A flapping fin driving device of a robot

Abstract

The application belongs to the technical field of robot driving device, and particularly relates to a robot swing fin type driving device, which comprises a base, a connecting seat fixedly arranged on the base and used for mounting a robot, a floating plate fixedly embedded at the bottom of the base, a storage battery and a PLC controller fixedly installed on the base and used for power supply, four rotating shafts rotatably installed on the left and right sides of the base, and a telescopic swing fin unit fixedly connected to each rotating shaft through a connecting block. The application realizes stable and continuous movement on soft ground such as silt and marsh through the alternately arranged telescopic swing fin units, avoids the problems of easy sinking of traditional wheel type driving and easy mud sticking and stagnation of track type driving, secondarily utilizes the heat dissipation airflow for the driving unit as auxiliary thrust, and can self-adaptively adjust operation parameters according to different silt working conditions, thereby effectively improving the operation reliability and continuous operation time of the robot.

Description

Technical Field

[0001] This invention belongs to the field of robot drive device technology, and in particular relates to a fin-type drive device for a robot. Background Technology

[0002] As the application scenarios of special robots such as field operations, environmental exploration, and terrain monitoring continue to expand, the drive device, as the core component for realizing the robot's movement and operation functions, directly determines the robot's ability to adapt to working conditions. Currently, most of these types of robots are equipped with wheeled or tracked drive structures, which can meet the passage requirements of conventional hard and flat roads and complete basic movement and operation tasks in ordinary site environments.

[0003] In actual operation, robots often need to enter special areas with poor bearing capacity and soft soil, such as muddy ground, swamps, and tidal flats. Traditional wheeled drives have limited ground contact area and weak grip in such environments, making it easy for the wheels to spin freely and the robot to get stuck in the mud, making it impossible to maintain stable movement. Although tracked drives can reduce the sinking situation by relying on a larger ground contact area, their overall weight is relatively high, and they are prone to adhering to and carrying mud and debris during movement. When impurities are embedded in the track gaps, they will increase the running resistance and, in severe cases, cause the tracks to jam and lock up. This not only increases the energy consumption of movement and accelerates the wear of transmission components, but also significantly reduces the reliability and service life of the robot in continuous operation in soft muddy areas.

[0004] To address this problem, we propose a fin-type drive mechanism for robots. Summary of the Invention

[0005] The purpose of this invention is to address the above-mentioned problems by providing a fin-type drive device for a robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a fin-type drive device for a robot, comprising a base and a connecting seat fixedly mounted on the base for mounting the robot. A floating plate is fixedly embedded in the bottom of the base. A battery for power supply and a PLC controller are fixedly mounted on the base. Four rotating shafts are rotatably mounted on both the left and right sides of the base. Each rotating shaft is fixedly connected to a telescopic fin unit via a connecting block, and the telescopic fin unit is electrically connected to the PLC controller. The four telescopic fin units on each side are arranged alternately in a forward tilt of 18° and a backward tilt of 18° along the front-to-back direction. A drive unit that cooperates with each rotating shaft is provided on the base, and the drive unit is electrically connected to the PLC controller. A heat dissipation unit that is adapted to the drive unit is provided on the base, and the heat dissipation unit is electrically connected to the PLC controller. An auxiliary walking unit that cooperates with the heat dissipation unit is provided on both the left and right sides of the base, and the auxiliary walking unit is electrically connected to the PLC controller.

[0007] In the aforementioned fin-type drive device for a robot, the telescopic fin unit includes an electric actuator and a fin. A protective shell is fixedly provided on the connecting block. The electric actuator is fixedly installed inside the protective shell. The output end of the electric actuator extends outside the protective shell and is fixedly connected to the fin. The electric actuator is electrically connected to the PLC controller.

[0008] In the aforementioned fin-type drive device for a robot, the drive unit includes two servo motors and two drive shafts. A drive cavity is provided inside the base. Both servo motors are fixedly installed inside the drive cavity, and the output ends of the servo motors are connected to the corresponding drive shafts. The end of each drive shaft away from the servo motor is rotatably connected to the inner wall of the drive cavity. The end of each shaft away from the connecting block extends into the drive cavity and is driven by the corresponding drive shaft through a bevel gear assembly. The four bevel gear assemblies mounted on each drive shaft are arranged in alternating directions, and the transmission directions of two adjacent bevel gear assemblies are opposite. Both servo motors are electrically connected to a PLC controller.

