037] Generally speaking, the novel walking mechanism 1000 has a simple structure, excellent obstacle - crossing ability, can travel smoothly on roads with many stones, large potholes, or on stairs, has a very excellent ability to cross obstacles, has great application potential, and can adapt to special application scenarios.

[0038] In this embodiment, in order to further improve the obstacle - crossing ability of the novel walking mechanism 1000, triangular support frames 200 are installed on both sides of the frame 100. Specifically, there are four triangular support frames 200, which are distributed on both sides of the frame 100, and two triangular support frames 200 are arranged on each side.

[0039] Both the wheel driver 400 and the action driver 500 are installed on the frame 100. A relief through - hole is formed in the middle of the triangular support frame 200, and the drive shaft of the power output part of the wheel driver 400 is rotatably fitted in the relief through - hole. A drive wheel 610 is installed on the drive shaft, and the drive wheel 610 is in transmission connection with the sprocket 620 of the chain wheel 300 (in this embodiment, a synchronous belt 630 is used for transmission, and of course, chain drive and gear drive can also be used).

[0040] The triangular support frame 200 is also provided with a tension wheel 640 for cooperating with the chain wheel 300.

[0041] The triangular support frame 200 is coaxially and fixedly connected with a mating sleeve 220. The mating sleeve 220 is sleeved on the drive shaft. Along the circumferential direction of the drive shaft, the mating sleeve 220 is movably mated with the drive shaft. The mating sleeve 220 is in transmission cooperation with the motion driver 500.

[0042] The motion driver 500 is in transmission cooperation with a motion shaft 510. The motion shaft 510 is arranged along the length direction of the frame 100. The mating sleeve 220 has a toothed ring 230, and the motion shaft 510 is provided with a mating gear 520 for meshing with the toothed ring 230.

[0043] There are two sets of motion drivers 500, which are respectively arranged on both sides of the frame 100. The mating sleeves 220 of the triangular support frames 200 on the same side are all meshed with the mating gears 520 of the motion shaft 510 on that side.

[0044] Each chain wheel 300 is configured with a wheel driver 400.

[0045] Through the above design, the coordination of the new walking mechanism 1000 during the traveling process is further improved. Taking this as an example, the specific climbing action can be as follows (taking climbing stairs as an example):

[0046] As Figure 5 shown, the stairs are 150 mm high and 300 mm wide. In (a), it is the initial state when the new walking mechanism 1000 approaches the stairs. In (b), it is the process when the motion driver 500 of the new walking mechanism 1000 drives the triangular support frame 200 to start rotating. The four triangular support frames 200 rotate clockwise in the positive direction to increase the height. Through the chain wheel 300, it continues to move forward. After the height is increased, the rounded corners of the four chain wheels 300 of the new walking mechanism 1000 are in contact with the stair surface, which can be regarded as the Mecanum wheels with a diameter of 100 mm in contact with the ground. In (c) and (d), they are both the processes of climbing the stairs. When climbing the stairs, the climbing force for the robot is mainly provided by the roller links on the chain wheel 300. Considering the slipping problem at the stair turning points, an annular spring can be added to the roller links at this time, which can play a role in self-adaptive adjustment of anti-slip, so that each roller link has an adjustment range of 4 mm when the force exceeds a certain value.

[0047] Of course, in order to make it perform actions more precisely, a ranging sensor or an obstacle sensor for sensing obstacles can be configured for it, and the action process can be uniformly controlled by the controller, or the action process can be manually controlled by the remote control center uniformly.

[0048] Furthermore, the inclination directions of the chain wheels 300 of the two triangular support frames 200 on the same side are opposite, and the inclination directions of the chain wheels 300 of the two triangular support frames 200 on the same rotation axis line are also opposite.

[0049] As Figure 6 shown, through this design, the four chain wheels 300 rotate in different directions under the control of the wheel driver 400, enabling translation. The arrows in the figure are the moving directions. When the a-wheel and the c-wheel rotate backward, and the b-wheel and the d-wheel rotate forward, the new walking mechanism 1000 translates to the left. When the a-wheel and the c-wheel rotate forward, and the b-wheel and the d-wheel rotate backward, the new walking mechanism 1000 translates to the right.

[0050] Generally speaking, the special movement mode and movement mechanism of the new walking mechanism 1000 make its movement flexibility very high, and it can move forward and climb smoothly in very special sites, greatly improving the environmental adaptability and versatility.

[0051] This embodiment also provides a special robot, which includes the new walking mechanism 1000. The special robot realizes movement through the new walking mechanism 1000.

[0052] In summary, the new walking mechanism 1000 has a simple structure, excellent obstacle-crossing ability, can move forward smoothly on sites with many stones, large potholes, or on stairs, has an excellent ability to cross obstacles, has great application potential, and can adapt to special application scenarios. The special robot has a simple structure, excellent obstacle-crossing ability, can move forward smoothly on sites with many stones, large potholes, or on stairs, has an excellent ability to cross obstacles, has great application potential, and can adapt to special application scenarios.

[0053] The new walking mechanism 1000 and the special robot can simultaneously realize movements with multiple degrees of freedom in special sites such as stairs, have high movement efficiency and obstacle-crossing efficiency, require little space for direction change and turning, and have high flexibility. They are very suitable for fire protection, security, patrol, monitoring, etc.

[0054] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A novel walking mechanism, characterized in that, Comprising: A frame, a triangular support frame, chain wheels, wheel drivers, and motion drivers; the chain wheels are arranged around the edge of the triangular support frame and are driven by the wheel drivers; the triangular support frame is rotatably fitted to the frame and is driven by the motion drivers; The wheel drivers and the motion drivers are both mounted on the frame; a relief through-hole is formed in the middle of the triangular support frame, and the drive shaft of the power output part of the wheel driver is rotatably fitted to the relief through-hole; a drive wheel is mounted on the drive shaft, and the drive wheel is in transmission connection with the sprocket of the chain wheel; There are four triangular support frames, which are respectively arranged on both sides of the frame, and two such triangular support frames are arranged on each side; Each chain wheel is provided with one wheel driver; A mating sleeve is coaxially and fixedly connected to the triangular support frame, and the mating sleeve is sleeved on the drive shaft; along the circumferential direction of the drive shaft, the mating sleeve is movably fitted to the drive shaft; the mating sleeve is in transmission cooperation with the motion driver; The motion driver is in transmission cooperation with a motion shaft, and the motion shaft is arranged along the length direction of the frame; the mating sleeve has a toothed ring, and the motion shaft is provided with a mating gear for meshing with the toothed ring; There are two groups of motion drivers, which are respectively arranged on both sides of the frame, and the mating sleeves of the triangular support frames on the same side are all meshed with the mating gears of the motion shaft on that side.

2. The novel walking mechanism according to claim 1, characterized in that, The triangular support frame is further provided with a tension wheel for mating with the chain wheel.

3. A special robot, characterized in that, Comprising the novel walking mechanism according to any one of claims 1 to 2.

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