A robot with a floating frame

Abstract

The present invention relates to the field of robotics, and more particularly to a frame-floating robot, comprising a frame and leg structures mounted on both sides of the frame, wherein the frame is rotatable and movable on the leg structures; the frame comprises side panels, a crossbeam connecting the side panels, and a power source mounted on the crossbeam and connected to the leg structures; the leg structures comprise a first drive device and a second drive device respectively connected to both sides of the side panels, a first connecting rod device connected to the first drive device, a second connecting rod device connected to the second drive device, and a third drive device connected to the first connecting rod device and the second connecting rod device. The present invention provides a first limit block and a second limit block on the leg structure to limit the robot when it lies down. After limiting, the drive device allows the frame to move in a swinging and floating space.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a robot with a floating frame. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It has basic characteristics such as perception, decision-making, and execution. It can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] With technological advancements, robots are becoming increasingly common, such as cleaning robots, cargo robots, and inspection robots, all of which are capable of intelligent control. Existing robots generally consist of a frame and a mobile wheel assembly. Some robots also include legs that work together with the wheels to achieve various movements. These movements require the coordination of the legs and drive components. Existing robot frame and leg structures are essentially fixed after connection. This prevents further movement of the frame after performing various movements, making it impossible to achieve wider-range detection. Therefore, further improvements can be made to the existing robot structure. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides a first limit block and a second limit block provided on the leg structure, which limit the robot when it lies down, and limit the height position when it lies down to a specified angle. After limiting, the frame can also rotate with the driving device under the action of the driving device, so that the frame can float in the swinging floating space where the frame needs to move.

[0005] The technical solution adopted by the present invention is: a frame-floating robot, including a frame and leg structures installed on both sides of the frame, and the frame can rotate and move on the leg structures; the frame includes side panels, a crossbeam connecting the side panels, and a power supply installed on the crossbeam and connected to the leg structures; the leg structure includes a first drive device and a second drive device respectively connected to both sides of the side panels, a first connecting rod device connected to the first drive device, a second connecting rod device connected to the second drive device, and a third drive device connected to the first connecting rod device and the second connecting rod device.

[0006] A further improvement to the above scheme is that the first connecting rod device includes a first connecting part connected to the first driving device, a first extension foot connected to the first connecting part, and a first movable foot movably connected to the first extension foot, and the first extension foot is provided with a first limit block corresponding to the first movable foot, and the second connecting rod device includes a second connecting part connected to the second driving device, a second extension foot connected to the second connecting part, and a second movable foot movably connected to the second extension foot, and the second extension foot is provided with a second limit block corresponding to the second movable foot.

[0007] A further improvement to the above scheme is that the side panel includes a connecting plate, a first connecting frame and a second connecting frame respectively connected to both sides of the connecting plate, the first driving device is provided with a first base, the first base is fixedly connected to the first connecting frame, the second driving device is provided with a second base, and the second base is fixedly connected to the second connecting frame; the connecting plate is provided with a fixed connecting groove and a fixed connecting hole, the fixed connecting groove is a rectangular groove or a polygonal connecting groove, the fixed connecting groove passes through the connecting plate, the first connecting frame is provided with a first positioning platform, the second connecting frame is provided with a second positioning platform, and the first positioning platform and the second positioning platform are both assembled in the fixed connecting groove.

[0008] A further improvement to the above scheme is that the first connecting frame is provided with a first assembly groove on the side facing away from the first positioning platform, the first assembly groove is fixedly assembled and connected to the first base, the first assembly groove is connected to the first wiring groove, and the first wiring groove extends to the outside of the first connecting frame; the second connecting frame is provided with a second assembly groove on the side facing away from the second positioning platform, the second assembly groove is fixedly assembled and connected to the second base, the second assembly groove is connected to the second wiring groove, and the second wiring groove extends to the outside of the second connecting frame.

[0009] A further improvement to the above scheme is that the first connecting frame is evenly arranged with first fixing arms in a circumferential direction, the first fixing arms are provided with first locking holes, and the first locking holes correspond to the fixed connection holes; the second connecting frame is evenly arranged with second fixing arms in a circumferential direction, the second fixing arms are provided with second locking holes, and the second locking holes are connected to the first locking holes by screws passing through the fixed connection holes.

[0010] A further improvement to the above scheme is that the first drive device is an outer rotor direct drive motor, the first drive device is provided with a first rotor housing, and the first rotor housing can be rotatably connected to the first base; the second drive device is an outer rotor direct drive motor, the second drive device is provided with a second rotor housing, and the second rotor housing can be rotatably connected to the second base.

