Combined type jumping robot

Abstract

The utility model relates to the field of robots, and discloses a combined type jumping robot which comprises a robot body, a supporting assembly is arranged at the left end of the robot body, a jumping assembly is arranged on the inner wall of the robot body, an adjusting assembly is arranged at the position, close to the rear end, of the left end of the robot body, and the adjusting assembly comprises an adjusting plate. The right end of the adjusting plate is rotatably connected to the left end of the machine body, the top end of the adjusting plate penetrates through and is slidably connected with a sliding rod, the jumping assembly comprises a pull rod, the top end of the pull rod is fixedly connected to the bottom end of the sliding rod, and the top end of the pull rod penetrates through the bottom end of the machine body; the right end of the fixing rod is fixedly connected to the left end of the machine body. According to the utility model, by arranging the jumping assembly and the composition assembly, the whole device can move and jump, so that the whole device can move in places where people are inconvenient to move, and meanwhile, exploration tasks can be completed by virtue of the exploration device arranged at the front end of the machine body.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a composite jumping robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It can perform tasks such as operation or movement through programming and automatic control. Robots can be relied on to improve work efficiency in rescue, exploration, sports and other fields.

[0003] With the continuous development of science and technology, human beings have an increasing demand for exploring unknown environments. Traditional environmental scanning methods, such as manual surveys or the use of fixed equipment, are often restricted by terrain, environment and other conditions, and are difficult to meet the work needs in complex environments. Therefore, a composite jumping robot is proposed to solve the above problems. Utility Model Content

[0004] In order to make up for the above deficiencies, the utility model provides a composite jumping robot, which aims to improve the problem in the prior art that "the prior art usually requires manual use of fixed equipment to conduct environmental surveys, which is subject to more constraints during use".

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a compound jumping robot, including a body, a supporting assembly is arranged at the left end of the body, a jumping assembly is arranged on the inner wall of the body, an adjusting assembly is arranged at the left end of the body near the rear end, the adjusting assembly includes an adjusting plate, the right end of the adjusting plate is rotatably connected to the left end of the body, a sliding rod is penetrated and slidably connected at the top end of the adjusting plate, the jumping assembly includes a pull rod, the top end of the pull rod is fixedly connected to the bottom end of the sliding rod, and the top end of the pull rod penetrates the bottom end of the body.

[0006] As a further description of the above technical solution:

[0007] The support assembly comprises a fixing rod, the right end of which is fixedly connected to the left end of the machine body, the bottom end of which is hinged with a supporting rod, and the left end of which is provided with a supporting wheel.

[0008] As a further description of the above technical solution:

[0009] A damping rod is installed at the bottom end of the fixing rod, and the bottom end of the damping rod is hinged to the front end of the supporting rod. A buffer spring is fixedly connected to the bottom end of the fixing rod, and the bottom end of the buffer spring is fixedly connected to the top end of the supporting rod.

[0010] As a further description of the above technical solution:

[0011] The jumping assembly also includes a jumping motor, which is installed on the inner wall of the body. The left end of the jumping motor output shaft is fixedly connected to a driving wheel. A rotating shaft passes through the inner wall of the body and is rotatably connected. A passive wheel is fixedly connected to the outer wall of the rotating shaft. The passive wheel and the driving wheel are meshed with each other.

[0012] As a further description of the above technical solution:

[0013] A transmission wheel is fixedly connected to the outer wall of the rotating shaft near the left end, and a rack is fixedly connected to the front end of the pull rod, and the rack and the transmission wheel are meshed with each other.

[0014] As a further description of the above technical solution:

[0015] A moving motor is installed at the rear end of the pull rod, a jumping wheel is installed at the left end of the output shaft of the moving motor, a four-link is hinged at the left end of the pull rod, the top end of the four-link is hinged to the left end of the adjustment plate, the inside of the four-link is elastically connected by a jumping spring, and the jumping spring is set at the middle position of the four-link in the horizontal direction.

[0016] As a further description of the above technical solution:

[0017] The adjustment assembly also includes an adjustment shaft, which passes through and is rotatably connected to the inner wall of the body near the rear end, an adjustment motor is fixedly connected to the inner wall of the body near the rear end, an output wheel is fixedly connected to the right end of the output shaft of the adjustment motor, and a connecting wheel is fixedly connected to the outer wall of the adjustment shaft, and the connecting wheel and the output wheel are meshed with each other.

