A robot capable of switching walking states

Abstract

The utility model relates to the technical field of robot drive mechanisms, and specifically to a robot capable of switching walking states, comprising: a robot body; the outer walls at the four corners of the robot body are all equipped with adjustable walking drive mechanisms; the number of the adjustable walking drive mechanisms is four in total, and the four adjustable walking drive mechanisms are symmetrically detachably assembled on the robot body; the adjustable walking drive mechanism includes a load-bearing frame, and a brushless motor is provided on the inner side of the load-bearing frame. By adjusting the rotation angle of the driving moving belt, the walking drive mechanism can easily cope with different terrain conditions, whether it is a flat road, a rugged mountain or a bumpy terrain, effective walking can be achieved by adjusting the angle. In particular, when the robot body encounters a bumpy terrain, the driving moving belt can be adjusted to a 360° angle through the adjustment of the brushless motor, so that the robot can flip over and cross directly from the potholes, which greatly improves the terrain adaptability of the robot.

Description

Technical Field

[0001] The utility model relates to the technical field of robot driving mechanisms, in particular to a robot capable of switching walking states. Background Art

[0002] With the development of artificial intelligence technology, computer technology and other related technologies, more and more research is being done on intelligent robots. In the field of education, many colleges and universities have opened courses related to robotics for students. In order to meet the needs of teaching demonstration and experimental teaching of relevant courses in robotics, we have developed a full range of wheeled mobile robots, which can be used as a good carrier for various intelligent control methods. The development and application of educational robots have stimulated students' interest in learning and helped to cultivate students' scientific literacy. A Chinese patent discloses a chassis with switchable walking wheels for educational robots (authorization announcement number CN112537191B). The patent technology discloses a chassis with switchable walking wheels for educational robots, which relates to the field of robotics technology, including a chassis, a matrix distribution of side columns on the lower end surface of the chassis, a support plate fixedly connected to the lower end of the side columns, a first motor arranged on the upper end of the support plate, a first walking wheel arranged on the output shaft of the first motor, a guide rail symmetrically opened front and back inside the lower end of the chassis, a guide rod arranged inside the guide rail, a slider movably connected to the left and right ends of the guide rod, a connecting rod rotatably connected to the lower end of the slider, and a spring arranged inside the other end of the connecting rod. The device of the present invention has a clear structure and a clear principle. When encountering a smooth ground or a slope, the second motor can be started to finally realize the second walking wheel to move down in height. The large roughness of the outer surface of the second walking wheel increases the friction between the second walking wheel and the ground, ensuring that the robot moves stably and efficiently, and utilizing the buffering effect of the spring to achieve shock absorption and prevent the device from tipping over. This patented technology solves the problem that the existing educational robots are composed of a head and a body. For the educational robot body, it needs to be more cautious during the transportation process, especially when the road surface is smooth or even has a slope, to ensure that the center of gravity of the robot is stable to prevent excessive tilting and falling, causing irreversible economic losses. Therefore, it is necessary to place a chassis that improves the transportation efficiency at the bottom of the educational robot to ensure that the educational robot remains stable during the movement. The existing educational robot chassis structure is relatively simple, the outer surface roughness of the walking wheel is not enough, and it cannot be applied to the roughness of different grounds, so that when encountering a sloped ground, the walking wheel cannot be flexibly switched, which is inconvenient to walk.

[0003] However, the walking environments of the intelligent robots in the prior art are different. Some potholes that are higher than the robot's tires may cause the intelligent robot to be unable to walk through. It is necessary to solve the problem of switching the walking state to be suitable for driving movement on different terrains.

[0004] Therefore, those skilled in the art provide a robot capable of switching walking states to solve the problems raised in the above-mentioned background technology. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides:

[0006] A robot capable of switching walking states comprises: a robot body; the outer walls at the four corners of the robot body are each equipped with an adjustable walking drive mechanism; the number of the adjustable walking drive mechanisms is four in total, and the four adjustable walking drive mechanisms are symmetrically detachably assembled on the robot body; the adjustable walking drive mechanism comprises a load-bearing frame, a brushless motor is arranged on the inner side of the load-bearing frame, a transmission rod is assembled on the output end of the brushless motor, an outer end of the transmission rod rotates and passes through the outside of the load-bearing frame, and a positioning rod is fixedly assembled thereon.

[0007] Preferably, one end of the positioning rod away from the transmission rod is integrally fixedly assembled with a load-bearing machine plate, and a positioning frame is fixedly mounted on the outer side of the load-bearing machine plate.

[0008] The outer wall of the brushless motor is fixedly equipped with an assembly block, and the brushless motor is fixedly arranged on the inner side of the load-bearing frame through the assembly block.

[0009] Preferably: a mounting plate is fixedly mounted on the inner edge of the positioning frame, and an outer ring frame is fixedly mounted on the outer edge of the positioning frame.

[0010] Preferably: a driving shaft is rotatably mounted on the inner sides of both ends of the assembly plate, a worm wheel is fixedly mounted on the outer side of the driving shaft, a worm is meshed with the worm wheel, and a driving rod is connected to the center of the worm.

