Wheeled robot and walking control mechanism thereof

Abstract

The utility model provides a wheeled robot and a walking control mechanism thereof, and relates to the field of robots, in particular to the wheeled robot which comprises a machine body, a clamping piece and a clamping auxiliary device, the clamping piece is arranged at the front end of the machine body and fixedly connected with the clamping auxiliary mechanism, and the clamping auxiliary mechanism is fixedly connected with the machine body. When an object is clamped, the clamping piece firstly clamps the object, then the telescopic assembly starts to move in the horizontal direction, under connection of the chain transmission piece, the clamping piece is driven to move in the vertical direction along with movement of the telescopic assembly, and the clamping piece ascends under the action of the chain transmission piece while the telescopic assembly stretches; the telescopic assembly is arranged below the object when stretching is completed, through the arrangement of the structure, when the object falls off from the clamping piece accidentally, the telescopic assembly located below the object can bear the object, and the transportation action of the robot is better completed.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a wheeled robot and a walking control mechanism thereof. Background Art

[0002] A wheeled robot is a robot that moves by wheels. Depending on the number and configuration of wheels, wheeled robots can be of many different types, such as differentially driven two-wheeled robots, three-wheeled robots (usually one front wheel for steering and two rear wheels for driving), four-wheeled robots (can be four-wheel drive or two-wheel drive plus steering), etc. A wheeled robot and its walking control mechanism usually consists of several key parts to ensure the robot's stability and precise mobility.

[0003] In the prior art, a robot generally consists of a body and a clamping member arranged at the front end of the body. The clamping member generally consists of a motor, two clamping claws and two gears. The motor drives one gear to rotate, and drives another gear meshing with it to rotate. The two gears rotate in opposite directions to achieve the clamping of the object by the clamping claws. However, if the object is clamped by only this structure, the object will easily slide downward or even fall halfway when it is slightly bumped during a long distance or the friction between the clamping member and the object is less than the gravity of the object. The object may be hit during the falling process, causing damage or breakage. At the same time, the object may also hit other equipment or structures, causing damage to these equipment or structures. Secondly, the object needs to be picked up and clamped again after falling, which wastes time and manpower and reduces the efficiency of the entire transportation or operation process.

[0004] Therefore, it is necessary to provide a new wheeled robot and its walking control mechanism to solve the above technical problems. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a wheeled robot and a walking control mechanism thereof.

[0006] The wheeled robot provided by the utility model comprises: a body, a clamping member and a clamping auxiliary mechanism, wherein the clamping member is arranged at the front end of the body, the clamping member is fixedly connected to the clamping auxiliary mechanism, and the clamping auxiliary mechanism is fixedly connected to the body;

[0007] The clamping auxiliary mechanism includes a support frame, a telescopic component and two chain transmission parts, one end of the support frame is fixedly connected to the machine body, two chain transmission parts are fixedly connected to the two sides of the top surface of the support frame, one end of the two chain transmission parts are movably connected to the two sides of the clamping part, the other ends of the two chain transmission parts are fixedly connected to the two sides of the telescopic component, the free end of the telescopic component is fixedly connected to the support frame, and the extension and retraction of the telescopic component can drive the lifting and lowering of the clamping part through the two chain transmission parts.

[0008] Preferably, the telescopic assembly includes a front folding piece, a rear folding piece, two telescopic groups and a plurality of middle folding pieces, the front folding piece, the rear folding piece and the plurality of middle folding pieces are hinged, the front folding piece is movably connected to a connecting column at the end near the body, both ends of the connecting column are fixedly connected to the two telescopic groups, the rear folding piece is fixedly connected to fixed columns on both sides away from the body, and both of the fixed columns are movably connected to the chain transmission member.

[0009] Preferably, the first folding piece, the tail folding piece and the plurality of middle folding pieces have the same structure, and each of the first folding piece, the tail folding piece and the plurality of middle folding pieces comprises two hinged folding plates, and the folding plates are hinged to the folding plates in the adjacent folding pieces.