[0011] A further improvement to the above solution is that a first rotating shaft is provided between the first extension leg and the first movable leg, and the first rotating shaft is connected to a first guide wheel.

[0012] A further improvement to the above scheme is that the first connecting part includes a first fixed locking sleeve and a first movable locking sleeve, the first fixed locking sleeve and the first movable locking sleeve cooperate to form a first locking cavity, the first locking cavity is fixedly locked to the first driving device, the first extension foot and the first fixed locking sleeve are integrally formed, the first extension foot is provided with a first reinforcing rib, and the first reinforcing rib is connected to the first fixed locking sleeve.

[0013] A further improvement to the above solution is that a second rotating shaft is provided between the second extension leg and the second movable leg, a third rotating shaft is provided at one end of the second movable leg away from the second rotating shaft, and the third rotating shaft is connected to the first movable leg.

[0014] A further improvement to the above scheme is that the second connecting part includes a second fixed locking sleeve and a second movable locking sleeve, the second fixed locking sleeve and the second movable locking sleeve cooperate to form a second locking cavity, the second locking cavity is fixedly locked to the second driving device, the second extension foot and the second fixed locking sleeve are integrally formed, the second extension foot is provided with a second reinforcing rib, and the second reinforcing rib is connected to the second fixed locking sleeve.

[0015] A further improvement to the above scheme is that the third drive device is provided with a third base, the third base is connected to the second movable foot, the third drive device is a hub motor, which is provided with a third rotor housing, the third rotor housing is rotatably connected to the third base, and the outer sleeve of the third rotor housing is provided with a wheel sleeve.

[0016] The beneficial effects of the present invention are:

[0017] Compared with existing robots, the present invention adopts a frame that is rotatably connected to the leg structure. During operation, the two leg structures on both sides serve as the robot's walking and joints. A first limit block and a second limit block are set on the leg structure to limit the robot when it lies down. When it lies down to a specified angle, the height position is limited. After limiting, the frame can also rotate with the driving device under the action of the driving device, so that the frame needs to move the swinging floating space, and the frame can realize the head-up action. The robot has a larger range and better stability during detection and inspection. Specifically, a frame and a leg structure installed on both sides of the frame are provided, and the frame can be rotated and moved on the leg structure; the frame includes side panels, a crossbeam frame connecting the side panels, and a power supply installed on the crossbeam frame and connected to the leg structure; the leg structure includes a first drive device and a second drive device respectively connected to both sides of the side panels, a first connecting rod device connected to the first drive device, a second connecting rod device connected to the second drive device, and a third drive device connected to the first connecting rod device and the second connecting rod device; the structure is stable and reliable through the support and installation of the crossbeam frame in conjunction with the side panels, and a power supply is provided to power the drive devices on the leg structure.

[0018] The first connecting rod device includes a first connecting portion connected to the first driving device, a first extension leg connected to the first connecting portion, and a first movable leg movably connected to the first extension leg. The first extension leg is provided with a first stopper corresponding to the first movable leg. The second connecting rod device includes a second connecting portion connected to the second driving device, a second extension leg connected to the second connecting portion, and a second movable leg movably connected to the second extension leg. The second extension leg is provided with a second stopper corresponding to the second movable leg. The movably connected movable leg and the extension leg form a movable joint, and the movable position is limited by the stopper. Under the driving action of the driving device, the frame has a floating head-up action, which can expand the detection range. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the three-dimensional structure of the frame floating robot of the present invention;

[0020] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the floating mid-frame robot from another perspective;

[0021] Figure 3 for Figure 1 Schematic diagram of the three-dimensional structure of the leg structure of the mid-frame floating robot;

[0022] Figure 4 for Figure 3 Schematic diagram of the exploded structure of the middle leg structure

[0023] Figure 5for Figure 3 Schematic diagram of the exploded structure of the mid-leg structure from another perspective.