[0009] In the aforementioned fin-type drive device for a robot, the heat dissipation unit includes two air pumps and two air guide chambers. Both air pumps are fixedly installed on the base. The input end of the air pump extends to the outside of the base and is fixedly equipped with a filter. The output end of the air pump is connected to an air supply pipe. The end of the air supply pipe away from the air pump extends into the drive chamber. The air pump is electrically connected to a PLC controller. The two air guide chambers are respectively opened on the left and right sides of the base, and the air guide chambers are connected to the drive chamber through air guide pipes. Exhaust pipes are rotatably connected to the left and right sides of the base, and the exhaust pipes are rotatably connected to the corresponding air guide chambers.

[0010] In the aforementioned fin-type drive device for a robot, the walking assistance unit includes a control box, a micro stepper motor, and an exhaust pipe. The control box is fixedly mounted on a base, and the exhaust pipe is rotatably connected to the corresponding control box. One end of the exhaust pipe extends out of the control box and is fixedly connected to the exhaust pipe. A one-way valve is installed on the exhaust pipe. A worm gear is rotatably mounted inside the control box. A worm wheel that meshes with the worm gear is fixedly sleeved on the exhaust pipe. The upper end of the worm gear is connected to the micro stepper motor. A protective chamber is sleeved on the outside of the micro stepper motor.

[0011] In the aforementioned fin-type drive device for a robot, the servo motor and the corresponding drive shaft are connected via a torque sensor, and the torque sensor is electrically connected to the PLC controller.

[0012] In the aforementioned fin-type drive device for a robot, a heat dissipation pipe is fixedly installed in the drive cavity, and multiple heat dissipation nozzles are fixedly connected to the heat dissipation pipe. Each heat dissipation nozzle corresponds to a bevel gear assembly, and one end of each of the two air supply pipes extending into the drive cavity is fixedly connected to the heat dissipation pipe.

[0013] In the aforementioned fin-type drive device for a robot, a telescopic protective sleeve is fixedly provided between the fin and the protective shell, and the telescopic protective sleeve covers the outer wall of the corresponding electric actuator output end.

[0014] Compared with existing technologies, the advantages of a fin-type drive mechanism for robots are:

[0015] 1. By setting up telescopic fin units arranged alternately in forward and backward tilting postures along the front-to-back direction, and cooperating with the drive unit to drive each fin to swing back and forth in an orderly relay, the problems of small ground contact area, weak grip and easy sinking of traditional wheel drive and heavy weight and easy mud sticking and jamming of track drive are avoided. When the fins slide backward, they stick to the silt to provide sufficient propulsion force. When swinging back, the electric push rod retracts and lifts them off the mud surface, effectively avoiding the additional resistance caused by silt blockage and ensuring the continuity and stability of the device's movement.

[0016] 2. By setting up a heat dissipation unit that is compatible with the drive unit, and an auxiliary unit that works in conjunction with the heat dissipation unit, the air pump, heat pipe and heat dissipation nozzle can be used to cool the servo motor, bevel gear assembly and other components, remove the heat generated during operation, reduce the wear of components caused by high temperature, and guide the cooled airflow to the jet pipe for discharge. The reaction force generated by the air jet can be used to supplement the robot's movement with auxiliary thrust, so as to achieve secondary utilization of the cooled airflow.

[0017] 3. By using a torque sensor positioned between the servo motor and the drive shaft, along with an adjustable-angle jet nozzle and a worm gear adjustment mechanism driven by a micro stepper motor, adaptive adjustment for different sludge conditions is achieved. The torque sensor can collect load data of the transmission system in real time and transmit it to the PLC controller. When encountering highly viscous sludge, the controller automatically lowers the jet nozzle angle and increases the air pump power to impact and loosen the sludge in front of the swing fin to reduce the sliding resistance. At the same time, it generates an upward reaction force to prevent the swing fin from getting stuck. When encountering soft mud with high water content, the controller raises the jet nozzle angle to generate downward pressure, increasing the depth of the swing fin into the mud to improve the gripping force and avoid slippage. At the same time, the air pump operating power can be adjusted according to the actual heat generation, saving energy while ensuring heat dissipation and extending the robot's continuous operation time. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a fin-type drive device for a robot provided by the present invention.