[0010] Preferably, the telescopic group includes a telescopic part, a limit frame, a connecting rod and a motor, the motor housing is fixedly connected to the support frame, the motor output end is fixedly connected to one end of the connecting rod, the connecting rod side wall is fixedly connected to the telescopic part, the other end of the connecting rod is fixedly connected to the connecting column, and the limit frame.

[0011] Preferably, the telescopic member includes a front telescopic frame, a rear telescopic frame and a plurality of middle telescopic frames, one end of the front telescopic frame is fixedly connected to the connecting rod, the other end of the front telescopic frame is hinged to one end of the middle telescopic frame, the other end of the middle telescopic frame is hinged to the rear telescopic frame, and the other end of the rear telescopic frame is fixedly connected to the fixed column.

[0012] Preferably, the first telescopic frame includes a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod is movably connected to the connecting rod, the other end of the first connecting rod is hinged to one end of the second connecting rod, the middle part of the second connecting rod is hinged to the third connecting rod, and the center of the second connecting rod is movably connected to a limiting block, and the limiting block is arranged in the limiting frame.

[0013] Preferably, the tail telescopic frame includes a sixth connecting rod and a seventh connecting rod, one end of the sixth connecting rod is movably connected to the fixed column, and one end of the seventh connecting rod is movably connected to the fixed column.

[0014] Preferably, the middle telescopic frame comprises a fourth connecting rod and a fifth connecting rod, and the middle of the fourth connecting rod is hinged to the center of the fifth connecting rod;

[0015] The fourth connecting rod in the middle telescopic frame adjacent to the first telescopic frame is hinged to the third connecting rod, the fifth connecting rod in the middle telescopic frame near the first telescopic frame is hinged to the second connecting rod, the fourth connecting rod in the middle telescopic frame adjacent to the tail telescopic frame is hinged to the seventh connecting rod, and the fifth connecting rod in the middle telescopic frame adjacent to the tail telescopic frame is hinged to the sixth connecting rod.

[0016] Preferably, the chain transmission component includes a support rod, a sprocket and a transmission chain. The bottom surface of the support rod is fixedly connected to the support frame, the top end of the support rod is movably connected to the sprocket, the sprocket is meshed with the transmission chain, one end of the transmission chain is movably connected to the clamping component, and the other end of the transmission chain is movably connected to the fixed column.

[0017] The utility model provides an application and a walking control mechanism of a wheeled robot, which comprises a control system, and the control system is arranged on the body.

[0018] Compared with the related art, the wheeled robot and the walking control mechanism thereof provided by the utility model have the following beneficial effects:

[0019] The utility model provides a wheeled robot and a walking control mechanism thereof. When clamping an object, the clamping member first clamps the object, and then the telescopic component starts to move in the horizontal direction. Under the connection of a chain transmission member, the clamping member is driven to move in the vertical direction as the telescopic component moves. The telescopic component is extended and the clamping member rises under the action of the chain transmission member. When the extension of the telescopic component is completed, the telescopic component is placed under the object. With this structural arrangement, when the object accidentally falls off the clamping member, the telescopic component located under the object can take over the object, so that the robot's transportation action can be better completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The overall structural diagram of the wheeled robot and its walking control mechanism provided by the utility model;

[0021] Figure 2 A partial structural schematic diagram provided for the utility model;

[0022] Figure 3 A schematic diagram of the telescopic assembly structure provided by the utility model;

[0023] Figure 4 This is a structural schematic diagram of the telescopic component provided by the utility model from another perspective.

[0024] Numbers in the figure: 1. body; 2. support frame; 3. first folding piece; 4. middle folding piece; 5. tail folding piece; 6. fixing column; 7. folding plate; 8. limit frame; 9. connecting rod; 10. motor; 11. first telescopic frame; 12. middle telescopic frame; 13. tail telescopic frame; 14. first connecting rod; 15. second connecting rod; 16. third connecting rod; 17. fourth connecting rod; 18. fifth connecting rod; 19. sixth connecting rod; 20. seventh connecting rod; 21. support rod; 22. sprocket; 23. transmission chain; 24. control system; 25. connecting column; 26. limit block. DETAILED DESCRIPTION

[0025] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0026] Please refer to Figure 1-Figure 4 ,in, Figure 1 The overall structural diagram of the wheeled robot and its walking control mechanism provided by the utility model; Figure 2 A partial structural schematic diagram provided for the utility model; Figure 3 A schematic diagram of the telescopic assembly structure provided by the utility model; Figure 4 This is a structural schematic diagram of the telescopic component provided by the utility model from another perspective.