[0024] Description of the accompanying drawings: frame 10, crossbeam frame 101, power supply 102, leg structure 20, side plate 1, fixed connection groove 111, fixed connection hole 112, first connecting frame 12, first positioning platform 121, first assembly groove 122, first wiring groove 123, first fixing arm 124, first locking hole 124a, second connecting frame 13, second positioning platform 131, second assembly groove 132, second wiring groove 133, second fixing arm 134, second locking hole 134a, first driving device 2, first base 21, first rotor housing 22, second driving device 3, second base 31, second rotor housing 32. First connecting rod device 4, first connecting part 41, first fixed locking sleeve 411, first movable locking sleeve 412, first extension foot 42, first limit block 421, first rotating shaft 422, first guide wheel 423, first reinforcing rib 424, first movable foot 43, second connecting rod device 5, second connecting part 51, second fixed locking sleeve 511, second movable locking sleeve 512, second extension foot 52, second limit block 521, second rotating shaft 522, third rotating shaft 523, second reinforcing rib 524, second movable foot 53, third driving device 6, third base 61, third rotor housing 62, and wheel sleeve 63. DETAILED DESCRIPTION

[0025] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0026] It should be noted that when an element is referred to as being “fixed to” another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or there may be an intermediate element.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0028] like Figures 1 to 5As shown, a frame-floating robot includes a frame 10 and leg structures 20 installed on both sides of the frame 10, and the frame 10 can rotate and move on the leg structures 20; the frame 10 includes a side panel 1, a crossbeam frame 101 connecting the side panel 1, and a power supply 102 installed on the crossbeam frame 101 and connected to the leg structure 20; the leg structure 20 includes a first drive device 2 and a second drive device 3 respectively connected to both sides of the side panel 1, a first connecting rod device 4 connected to the first drive device 2, a second connecting rod device 5 connected to the second drive device 3, and a third drive device 6 connected to the first connecting rod device 4 and the second connecting rod device 5.

[0029] The side panel 1 includes a connecting plate 11, a first connecting frame 12 and a second connecting frame 13 connected to either side of the connecting plate 11. The first drive device 2 is provided with a first base 21 fixedly connected to the first connecting frame 12, and the second drive device 3 is provided with a second base 31 fixedly connected to the second connecting frame 13. The side panel 1 is provided with a connecting plate 11 that cooperates with the two connecting frames and the bases of the two drive devices to connect, resulting in a stable and reliable structure suitable for the robot's legs to perform various movements. The connecting frames on both sides cooperate with the connecting plate 11 to connect to the robot's frame 10, making the structure easy to assemble and stably driven by the drive device and connecting rod device. The reliable structure allows the robot to perform various stable movements.

[0030] The connecting plate 11 is provided with a fixed connecting groove 111 and a fixed connecting hole 112. The fixed connecting groove 111 is a rectangular groove or a polygonal connecting groove. The fixed connecting groove 111 passes through the connecting plate 11. The first connecting frame 12 is provided with a first positioning platform 121. The second connecting frame 13 is provided with a second positioning platform 131. The first positioning platform 121 and the second positioning platform 131 are both assembled in the fixed connecting groove 111. The positioning platform cooperates with the fixed connecting groove 111 to perform a fixed connection. The structure is easy to assemble and has good stability.

[0031] The first connecting frame 12 is provided with a first assembly groove 122 on the side facing away from the first positioning platform 121, and the first assembly groove 122 is fixedly assembled and connected to the first base 21, and the first assembly groove 122 is connected to the first wiring groove 123, and the first wiring groove 123 extends to the outside of the first connecting frame 12; the second connecting frame 13 is provided with a second assembly groove 132 on the side facing away from the second positioning platform 131, and the second assembly groove 132 is fixedly assembled and connected to the second base 31, and the second assembly groove 132 is connected to the second wiring groove 133, and the second wiring groove 133 extends to the outside of the second connecting frame 13; through the fixed connection of the assembly groove and the base, the structure is easy to assemble, stable and reliable, and at the same time, a wiring groove is provided for the line direction of the driving device, and the overall structure is simple and reliable.

[0032] The first connecting frame 12 is evenly provided with first fixing arms 124 in a circumferential direction, and the first fixing arms 124 are provided with first locking holes 124a, and the first locking holes 124a correspond to the fixed connection holes 112; the second connecting frame 13 is evenly provided with second fixing arms 134 in a circumferential direction, and the second fixing arms 134 are provided with second locking holes 134a, and the second locking holes 134a are connected to the first locking holes 124a by screws passing through the fixed connection holes 112; the fixed arms are used for structural fixed connection, so that the connection between the drive device and the connecting frame and the side panel 1 is more stable, the overall structure is reliable, and it can be assembled by screws, which is convenient to assemble.

[0033] The first drive device 2 is an outer rotor direct drive motor, and the first drive device 2 is provided with a first rotor housing 22, and the first rotor housing 22 can be rotatably connected to the first base 21; the second drive device 3 is an outer rotor direct drive motor, and the second drive device 3 is provided with a second rotor housing 32, and the second rotor housing 32 can be rotatably connected to the second base 31; the outer rotor motor is used as the drive of the structure, which is convenient for driving the connecting rod device to move, thereby realizing the standing and lying operations of the robot leg structure 20.