[0019] Figure 2 This is a schematic diagram of the fin-type drive device for a robot in its initial state, provided by the present invention.

[0020] Figure 3This is a front sectional view of a fin-type drive device for a robot provided by the present invention;

[0021] Figure 4 This is a top sectional view of the drive unit of a fin-type drive device for a robot provided by the present invention;

[0022] Figure 5 This is a front sectional view of the telescopic fin unit of a fin-type drive device for a robot provided by the present invention;

[0023] Figure 6 This is a schematic diagram of the internal structure of the control box of a fin-type drive device for a robot provided by the present invention.

[0024] In the diagram: 1. Base, 2. Connecting seat, 3. Floating plate, 4. Battery, 5. PLC controller, 6. Rotating shaft, 7. Connecting block, 8. Telescopic fin unit, 81. Electric actuator, 82. Fin, 9. Drive unit, 91. Servo motor, 92. Drive shaft, 10. Heat dissipation unit, 101. Air pump, 102. Air guide chamber, 11. Walking aid unit, 111. Control box, 112. Micro stepper motor, 113. Jet nozzle, 12. Protective shell, 13. Drive chamber, 14. Bevel gear assembly, 15. Air supply pipe, 16. Air guide pipe, 17. Exhaust pipe, 18. One-way valve, 19. Worm gear, 20. Worm wheel, 21. Protective chamber, 22. Torque sensor, 23. Heat dissipation pipe, 24. Heat dissipation nozzle, 25. Telescopic protective sleeve, 26. Filter. Detailed Implementation

[0025] Specific embodiments of the present invention will now be described in detail. It should be noted that the embodiments described herein are for illustrative purposes only and are not intended to limit the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that these specific details are not necessary to practice the invention. In other instances, well-known circuits, software, or methods have not been specifically described to avoid obscuring the invention.

[0026] Throughout this specification, references to "an embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment of the invention. Therefore, the phrases "in an embodiment," "in an embodiment," "an example," or "an example" appearing in various places throughout the specification do not necessarily refer to the same embodiment or example. Furthermore, specific features, structures, or characteristics can be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. Moreover, those skilled in the art will understand that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale.

[0027] like Figures 1-6As shown, a fin-type drive device for a robot includes a base 1 and a connecting seat 2 fixedly mounted on the base 1 for mounting the robot. A floating plate 3 is fixedly embedded at the bottom of the base 1. In actual use, mudguards can be added to both sides of the base 1. A battery 4 for power supply and a PLC controller 5 are fixedly mounted on the base 1. The PLC controller 5 is equipped with a wireless communication module, which allows users to remotely operate the drive device through a remote control device. Four rotating shafts 6 are rotatably mounted on both the left and right sides of the base 1. Each rotating shaft 6 is fixedly connected to a telescopic fin unit 8 through a connecting block 7, and the telescopic fin unit 8 is electrically connected to the PLC controller 5.

[0028] The telescopic fin unit 8 includes an electric actuator 81 and a fin 82. A protective shell 12 is fixedly installed on the connecting block 7. The electric actuator 81 is fixedly installed inside the protective shell 12. The output end of the electric actuator 81 extends to the outside of the protective shell 12 and is fixedly connected to the fin 82. The electric actuator 81 is electrically connected to the PLC controller 5. Through the cooperation of the electric actuator 81 and the PLC controller 5, the fin 82 can be automatically controlled to extend and retract based on the swing stroke of the fin 82, realizing the automatic switching of the fin 82 sliding along the mud surface and lifting off and swinging back.

[0029] A telescopic protective sleeve 25 is fixedly installed between the swing fin 82 and the protective shell 12, and the telescopic protective sleeve 25 covers the outer side wall of the corresponding electric actuator 81 output end. The telescopic protective sleeve 25 can be extended and retracted in conjunction with the output end of the electric actuator 81, and at the same time, it provides protection based on the output end of the electric actuator 81.