[0027] In the specific implementation process, Figure 1-Figure 4As shown, a wheeled robot includes a body 1, a clamping member and a clamping auxiliary mechanism. The clamping member is arranged at the front end of the body 1, the clamping member is fixedly connected to the clamping auxiliary mechanism, the clamping auxiliary mechanism is fixedly connected to the body 1, the clamping member includes a motor 10, a platform, two gears and two clamping claws, the platform is movably connected to the clamping auxiliary mechanism, the motor 10 is arranged above the platform, the output end of the motor 10 passes through the platform and is fixedly connected to a gear, the rotation of the motor 10 drives the gear to rotate, and another gear meshing with the gear moves in the opposite direction, the two gears are fixedly connected to the two clamping claws respectively, and the rotation of the gear drives the clamping claws to move;The clamping auxiliary mechanism includes a support frame 2, a telescopic component and two chain transmission parts. One end of the support frame 2 is fixedly connected to the body 1, and two chain transmission parts are fixedly connected to the top surface of the support frame 2 on both sides. One end of the two chain transmission parts is movably connected to the two sides of the clamping part, and the other ends of the two chain transmission parts are fixedly connected to the two sides of the telescopic component. The free end of the telescopic component is fixedly connected to the support frame 2. The telescopic component can drive the lifting and lowering of the clamping part through the two chain transmission parts. The telescopic component includes a first folding part 3, a tail folding part 5, two telescopic groups and multiple middle folding parts 4. The first folding part 3, the tail folding part 5 and multiple The middle folding parts 4 are hinged, the first folding part 3 is movably connected to the end near the body 1 with a connecting column 25, and the two ends of the connecting column 25 are fixedly connected to the two telescopic groups, and the two sides of the tail folding part 5 away from the body 1 are respectively fixedly connected to the fixing columns 6, and the two fixing columns 6 are movably connected to the chain transmission part. The first folding part 3, the tail folding part 5 and the multiple middle folding parts 4 have the same structure. The first folding part 3, the tail folding part 5 and the multiple middle folding parts 4 all include two hinged folding plates 7, and the folding plate 7 is hinged to the folding plate 7 in the adjacent folding part. The telescopic group includes a telescopic part, a limit frame 8, a connecting rod 9 and a motor 10. The motor 10 The housing is fixedly connected to the support frame 2, the output end of the motor 10 is fixedly connected to one end of the connecting rod 9, the side wall of the connecting rod 9 is fixedly connected to the telescopic member, the other end of the connecting rod 9 is fixedly connected to the connecting column 25, the limit frame 8, the telescopic member includes a first telescopic frame 11, a tail telescopic frame 13 and a plurality of middle telescopic frames 12, one end of the first telescopic frame 11 is fixedly connected to the connecting rod 9, the other end of the first telescopic frame 11 is hinged to one end of the middle telescopic frame 12, the other end of the middle telescopic frame 12 is hinged to the tail telescopic frame 13, the other end of the tail telescopic frame 13 is fixedly connected to the fixed column 6, the first telescopic frame 11 includes a first connecting rod 14, a second connecting rod 15 and a plurality of middle telescopic frames 12. Three connecting rods 16, one end of the first connecting rod 14 is movably connected to the connecting rod 9, the other end of the first connecting rod 14 is hinged to one end of the second connecting rod 15, the middle of the second connecting rod 15 is hinged to the third connecting rod 16, the center of the second connecting rod 15 is movably connected to the limiting block 26, the limiting block 26 is arranged in the limiting frame 8, the tail telescopic frame 13 includes a sixth connecting rod 19 and a seventh connecting rod 20, one end of the sixth connecting rod 19 is movably connected to the fixed column 6, one end of the seventh connecting rod 20 is movably connected to the fixed column 6, the middle telescopic frame 12 includes a fourth connecting rod 17 and a fifth connecting rod 18, the middle of the fourth connecting rod 17 is hinged to the center of the fifth connecting rod 18;The fourth connecting rod 17 in the middle telescopic frame 12 adjacent to the first telescopic frame 11 is hinged to the third connecting rod 16, the fifth connecting rod 18 in the middle telescopic frame 12 near the first telescopic frame 11 is hinged to the second connecting rod 15, the fourth connecting rod 17 in the middle telescopic frame 12 adjacent to the tail telescopic frame 13 is hinged to the seventh connecting rod 20, and the fifth connecting rod 18 in the middle telescopic frame 12 adjacent to the tail telescopic frame 13 is hinged to the sixth connecting rod 19. The chain transmission member includes a support rod 21, a sprocket 22 and a transmission chain 23. The bottom surface of the support rod 21 is fixedly connected to the support frame 2, and grooves are provided on both sides of the platform. The support rod 21 is placed in the groove provided on the platform and adapted thereto. The top of the support rod 21 is movably connected to a sprocket 22, and the sprocket 22 is meshed with the transmission chain 23. One end of the transmission chain 23 is movably connected to the platform in the clamping member, and the other end of the transmission chain 23 is movably connected to the fixed column 6. ;