[0011] Preferably: a bidirectional motor is connected to the middle of the driving rod, and the bidirectional motor is fixedly assembled on the inner wall of the positioning frame.

[0012] Preferably: one end of the driving shaft rotates and passes through the outside of the assembly plate, and is fixedly installed with a driving roller, a transmission sleeve shaft is installed on the outside of the driving roller, a driving moving belt is tightly attached to the outer side of the driving sleeve shaft, a positioning middle frame is tightly attached to the inner side of the driving moving belt, the positioning middle frame is fixedly installed on the outer wall of the assembly plate, and an outer machine plate is fixedly installed on the end of the positioning middle frame away from the assembly plate.

[0013] Preferably: both the upper and lower walls of the load-bearing frame are screw-locked and equipped with mounting bolts, and the adjustable walking drive mechanism is mounted on the outer wall of the robot body through the mounting bolts of the load-bearing frame.

[0014] Technical effects and advantages of the utility model:

[0015] 1. By adjusting the rotation angle of the driving moving belt, the walking drive mechanism can easily cope with different terrain conditions. Whether it is a flat road, a rugged mountain or a bumpy terrain, effective walking can be achieved by adjusting the angle. Especially when the robot body encounters a bumpy terrain, the brushless motor can be adjusted to make the driving moving belt reach a 360° angle, so that it can directly flip over and cross the potholes, greatly improving the robot's terrain adaptability.

[0016] 2. The design of the walking drive mechanism allows the height of the robot chassis from the ground to be adjusted. This adjustment capability enables the robot to maintain a stable walking state in different working environments, whether it needs to be raised to cross obstacles or lowered to enter low spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a robot capable of switching walking states provided by the present application;

[0018] Figure 2 This is a schematic diagram of a structure for adjusting the state switching of a walking drive mechanism in a robot capable of switching walking states provided by the present application;

[0019] Figure 3 This is a schematic diagram of the structure of a load-bearing frame in a robot capable of switching walking states provided in the present application;

[0020] Figure 4 This is a schematic diagram of the structure of a bidirectional motor in a robot capable of switching walking states provided by the present application;

[0021] Figure 5 It is a schematic diagram of the structure of a driving moving belt in a robot capable of switching walking states provided in the present application.

[0022] In the figure:

[0023] 1. Robot body;

[0024] 2. Adjust the travel drive mechanism; 201, load-bearing frame; 202, mounting bolt; 203, brushless motor; 204, transmission rod; 205, positioning rod; 206, load-bearing plate; 207, positioning frame; 208, driving rod; 209, assembly block; 210, driving shaft; 211, driving roller; 212, transmission sleeve shaft; 213, positioning middle frame; 214, outer machine plate; 215, driving moving belt; 216, worm wheel; 217, worm; 218, bidirectional motor; 219, assembly plate; 220, outer ring frame. DETAILED DESCRIPTION

[0025] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific purposes.

[0026] For examples, see Figures 1 to 5 In this embodiment, a robot capable of switching walking states is provided, comprising: a robot body 1; the outer walls at the four corners of the robot body 1 are each equipped with an adjustable walking drive mechanism 2; the number of the adjustable walking drive mechanisms 2 is four in total, and the four adjustable walking drive mechanisms 2 are symmetrically detachably assembled on the robot body 1;

[0027] The adjustable walking drive mechanism 2 includes a load-bearing frame 201, a brushless motor 203 is provided inside the load-bearing frame 201, a transmission rod 204 is installed at the output end of the brushless motor 203, one end of the outer side of the transmission rod 204 rotates and penetrates the outside of the load-bearing frame 201, and is fixedly installed with a positioning rod 205;

[0028] The outer wall of the brushless motor 203 is fixedly mounted with an assembly block 209, and the brushless motor 203 is fixedly arranged on the inner side of the load-bearing frame 201 through the assembly block 209;

[0029] The end of the positioning rod 205 away from the transmission rod 204 is integrally fixedly equipped with a load-bearing machine plate 206, and a positioning frame 207 is fixedly installed on the outer side of the load-bearing machine plate 206; the inner edge of the positioning frame 207 is fixedly equipped with an assembly plate 219, and the outer edge of the positioning frame 207 is fixedly equipped with an outer ring frame 220; the inner sides of both ends of the assembly block 209 are rotatably equipped with a drive shaft 210, and the outer side of the drive shaft 210 is fixedly equipped with a worm wheel 216, the worm wheel 216 is meshed with a worm 217, and the center of the worm 217 is connected to the driving rod 208;

[0030] A bidirectional motor 218 is connected to the middle of the driving rod 208, and the bidirectional motor 218 is fixedly mounted on the inner wall of the positioning frame 207; one end of the driving shaft 210 rotates and passes through the outside of the assembly plate 219, and is fixedly mounted with a driving roller 211, and a transmission sleeve shaft 212 is mounted on the outside of the driving roller 211, and a driving moving belt 215 is closely attached to the outer side of the transmission sleeve shaft 212, and a positioning middle frame 213 is closely attached to the inner side of the driving moving belt 215, and the positioning middle frame 213 is fixedly mounted on the outer wall of the assembly plate 219, and an outer machine plate 214 is fixedly mounted on the end of the positioning middle frame 213 away from the assembly plate 219;

[0031] The upper and lower walls of the load-bearing frame 201 are both screw-locked and assembled with mounting bolts 202 , and the adjustable walking drive mechanism 2 is assembled on the outer wall of the robot body 1 through the mounting bolts 202 of the load-bearing frame 201 .