[0030] Four telescopic fin units 8 on each side are arranged alternately in a forward tilt of 18° and a backward tilt of 18° along the front-to-back direction. A drive unit 9, which cooperates with each rotating shaft 6, is mounted on the base 1 and is electrically connected to the PLC controller 5. The drive unit 9 includes two servo motors 91 and two drive shafts 92. A drive cavity 13 is provided inside the base 1. Both servo motors 91 are fixedly installed inside the drive cavity 13, and the output ends of the servo motors 91 are connected to the corresponding drive shafts 92. The end of the drive shaft 92 furthest from the servo motor 91 is rotatably connected to the inner wall of the drive cavity 13. The end of each rotating shaft 6 furthest from the connecting block 7 extends into the drive cavity 13. The bevel gear assembly 14 is connected to the corresponding drive shaft 92 for transmission. The four bevel gear assemblies 14 mounted on each drive shaft 92 are arranged in alternating transmission directions, and the transmission directions of two adjacent bevel gear assemblies 14 are opposite. Both servo motors 91 are electrically connected to the PLC controller 5. By setting two independently driven servo motors 91 and drive shafts 92, and cooperating with bevel gear assemblies 14 with alternating transmission directions, the speed of the two servo motors 91 can be adjusted by the PLC controller 5 to achieve flexible differential steering as needed. At the same time, the transmission of each bevel gear assembly 14 can drive the swing fin 82 on the same side to form an orderly relay paddling action.

[0031] The servo motor 91 and the corresponding drive shaft 92 are connected by a torque sensor 22, and the torque sensor 22 is electrically connected to the PLC controller 5. Through the torque sensor 22 set between the servo motor 91 and the drive shaft 92, the load torque data of the transmission system can be collected in real time and fed back to the PLC controller 5, so that the device can automatically adjust the operating parameters according to different sludge working conditions.

[0032] The base 1 is equipped with a heat dissipation unit 10 adapted to the drive unit 9, and the heat dissipation unit 10 is electrically connected to the PLC controller 5. The heat dissipation unit 10 includes two air pumps 101 and two air guide chambers 102. Both air pumps 101 are fixedly installed on the base 1. The input end of the air pump 101 extends to the outside of the base 1 and is fixedly equipped with a filter 26. The air outlet of the filter 26 is threadedly connected to the input end of the air pump 101 for easy disassembly and replacement. The filter 26 has a built-in filter layer for filtering and dehumidifying the external air drawn in by the air pump 101. The output end of the air pump 101 is connected to an air delivery pipe 15. One end of the air pump 101 extends into the drive chamber 13. The air pump 101 is electrically connected to the PLC controller 5. Two air guide chambers 102 are respectively opened on the left and right sides of the base 1, and the air guide chambers 102 are connected to the drive chamber 13 through the air guide pipe 16. The left and right sides of the base 1 are rotatably connected to the exhaust pipes 17, and the exhaust pipes 17 are rotatably connected to the corresponding air guide chambers 102. By setting the air pump 101 with filter 26 and the air guide chambers 102 and exhaust pipes 17 that connect the drive chamber 13, the filtered clean air can be actively sent into the drive chamber 13 to form an airflow circulation and dissipate heat from the components in the drive chamber 13.

[0033] A heat dissipation pipe 23 is fixedly installed in the drive cavity 13, and multiple heat dissipation nozzles 24 are fixedly connected to the heat dissipation pipe 23. Each heat dissipation nozzle 24 corresponds to each bevel gear assembly 14. Two air supply pipes 15 extend to one end of the drive cavity 13 and are fixedly connected to the heat dissipation pipe 23. Through the cooperation of the heat dissipation pipe 23 and each heat dissipation nozzle 24, the airflow can be better guided to the bevel gear assembly 14, so that the bevel gear assembly 14 can get better heat dissipation.

[0034] Both sides of the base 1 are provided with walking aid units 11 that cooperate with the heat dissipation unit 10. The walking aid unit 11 is electrically connected to the PLC controller 5. The walking aid unit 11 includes a control box 111, a micro stepper motor 112 and a jet pipe 113. The control box 111 is fixedly mounted on the base 1, and the exhaust pipe 17 is rotatably connected to the corresponding control box 111. One end of the exhaust pipe 17 extends out of the control box 111 and is fixedly connected to the jet pipe 113. A one-way valve 18 is installed on the jet pipe 113. A worm gear 19 is rotatably mounted inside the control box 111. A worm wheel 20 that meshes with the worm gear 19 is fixedly sleeved on the exhaust pipe 17. The upper end of the worm gear 19 is connected to the micro stepper motor 112. A protective chamber 21 is sleeved on the outside of the micro stepper motor 112. Through the transmission cooperation of the micro stepper motor 112, the worm gear 19 and the worm wheel 20, the jet pipe 113 can be adjusted in terms of spray angle as needed.