[0018] As a further description of the above technical solution:

[0019] The outer wall of the left end of the adjusting shaft is fixedly connected with a rotating wheel, and the rotating wheel and the adjusting plate are meshed with each other.

[0020] The utility model has the following beneficial effects:

[0021] 1. In the utility model, by setting jumping components and component components, the whole device can be moved and jumped, so that the whole device can be moved in places where it is inconvenient for people to move. At the same time, the exploration task can be completed by relying on the exploration device set at the front end of the body. The whole device is more convenient to use.

[0022] 2. In the utility model, by setting an adjustment component, the angle of the pull rod can be adjusted by adjusting the angle of the adjustment plate, so that the angle of the rear end support of the overall device and the jumping angle of the device can be adjusted, so that it can adapt to different terrains, and the overall device has better applicability when in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional structural schematic diagram of the overall device in the utility model;

[0024] Figure 2 It is a schematic diagram of the three-dimensional structure section of the machine body in the utility model;

[0025] Figure 3 It is a three-dimensional structural schematic diagram of the support assembly in the utility model;

[0026] Figure 4 It is a schematic diagram of the three-dimensional structure of the four-link in the utility model.

[0027] Legend:

[0028] 1. Machine body; 2. Support assembly; 21. Fixed rod; 22. Support rod; 23. Damping rod; 24. Buffer spring; 25. Support wheel; 3. Jump assembly; 31. Jump motor; 32. Driving wheel; 33. Rotating shaft; 34. Passive wheel; 35. Transmission wheel; 36. Rack; 37. Pull rod; 38. Four-link rod; 39. Jump spring; 310. Jump wheel; 311. Mobile motor; 4. Adjustment assembly; 41. Adjustment motor; 42. Output wheel; 43. Adjustment shaft; 44. Connecting wheel; 45. Rotating wheel; 46. Adjustment plate; 47. Sliding rod. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] Reference Figure 1 - Figure 3, the utility model provides an embodiment: a composite jumping robot, including a body 1 for supporting the whole device, and a surveying device is also installed at the front end of the body 1. Since the surveying device is a prior art, it is not described in detail in this case. A supporting assembly 2 for supporting the front end of the body 1 is arranged at the left end of the body 1, and a jumping assembly 3 for driving the whole body 1 to jump is arranged on the inner wall of the body 1. An adjusting assembly 4 for adjusting the jumping and supporting angles of the jumping assembly 3 is arranged near the rear end of the left end of the body 1. The adjusting assembly 4 includes an adjusting plate 46 for controlling the angle of the pull rod 37. The right end of the adjusting plate 46 is rotatably connected to the left end of the body 1, and the top end of the adjusting plate 46 passes through and is slidably connected with a sliding rod 47 for guiding the moving trajectory of the pull rod 37. The jumping assembly 3 includes a pull rod 37 for driving the moving motor 311 to move. The top end of the pull rod 37 is fixedly connected to the bottom end of the sliding rod 47. The sliding rod 47 can only move back and forth along its own axial direction, and the top end of the pull rod 37 passes through the bottom end of the body 1.

[0031] Reference Figure 1 - Figure 3 The support assembly 2 includes a fixed rod 21 for supporting a support rod 22, the right end of the fixed rod 21 is fixedly connected to the left end of the body 1, the bottom end of the fixed rod 21 is hinged with a support rod 22 for supporting a support wheel 25, the left end of the support rod 22 is installed with a support wheel 25 for supporting the front end of the overall device, the bottom end of the fixed rod 21 is installed with a damping rod 23 for supporting the overall support assembly 2, the bottom end of the damping rod 23 is hinged to the front end of the support rod 22, when the body 1 presses the fixed rod 21 downward, the fixed rod 21 will squeeze the damping rod 23 to make it shrink, the bottom end of the fixed rod 21 is fixedly connected with a buffer spring 24 for driving the damping rod 23 to reset, the bottom end of the buffer spring 24 is fixedly connected to the top end of the support rod 22, when the device returns to stability, the buffer spring 24 will push the support rod 22 and the fixed rod 21 outward to move them outward and reset.