[0032] According to the above embodiments, the working principle of the present invention is:

[0033] The walking drive mechanism 2 can be adjusted to switch to a horizontal state, a vertical state, or an inclined uphill state according to the rotation angle of the driving moving belt 215, and the height of the chassis of the robot body 1 from the ground can be adjusted;

[0034] After the brushless motor 203 is started, the brushless motor 203 starts to drive the transmission rod 204 to rotate, and the rotating transmission rod 204 exerts force on the positioning rod 205, so that the positioning rod 205 drives the load-bearing machine plate 206 to adjust the angle, and then the driving moving belt 215 is adjusted to adjust the angle state of the driving moving belt 215 according to the terrain where the robot body 1 walks. For example, when the robot body 1 encounters a pothole terrain, the brushless motor 203 can be used to adjust the driving moving belt 215 to 360 degrees, and the robot body 1 can directly flip over and move across the pothole;

[0035] When the driving moving belt 215 is driven to move, the bidirectional motor 218 is controlled to rotate. After the bidirectional motor 218 rotates, it drives the driving rod 208 to rotate. The driving rod 208 rotates and drives the worm 217 to rotate. The rotating worm 217 engages with the worm wheel 216, so that the worm wheel 216 drives the driving shaft 210 to rotate. The rotating driving shaft 210 rotates the driving roller 211, and then drives the driving moving belt 215 to move through the transmission sleeve shaft 212 on the driving roller 211. The moving driving moving belt 215 can be moved on the ground.

[0036] In the present invention, unless otherwise clearly stipulated and limited, for example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0037] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. Structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to conventional means in the field unless otherwise specified and limited.

Claims

1. A robot capable of switching walking states, comprising: A robot body (1), characterized in that the outer walls at the four corners of the robot body (1) are equipped with adjustable walking drive mechanisms (2); The number of the adjustable walking drive mechanisms (2) is four in total, and the four adjustable walking drive mechanisms (2) are symmetrically detachably assembled on the robot body (1); The adjustable travel drive mechanism (2) comprises a load-bearing frame (201), a brushless motor (203) is arranged inside the load-bearing frame (201), a transmission rod (204) is mounted on the output end of the brushless motor (203), an outer end of the transmission rod (204) is rotatably passed through the outside of the load-bearing frame (201), and a positioning rod (205) is fixedly mounted thereon.

2. A robot capable of switching walking states according to claim 1, characterized in that: One end of the positioning rod (205) away from the transmission rod (204) is integrally fixedly assembled with a load-bearing machine plate (206), and a positioning frame (207) is fixedly installed on the outer side of the load-bearing machine plate (206).

3. A robot capable of switching walking states according to claim 2, characterized in that: An assembly plate (219) is fixedly mounted on the inner edge of the positioning frame (207), and an outer ring frame (220) is fixedly mounted on the outer edge of the positioning frame (207).

4. A robot capable of switching walking states according to claim 3, characterized in that: A driving shaft (210) is rotatably mounted on the inner sides of both ends of the assembly plate (219), a worm wheel (216) is fixedly mounted on the outside of the driving shaft (210), the worm wheel (216) is meshed with a worm (217), and a driving rod (208) is connected at the center of the worm (217).

5. A robot capable of switching walking states according to claim 4, characterized in that: A bidirectional motor (218) is connected to the middle of the driving rod (208), and the bidirectional motor (218) is fixedly mounted on the inner wall of the positioning frame (207).

6. A robot capable of switching walking states according to claim 4, characterized in that: One end of the driving shaft (210) rotates and passes through the outside of the assembly plate (219), and is fixedly mounted with a driving roller (211), the outside of the driving roller (211) is mounted with a transmission sleeve shaft (212), the outer side of the transmission sleeve shaft (212) is tightly attached to a driving moving belt (215), the inner side of the driving moving belt (215) is tightly attached to a positioning middle frame (213), the positioning middle frame (213) is fixedly mounted on the outer wall of the assembly plate (219), and the end of the positioning middle frame (213) away from the assembly plate (219) is fixedly mounted with an outer machine plate (214).

7. The robot capable of switching walking states according to claim 1, characterized in that: The upper and lower walls of the load-bearing frame (201) are both screw-locked and equipped with mounting bolts (202), and the adjustable walking drive mechanism (2) is mounted on the outer wall of the robot body (1) through the mounting bolts (202) of the load-bearing frame (201).

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