[0035] The operating principle of the present invention is now described as follows:

[0036] When the device operates in areas with soft silt, it can be remotely controlled via a remote control device in conjunction with a PLC controller 5. During operation, the PLC controller 5 controls two servo motors 91 to intermittently rotate in both directions. The servo motors 91 drive the transmission shaft 92 through the torque sensor 22, which in turn drives each rotating shaft 6 to rotate via the bevel gear assembly 14. This, in turn, causes all the telescopic fin units 8 on both sides of the base 1 to swing back and forth. The four telescopic fin units 8 on each side of the base 1 are arranged alternately with a forward tilt of 18° and a backward tilt of 18° in the front-to-back direction. During operation, two sets of fins 82 on each side of the base 1 move backward synchronously, using the reaction force of the silt to propel the entire device forward, while the other two sets of fins move forward synchronously. When the rear swing fin 82 swings to the end of its stroke, the PLC controller 5 controls the electric push rod 81 inside the protective shell 12 to retract, driving the swing fin 82 to lift off the silt surface, preventing the silt from hindering the swing fin 82's return movement. At the same time, the telescopic protective sleeve 25 protects the output end of the electric push rod 81. When the rear swing fin 82 reaches the end of its stroke, the front swing fin 82 just reaches the starting position of the rear swing. The electric push rod 81 then extends to drive the swing fin 82 to fit against the silt. The servo motor 91 synchronously and automatically reverses direction. The original front swing fin 82 takes over the rear swing drive, and the original rear swing fin 82 automatically resets and waits for the device to move forward. The cycle alternates to achieve orderly relay swing of the swing fin 82, ensuring the continuity of the device's movement.

[0037] While the device is moving, the PLC controller 5 synchronously controls the two air pumps 101 to start. After the external air is filtered and dusted by the filter 26, it is drawn in by the air pump 101 and delivered to the heat dissipation pipe 23 in the drive cavity 13 through the air supply pipe 15. Then, it is cooled by the heat dissipation nozzles 24 on each bevel gear assembly 14. The heat accumulated inside the drive cavity 13 is introduced into the air guide chambers 102 on both sides of the base 1 along with the air flow through the air guide pipe 16. The hot air flow is then ejected backward through the exhaust pipe 17 and the corresponding jet pipe 113. The reaction force generated by the air jet provides auxiliary thrust for the device to move.

[0038] When the device operates in a silty area with low moisture content and thick, sticky soil, the resistance of the sway fin 82 to the silt increases significantly. The torque sensor 22, which is installed between the servo motor 91 and the drive shaft 92, collects torque data in real time and transmits electrical signals to the PLC controller 5. If the high torque signal is stable and continuous for a set duration, the PLC controller 5 controls the micro stepper motor 112 in the control box 111 to run forward. Under the meshing transmission of the worm gear 19 and the worm wheel 20, the exhaust pipe 17 and the jet pipe 113 are driven to deflect downward to the set angle. At the same time, the PLC controller 5 automatically increases the operating power of the air pump 101 to increase the air supply and jet flow. The downwardly sprayed airflow can impact and loosen the silt in front of the sway fin 82, reducing the resistance of the sway fin 82 to slide in. The upwardly sprayed airflow generates an upwardly counterforce, which can slightly reduce the pressure of the sway fin 82 on the mud layer. This prevents the sway fin 82 from being stuck by the silt and retains sufficient mud gripping force to ensure that the sway fin 82 swings and drives normally.

[0039] When the device travels to a silty area with high water content and soft soil, resulting in low travel resistance, the overall transmission load is significantly reduced. The heat generated by components such as the servo motor 91 and bevel gear assembly 14 is reduced accordingly. The torque sensor 22 continuously feeds a stable low torque signal to the PLC controller 5. After receiving the signal, the PLC controller 5 controls the micro stepper motor 112 to rotate in reverse. Through the worm gear 19 and worm wheel 20, the jet pipe 113 is driven to tilt upwards. At the same time, the operating power of the air pump 101 is actively reduced. Under the premise of meeting the basic heat dissipation requirements inside the drive chamber 13 and matching the low heat generation conditions, energy consumption is reduced and electricity is saved. The upward jet of air from the jet pipe 113 will generate a downward reverse force, forming a certain downward pressure, increasing the depth of the swing fin 82 into the mud, so that the swing fin 82 can better bite into the deep silt. The swing force of the swing fin 82 is effectively converted into forward thrust, avoiding the swing fin 82 from spinning or slipping in the high water content soft mud environment, and realizing adaptive adjustment operation under different silty working conditions.