[0032] Reference Figure 1 - Figure 3The jumping assembly 3 also includes a jumping motor 31 for driving the driving wheel 32 to rotate. The jumping motor 31 is installed on the inner wall of the body 1. The left end of the output shaft of the jumping motor 31 is fixedly connected to the driving wheel 32 for driving the passive wheel 34 to rotate. The inner wall of the body 1 passes through and is rotatably connected to a rotating shaft 33 for transmitting power. The outer wall of the rotating shaft 33 is fixedly connected to a passive wheel 34 for driving the rotating shaft 33 to rotate. The radius of the driving wheel 32 is smaller than the radius of the passive wheel 34. In this way, the driving wheel 32 can provide a larger torque when driving the passive wheel 34 to rotate. The passive wheel 34 and the driving wheel 32 are meshed with each other. When the driving wheel 32 rotates, the passive wheel 34 will be driven to rotate. The outer wall of the rotating shaft 33 is fixedly connected to a transmission wheel 35 for transmitting power near the left end. The transmission wheel 35 is a half gear. The front end of the pull rod 37 is fixedly connected to a rack 36 for driving the pull rod 37 to move. The rack 36 and the transmission wheel 35 are meshed with each other. The transmission wheel 35 can drive the rack 36 to move up and down through the toothed portion.

[0033] Reference Figure 1 , Figure 2 , Figure 4The rear end of the pull rod 37 is equipped with a mobile motor 311 for driving the jumping wheel 310 to actively rotate. The left end of the output shaft of the mobile motor 311 is equipped with a jumping wheel 310 for supporting the rear end of the overall device. The left end of the pull rod 37 is hinged with a four-link 38 for pulling the jumping spring 39. The top of the four-link 38 is hinged to the left end of the adjustment plate 46. When the pull rod 37 moves upward, the four-link 38 will be squeezed to make it shrink up and down. The inside of the four-link 38 is elastically connected by the jumping spring 39. When the four-link 38 shrinks up and down, the jumping spring 39 will be pulled to be stretched. The jumping spring 39 is arranged at the middle position of the four-link 38 in the horizontal direction. The adjusting assembly 4 also includes an adjusting shaft 43 for supporting the rotation of the connecting wheel 44. The adjusting shaft 43 penetrates and is rotatably connected to the inner wall of the body 1 near the rear end. The inner wall of the body 1 near the rear end is fixedly connected with an adjusting motor 41 for supporting the rotation of the output wheel 42. The right end of the output shaft of the adjusting motor 41 is fixedly connected with the output wheel 42 for driving the connecting wheel 44 to rotate. The outer wall of the adjusting shaft 43 is fixedly connected with the connecting wheel 44 for driving the adjusting shaft 43 to rotate. The connecting wheel 44 and the output wheel 42 are meshed with each other. When the output wheel 42 rotates, the connecting wheel 44 can be driven to rotate, and the output wheel 42 The diameter is smaller than the diameter of the connecting wheel 44, so the output wheel 42 can provide a larger torque when driving the connecting wheel 44 to rotate. The outer wall of the left end of the adjusting shaft 43 is fixedly connected with a rotating wheel 45 for driving the adjusting plate 46 to rotate. The rotating wheel 45 and the adjusting plate 46 are meshed with each other. When the rotating wheel 45 rotates, the adjusting plate 46 is also driven to rotate. The rotation of the adjusting plate 46 will drive the pull rod 37 to rotate, and the rotation of the pull rod 37 will drive the four-link 38 to rotate. In this way, the support angle and the jumping angle of the rear end of the device can be changed. The rotation axis of the adjusting plate 46 is colinear with the rotation axis of the rotating shaft 33, so that the adjusting plate 46 will not destroy the meshing state of the rack 36 and the transmission wheel 35 during rotation.

[0034] Working principle: by starting the jumping motor 31 to drive the driving wheel 32 to rotate, the driving wheel 32 will drive the rotating shaft 33 to rotate through the passive wheel 34, the rotation of the rotating shaft 33 will drive the transmission wheel 35 to rotate, the rotation of the transmission wheel 35 will drive the rack 36 to move upward, the upward movement of the rack 36 will drive the pull rod 37 to move synchronously, the upward movement of the pull rod 37 will pull the four-link 38 to shrink it, the shrinkage of the four-link 38 will pull the jumping spring 39 to stretch it to accumulate capacity, when the toothed part of the transmission wheel 35 is separated from the rack 36, the transmission wheel 35 will lose the restriction on the rack 36, at this time the jumping spring 39 will shrink rapidly and pull the four-link 38 to restore it, during the recovery process of the four-link 38, the pull rod 37 will be pushed downward to drive the moving motor 311 and the jumping wheel 310 to move downward and squeeze the ground, so that the whole device can jump forward.