[0028] A walking control mechanism applied to a wheeled robot includes a control system 24, which is arranged on a body 1. The control system 24 includes a main control, a dual-channel line patrol sensor, a Bluetooth module and a signal receiver. The main control, the dual-channel line patrol sensor, the Bluetooth module and the signal receiver are all arranged on the body 1. The main controller is responsible for receiving and processing signals from various sensors, and controlling the actions of the servo and the motor 10 to realize various functions of the robot. The dual-channel line patrol sensor is used for the robot to navigate on a specific path. If the robot needs to communicate with a remote device (such as a remote control or other control system 24), the signal receiver will be responsible for receiving these signals and transmitting them to the main controller.

[0029] The working principle provided by the utility model is as follows: when clamping an object, the clamping member first clamps the object, and then starts the motor 10, the motor 10 drives the connecting rod 9, the connecting rod 9 drives the first connecting rod 14 to move, the first connecting rod 14 drives the second connecting rod 15, and so on and so forth, driving the folding plate 7 at the same time, the limit frame 8 limits the displacement caused by the telescopic movement, the movement of the folding plate 7 drives the fixed column 6, the fixed column 6 drives the transmission chain 23 to move, the transmission chain 23 and the sprocket 22 work together to pull the platform up, at this time the grooves opened on the platform and the support columns work together to limit the movement path of the platform, so that the telescopic component is horizontally displaced and the clamping member is vertically displaced at the same time.

[0030] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0031] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A wheeled robot, characterized in that: include: A machine body (1), a clamping member and a clamping auxiliary mechanism, wherein the clamping member is arranged at the front end of the machine body (1), the clamping member is fixedly connected to the clamping auxiliary mechanism, and the clamping auxiliary mechanism is fixedly connected to the machine body (1); The clamping auxiliary mechanism comprises a support frame (2), a telescopic component and two chain transmission members, one end of the support frame (2) is fixedly connected to the machine body (1), two chain transmission members are fixedly connected to the two sides of the top surface of the support frame (2), one end of the two chain transmission members are movably connected to the two sides of the clamping member, the other ends of the two chain transmission members are fixedly connected to the two sides of the telescopic component, the free end of the telescopic component is fixedly connected to the support frame (2), and the extension and retraction of the telescopic component can drive the lifting and lowering of the clamping member through the two chain transmission members.