[0040] To determine the optimal alternating tilt angle of the telescopic fin unit 8, the inventors used Ansys Fluent 2024 R2 computational fluid dynamics simulation software to numerically simulate the interaction between the fin 82 and the silt at different tilt angles. In the simulation, the tidal flat silt was treated as a Bingham non-Newtonian fluid, and two typical working conditions were set up: high-viscosity, low-water-content silt and high-water-content, thin and soft silt. Under the condition that the external dimensions of the fin 82, the silt penetration depth, the swing period, the driving input conditions, and the silt rheological model remained consistent, five sets of alternating tilt angles of 14°, 16°, 18°, 20°, and 22° were compared. The evaluation indicators included the average effective propulsion efficiency, the energy consumption per 1m of forward movement, and the thrust-to-drag ratio, where the thrust-to-drag ratio = effective forward thrust ÷ silt drag resistance. The above simulation conditions are only used for comparison under the same conditions between different tilt angles and do not constitute a limitation on the scope of protection of this invention.

[0041] The performance data of each inclination angle group under the two types of silt working conditions, based on simulation calculations, are shown in Tables 1 and 2, respectively:

[0042] Table 1 Simulation performance parameters of high-viscosity, low-water-content sludge

[0043]

[0044] Table 2 Simulation performance parameters of high water content, thin and soft silt

[0045]

[0046] As shown in Tables 1 and 2, under both types of silt conditions, the 18° alternating inclination angle group had the highest average effective propulsion efficiency, the lowest unit travel energy consumption, and the highest thrust-drag ratio. Specifically, under the high-viscosity, low-water-content silt condition, the 18° group had an average effective propulsion efficiency of 84.6%, an energy consumption of 70.7 J per meter of advance, and a thrust-drag ratio of 1.79; under the high-water-content, thin, and soft silt condition, the 18° group had an average effective propulsion efficiency of 87.9%, an energy consumption of 66.1 J per meter of advance, and a thrust-drag ratio of 1.84. The advantages of the 18° alternating inclination angle compared to the adjacent 16° and 20° alternating inclination angles are shown in Table 3.

[0047] Table 3. Conversion of the advantages of 18° alternating tilt angles relative to adjacent angles

[0048]