[0035] When the jumping angle needs to be adjusted, the adjusting motor 41 can be started to drive the output wheel 42 to rotate. The rotation of the output wheel 42 will drive the connecting wheel 44 to rotate. The rotation of the connecting wheel 44 will drive the rotating wheel 45 to rotate through the adjusting shaft 43. The rotation of the rotating wheel 45 will drive the adjusting plate 46 to rotate. The rotation of the adjusting plate 46 will drive the pull rod 37 to rotate and tilt through the sliding rod 47. In this way, the axial direction of the pull rod 37 and the sliding rod 47 can be changed to achieve the effect of adjusting the jumping angle of the device.

[0036] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A composite jumping robot, comprising a body (1), characterized in that: The left end of the machine body (1) is provided with a support assembly (2), the inner wall of the machine body (1) is provided with a jumping assembly (3), the left end of the machine body (1) is provided with an adjustment assembly (4) near the rear end, the adjustment assembly (4) comprises an adjustment plate (46), the right end of the adjustment plate (46) is rotatably connected to the left end of the machine body (1), the top end of the adjustment plate (46) is penetrated and slidably connected with a sliding rod (47), the jumping assembly (3) comprises a pull rod (37), the top end of the pull rod (37) is fixedly connected to the bottom end of the sliding rod (47), and the top end of the pull rod (37) penetrates the bottom end of the machine body (1).

2. A composite jumping robot according to claim 1, characterized in that: The support assembly (2) comprises a fixing rod (21), the right end of the fixing rod (21) is fixedly connected to the left end of the machine body (1), the bottom end of the fixing rod (21) is hinged with a supporting rod (22), and the left end of the supporting rod (22) is equipped with a supporting wheel (25).

3. A composite jumping robot according to claim 2, characterized in that: A damping rod (23) is installed at the bottom end of the fixing rod (21), and the bottom end of the damping rod (23) is hinged to the front end of the support rod (22). A buffer spring (24) is fixedly connected to the bottom end of the fixing rod (21), and the bottom end of the buffer spring (24) is fixedly connected to the top end of the support rod (22).

4. A composite jumping robot according to claim 1, characterized in that: The jumping assembly (3) further comprises a jumping motor (31), the jumping motor (31) being mounted on the inner wall of the machine body (1), the left end of the output shaft of the jumping motor (31) being fixedly connected to a driving wheel (32), a rotating shaft (33) penetrating the inner wall of the machine body (1) and being rotatably connected thereto, a driven wheel (34) being fixedly connected to the outer wall of the rotating shaft (33), and the driven wheel (34) and the driving wheel (32) being meshed with each other.

5. A composite jumping robot according to claim 4, characterized in that: A transmission wheel (35) is fixedly connected to the outer wall of the rotating shaft (33) near the left end, and a rack (36) is fixedly connected to the front end of the pull rod (37), and the rack (36) and the transmission wheel (35) are meshed with each other.

6. A composite jumping robot according to claim 1, characterized in that: A moving motor (311) is installed at the rear end of the pull rod (37), a jumping wheel (310) is installed at the left end of the output shaft of the moving motor (311), a four-link (38) is hinged at the left end of the pull rod (37), the top end of the four-link (38) is hinged at the left end of the adjustment plate (46), the inside of the four-link (38) is elastically connected by a jumping spring (39), and the jumping spring (39) is set at the middle position of the four-link (38) in the horizontal direction.

7. The composite jumping robot according to claim 1, characterized in that: The adjustment assembly (4) further comprises an adjustment shaft (43), the adjustment shaft (43) passing through and rotatably connected to the inner wall of the machine body (1) near the rear end, an adjustment motor (41) being fixedly connected to the inner wall of the machine body (1) near the rear end, an output wheel (42) being fixedly connected to the right end of the output shaft of the adjustment motor (41), a connecting wheel (44) being fixedly connected to the outer wall of the adjustment shaft (43), and the connecting wheel (44) and the output wheel (42) being meshed with each other.

8. A composite jumping robot according to claim 7, characterized in that: A rotating wheel (45) is fixedly connected to the outer wall of the left end of the adjusting shaft (43), and the rotating wheel (45) and the adjusting plate (46) are meshed with each other.

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