[0034] The first connecting rod device 4 includes a first connecting portion 41 connected to the first driving device 2, a first extension leg 42 connected to the first connecting portion 41, and a first movable leg 43 movably connected to the first extension leg 42. The first extension leg 42 is provided with a first stopper 421 corresponding to the first movable leg 43. The second connecting rod device 5 includes a second connecting portion 51 connected to the second driving device 3, a second extension leg 52 connected to the second connecting portion 51, and a second movable leg 53 movably connected to the second extension leg 52. The second extension leg 52 is provided with a second stopper 521 corresponding to the second movable leg 53. The movably connected movable leg and the extension leg form a movable joint, and the movable position is limited by the stopper. Under the driving action of the driving device, the frame 10 has a floating head-up motion, which can expand the detection range.

[0035] A first rotating shaft 422 is provided between the first extension leg 42 and the first movable leg 43, and the first rotating shaft 422 is connected to the first guide wheel 423; the first connecting portion 41 includes a first fixed locking sleeve 411 and a first movable locking sleeve 412, the first fixed locking sleeve 411 and the first movable locking sleeve 412 cooperate to form a first locking cavity, the first locking cavity is fixedly locked to the first driving device 2, the first extension leg 42 and the first fixed locking sleeve 411 are integrally formed, the first extension leg 42 is provided with a first reinforcing rib 424, and the first reinforcing rib 424 is connected to the first fixed locking sleeve 411; a second rotating shaft 522 is provided between the second extension leg 52 and the second movable leg 53, and the second movable leg 53 is away from the second rotating shaft 52 2 A third rotating shaft 523 is provided at one end, and the third rotating shaft 523 is connected to the first movable foot 43; the second connecting portion 51 includes a second fixed locking sleeve 511 and a second movable locking sleeve 512, and the second fixed locking sleeve 511 and the second movable locking sleeve 512 cooperate to form a second locking cavity, and the second locking cavity is fixedly locked to the second driving device 3. The second extension foot 52 and the second fixed locking sleeve 511 are integrally formed, and the second extension foot 52 is provided with a second reinforcing rib 524, and the second reinforcing rib 524 is connected to the second fixed locking sleeve 511; the connection portion is fixedly connected with the rotor housing, and the structure is stable. At the same time, the extension foot and the movable foot are provided to cooperate with each other, and the structure is reliable. In addition, a guide wheel is provided to play an auxiliary role in movement when lying down.

[0036] The third driving device 6 is provided with a third base 61, and the third base 61 is connected to the second movable foot 53. The third driving device 6 is a hub motor, which is provided with a third rotor housing 62. The third rotor housing 62 is rotatably connected to the third base 61, and the outer sleeve of the third rotor housing 62 is provided with a wheel sleeve 63; the hub motor is used to move the leg structure 20, and the third base 61 is provided to cooperate with the second movable foot 53 for fixed connection, which is convenient for assembly.

[0037] The present invention adopts a frame 10 that is rotatably connected to the leg structure 20. During operation, the two leg structures 20 on both sides serve as the robot's walking and joints. A first limit block 421 and a second limit block 521 are set on the leg structure 20 to limit the robot when it lies down. When it lies down to a specified angle, the height position is limited. After limiting, the frame 10 can also rotate with the driving device under the action of the driving device, so that the frame 10 needs to move in the swinging floating space, so that the frame 10 can realize the head-up action, and the robot has a larger range and better stability during detection and inspection. Specifically, a frame 10 and a leg structure 20 installed on both sides of the frame 10 are provided, and the frame 10 can rotate and move on the leg structure 20; the frame 10 includes a side panel 1, a crossbeam frame 101 connecting the side panel 1, and a power supply 102 installed on the crossbeam frame 101 and connected to the leg structure 20; the leg structure 20 includes a first drive device 2 and a second drive device 3 respectively connected to both sides of the side panel 1, a first connecting rod device 4 connected to the first drive device 2, a second connecting rod device 5 connected to the second drive device 3, and a third drive device 6 connected to the first connecting rod device 4 and the second connecting rod device 5; the structure is stable and reliable through the support and installation of the crossbeam frame 101 in conjunction with the side panel 1, and a power supply 102 is provided to power the drive device on the leg structure 20.