[0049] As shown in Table 3, compared with adjacent tilt angles of 16° and 20°, the propulsion efficiency of alternating tilt angles of 18° is increased by approximately 4.44%–5.09%, the unit travel energy consumption is reduced by approximately 9.33%–11.40%, and the thrust-to-drag ratio is increased by approximately 16.46%–19.48%. When the tilt angle is less than 18°, the swivel fin 82 has insufficient pressure and shearing effect on the silt during the backward stroke, resulting in a decrease in the effective forward thrust component. When the tilt angle is greater than 18°, the horizontal extension of the swivel fin 82 and the mud-facing resistance increase, and the disturbance to the surface silt during the swing-back lifting phase increases, leading to an increase in drive load and energy consumption. Therefore, the alternating arrangement of forward tilt of 18° and backward tilt of 18° can achieve a better coordination between the mud-entry posture of the swivel fin 82, the direction of the backward stroke thrust, and the swing-back resistance avoidance action, so that the output thrust of the swivel fin 82 and the silt resistance can achieve a better balance. Therefore, this embodiment preferably adopts an alternating arrangement of forward tilt of 18° and backward tilt of 18°.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A fin-type drive device for a robot, comprising a base (1) and a connecting seat (2) fixedly disposed on the base (1) for mounting the robot, characterized in that, A floating plate (3) is fixedly embedded at the bottom of the base (1). A battery (4) for power supply and a PLC controller (5) are fixedly installed on the base (1). Four rotating shafts (6) are rotatably installed on both the left and right sides of the base (1). Each rotating shaft (6) is fixedly connected to a telescopic fin unit (8) through a connecting block (7). The telescopic fin unit (8) is electrically connected to the PLC controller (5). The four telescopic fin units (8) on each side alternately tilt forward 18° and backward 18° in the front-to-back direction. The base (1) is provided with a drive unit (9) that cooperates with each rotating shaft (6), and the drive unit (9) is electrically connected to the PLC controller (5). The base (1) is provided with a heat dissipation unit (10) that is adapted to the drive unit (9), and the heat dissipation unit (10) is electrically connected to the PLC controller (5). The left and right sides of the base (1) are provided with walking aid units (11) that cooperate with the heat dissipation unit (10), and the walking aid units (11) are electrically connected to the PLC controller (5). The drive unit (9) includes two servo motors (91) and two drive shafts (92). The base (1) has a drive cavity (13) inside. The two servo motors (91) are fixedly installed in the drive cavity (13), and the output end of the servo motor (91) is connected to the corresponding drive shaft (92). The end of the drive shaft (92) away from the servo motor (91) is rotatably connected to the inner wall of the drive cavity (13). The end of each rotating shaft (6) away from the connecting block (7) extends into the drive cavity (13) and is connected to the corresponding drive shaft (92) through a bevel gear assembly (14). The four bevel gear assemblies (14) mounted on each drive shaft (92) are arranged alternately in the transmission direction, and the transmission directions of two adjacent bevel gear assemblies (14) are opposite. The two servo motors (91) are electrically connected to the PLC controller (5). The heat dissipation unit (10) includes two air pumps (101) and two air guide chambers (102). Both air pumps (101) are fixedly installed on the base (1). The input end of the air pump (101) extends to the outside of the base (1) and is fixedly equipped with a filter (26). The output end of the air pump (101) is connected to an air supply pipe (15). The end of the air supply pipe (15) away from the air pump (101) extends into the drive chamber (13). The air pump (101) is electrically connected to the PLC controller (5). The two air guide chambers (102) are respectively opened on the left and right sides of the base (1), and the air guide chambers (102) are connected to the drive chamber (13) through the air guide pipe (16). The left and right sides of the base (1) are rotatably connected to exhaust pipes (17), and the exhaust pipes (17) are rotatably connected to the corresponding air guide chambers (102).

2. The fin-type drive device for a robot according to claim 1, characterized in that, The telescopic fin unit (8) includes an electric actuator (81) and a fin (82). A protective shell (12) is fixedly provided on the connecting block (7). The electric actuator (81) is fixedly installed inside the protective shell (12). The output end of the electric actuator (81) extends to the outside of the protective shell (12) and is fixedly connected to the fin (82). The electric actuator (81) is electrically connected to the PLC controller (5).

3. The fin-type drive device for a robot according to claim 1, characterized in that, The walking assistance unit (11) includes a control box (111), a micro stepper motor (112), and an air jet pipe (113). The control box (111) is fixedly mounted on the base (1), and the exhaust pipe (17) is rotatably connected to the corresponding control box (111). One end of the exhaust pipe (17) extends out of the control box (111) and is fixedly connected to the air jet pipe (113). A one-way valve (18) is installed on the air jet pipe (113). A worm gear (19) is rotatably mounted inside the control box (111). A worm wheel (20) that meshes with the worm gear (19) is fixedly sleeved on the exhaust pipe (17). The upper end of the worm gear (19) is connected to the micro stepper motor (112) for transmission. A protective chamber (21) is sleeved on the outside of the micro stepper motor (112).

4. The fin-type drive device for a robot according to claim 1, characterized in that, The servo motor (91) and the corresponding drive shaft (92) are connected by a torque sensor (22), and the torque sensor (22) is electrically connected to the PLC controller (5).

5. The fin-type drive device for a robot according to claim 1, characterized in that, A heat dissipation pipe (23) is fixedly installed in the drive cavity (13), and multiple heat dissipation nozzles (24) are fixedly connected to the heat dissipation pipe (23). Each heat dissipation nozzle (24) corresponds to each bevel gear assembly (14). The two air supply pipes (15) extend to one end of the drive cavity (13) and are fixedly connected to the heat dissipation pipe (23).

6. The fin-type drive device for a robot according to claim 2, characterized in that, A telescopic protective sleeve (25) is fixedly provided between the swing fin (82) and the protective shell (12), and the telescopic protective sleeve (25) covers the outer side wall of the output end of the corresponding electric push rod (81).

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