2. The wheeled robot according to claim 1, characterized in that: The telescopic assembly comprises a front folding member (3), a rear folding member (5), two telescopic groups and a plurality of middle folding members (4); the front folding member (3), the rear folding member (5) and the plurality of middle folding members (4) are hinged to each other; the front folding member (3) is movably connected to a connecting column (25) at the end close to the machine body (1); both ends of the connecting column (25) are fixedly connected to the two telescopic groups; the rear folding member (5) is fixedly connected to fixing columns (6) on both sides of the end away from the machine body (1); and both fixing columns (6) are movably connected to the chain transmission member.

3. The wheeled robot according to claim 2, characterized in that: The first folding piece (3), the tail folding piece (5) and the plurality of middle folding pieces (4) have the same structure. The first folding piece (3), the tail folding piece (5) and the plurality of middle folding pieces (4) all comprise two hinged folding plates (7), and the folding plates (7) are hinged to the folding plates (7) in the adjacent folding pieces.

4. The wheeled robot according to claim 3, characterized in that: The telescopic group comprises a telescopic member, a limit frame (8), a connecting rod (9) and a motor (10); a housing of the motor (10) is fixedly connected to the support frame (2); an output end of the motor (10) is fixedly connected to one end of the connecting rod (9); a side wall of the connecting rod (9) is fixedly connected to the telescopic member; the other end of the connecting rod (9) is fixedly connected to the connecting column (25) and the limit frame (8).

5. The wheeled robot according to claim 4, characterized in that: The telescopic member comprises a front telescopic frame (11), a rear telescopic frame (13) and a plurality of middle telescopic frames (12); one end of the front telescopic frame (11) is fixedly connected to the connecting rod (9); the other end of the front telescopic frame (11) is hinged to one end of the middle telescopic frame (12); the other end of the middle telescopic frame (12) is hinged to the rear telescopic frame (13); and the other end of the rear telescopic frame (13) is fixedly connected to the fixing column (6).

6. The wheeled robot according to claim 5, characterized in that: The first telescopic frame (11) comprises a first connecting rod (14), a second connecting rod (15) and a third connecting rod (16); one end of the first connecting rod (14) is movably connected to the connecting rod (9); the other end of the first connecting rod (14) is hinged to one end of the second connecting rod (15); the middle part of the second connecting rod (15) is hinged to the third connecting rod (16); the center of the second connecting rod (15) is movably connected to a limit block (26); and the limit block (26) is arranged in the limit frame (8).

7. The wheeled robot according to claim 6, characterized in that: The tail telescopic frame (13) comprises a sixth connecting rod (19) and a seventh connecting rod (20), one end of the sixth connecting rod (19) is movably connected to the fixed column (6), and one end of the seventh connecting rod (20) is movably connected to the fixed column (6).

8. The wheeled robot according to claim 7, characterized in that: The middle telescopic frame (12) comprises a fourth connecting rod (17) and a fifth connecting rod (18), wherein the middle of the fourth connecting rod (17) is hinged to the center of the fifth connecting rod (18); The fourth connecting rod (17) in the middle telescopic frame (12) adjacent to the first telescopic frame (11) is hinged to the third connecting rod (16), the fifth connecting rod (18) in the middle telescopic frame (12) near the first telescopic frame (11) is hinged to the second connecting rod (15), the fourth connecting rod (17) in the middle telescopic frame (12) adjacent to the tail telescopic frame (13) is hinged to the seventh connecting rod (20), and the fifth connecting rod (18) in the middle telescopic frame (12) adjacent to the tail telescopic frame (13) is hinged to the sixth connecting rod (19).

9. The wheeled robot according to claim 8, characterized in that: The chain transmission member comprises a support rod (21), a sprocket (22) and a transmission chain (23); the bottom surface of the support rod (21) is fixedly connected to the support frame (2); the top end of the support rod (21) is movably connected to the sprocket (22); the sprocket (22) is meshed with the transmission chain (23); one end of the transmission chain (23) is movably connected to the clamping member; and the other end of the transmission chain (23) is movably connected to the fixed column (6).

10. A walking control mechanism applied to a wheeled robot according to any one of claims 1 to 9, characterized in that: It comprises a control system (24), and the control system (24) is arranged on the machine body (1).

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