[0038] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A robot with a floating frame, characterized by: The invention comprises a frame and leg structures mounted on both sides of the frame, wherein the frame is rotatable on the leg structures; the frame comprises side panels, a crossbeam connecting the side panels, and a power supply mounted on the crossbeam and connected to the leg structures; the leg structures comprise a first drive device and a second drive device respectively connected to both sides of the side panels, a first connecting rod device connected to the first drive device, a second connecting rod device connected to the second drive device, and a third drive device connected to the first connecting rod device and the second connecting rod device; The first connecting rod device includes a first connecting portion connected to the first driving device, a first extending leg connected to the first connecting portion, and a first movable leg movably connected to the first extending leg, the first extending leg corresponding to the first movable leg is provided with a first limiting block, the second connecting rod device includes a second connecting portion connected to the second driving device, a second extending leg connected to the second connecting portion, and a second movable leg movably connected to the second extending leg, the second extending leg corresponding to the second movable leg is provided with a second limiting block; The side plate includes a connecting plate, a first connecting frame and a second connecting frame respectively connected to both sides of the connecting plate, the first driving device is provided with a first base, the first base is fixedly connected to the first connecting frame, the second driving device is provided with a second base, and the second base is fixedly connected to the second connecting frame; the connecting plate is provided with a fixed connecting groove and a fixed connecting hole, the fixed connecting groove is a rectangular groove or a polygonal connecting groove, the fixed connecting groove passes through the connecting plate, the first connecting frame is provided with a first positioning platform, the second connecting frame is provided with a second positioning platform, and the first positioning platform and the second positioning platform are both assembled in the fixed connecting groove; The first drive device is an outer rotor direct drive motor, which is provided with a first rotor housing, and the first rotor housing is rotatably connected to the first base; the second drive device is an outer rotor direct drive motor, which is provided with a second rotor housing, and the second rotor housing is rotatably connected to the second base.

2. The frame-floating robot according to claim 1, characterized in that: The first connecting frame is provided with a first assembly groove on a side facing away from the first positioning platform, the first assembly groove is fixedly assembled and connected to the first base, the first assembly groove is connected to a first wiring groove, and the first wiring groove extends to the outside of the first connecting frame; the second connecting frame is provided with a second assembly groove on a side facing away from the second positioning platform, the second assembly groove is fixedly assembled and connected to the second base, the second assembly groove is connected to a second wiring groove, and the second wiring groove extends to the outside of the second connecting frame.

3. The frame-floating robot according to claim 2, characterized in that: The first connecting frame is evenly arranged with first fixing arms in a circumferential direction, and the first fixing arms are provided with first locking holes, and the first locking holes correspond to the fixed connecting holes; the second connecting frame is evenly arranged with second fixing arms in a circumferential direction, and the second fixing arms are provided with second locking holes, and the second locking holes are connected to the first locking holes by screws passing through the fixed connecting holes.

4. The frame-floating robot according to claim 1, characterized in that: A first rotating shaft is provided between the first extension leg and the first movable leg, and the first rotating shaft is connected to a first guide wheel.

5. The frame-floating robot according to claim 4, characterized in that: The first connecting portion includes a first fixed locking sleeve and a first movable locking sleeve. The first fixed locking sleeve and the first movable locking sleeve cooperate to form a first locking cavity. The first locking cavity is fixedly locked to the first driving device. The first extension leg and the first fixed locking sleeve are integrally formed. The first extension leg is provided with a first reinforcing rib, and the first reinforcing rib is connected to the first fixed locking sleeve.

6. The frame-floating robot according to claim 5, characterized in that: A second rotating shaft is provided between the second extension leg and the second movable leg, a third rotating shaft is provided at one end of the second movable leg away from the second rotating shaft, and the third rotating shaft is connected to the first movable leg.

7. The frame-floating robot according to claim 6, characterized in that: The second connecting portion includes a second fixed locking sleeve and a second movable locking sleeve. The second fixed locking sleeve cooperates with the second movable locking sleeve to form a second locking cavity. The second locking cavity is fixedly locked to the second driving device. The second extension leg and the second fixed locking sleeve are integrally formed. The second extension leg is provided with a second reinforcing rib, and the second reinforcing rib is connected to the second fixed locking sleeve.

8. The frame-floating robot according to claim 7, characterized in that: The third driving device is provided with a third base, and the third base is connected to the second movable foot. The third driving device is a hub motor, which is provided with a third rotor shell. The third rotor shell is rotatably connected to the third base, and the outer sleeve of the third rotor shell is provided with a wheel sleeve.

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