Shock absorption walking module of robot

Abstract

The utility model discloses a damping walking module of a robot, which comprises a module seat plate, a driving wheel arranged in the middle, and a first driven wheel and a second driven wheel which are respectively arranged in front of and behind the driving wheel, the driving wheel, the first driven wheel and the second driven wheel can elastically float up and down relative to the module seat plate; the device further comprises a connecting rod, a hinge hole is formed in the middle of the connecting rod, the hinge hole and a middle shaft of the driving wheel are coaxially arranged all the time, and the connecting rod can independently rotate relative to the middle shaft of the driving wheel. A rigid linkage relationship is established between one end of the connecting rod and the first driven wheel; and the other end of the connecting rod is connected with the second driven wheel through an elastic mechanism. According to the utility model, when any one of the driving wheel, the first driven wheel and the second driven wheel encounters a convex or concave special terrain, the connecting rod can play a role in balancing and buffering, so that the impact on the chassis of the robot can be reduced, and the walking stability of the robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a shock-absorbing walking module of a robot. Background Art

[0002] Robots play an indispensable role in modern industrial production and daily life. They not only improve production efficiency and product quality, but also perform dangerous or repetitive tasks, reducing labor costs and ensuring personal safety. In daily life, service robots can provide a variety of conveniences, such as cleaning, companionship, and education. The robot's chassis, as the foundation of its movement, determines the stability and flexibility of the entire system and is a key component for achieving efficient operation. A well-designed chassis can support robots in completing tasks in a variety of complex environments. To enhance the robot's adaptability, the establishment of a reasonable shock-absorbing structure is particularly important. It can significantly improve the robot's performance when overcoming obstacles and its overall cushioning and vibration absorption performance, allowing the robot to maintain good posture control and smooth operation even when faced with uneven terrain or sudden impacts, thereby expanding its application scenarios and extending its service life.

[0003] Prior art patents such as CN 211032078 U provide a typical robot chassis. These chassis typically incorporate a shock-absorbing structure only for the active wheel, or for both the active and passive wheels. This structure, when impacted by one wheel, impacts the entire chassis base, and the chassis base itself rebalances all wheels, affecting chassis stability. Utility Model Content

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the utility model provides a shock-absorbing walking module for a robot that can reduce the impact on the robot chassis and improve the stability of the robot's walking.

[0005] Technical solution: To achieve the above-mentioned purpose, the shock-absorbing walking module of the robot of the present invention includes a module base plate, a centrally arranged driving wheel, and a first driven wheel and a second driven wheel respectively arranged in front of and behind the driving wheel;

[0006] The driving wheel, the first driven wheel, and the second driven wheel are all capable of elastically floating up and down relative to the module base plate; further comprising a connecting rod, wherein the middle portion of the connecting rod has a hinge hole, the hinge hole is always coaxially arranged with the central axis of the driving wheel, and the connecting rod can independently rotate relative to the central axis of the driving wheel;

[0007] A rigid linkage is established between one end of the connecting rod and the first driven wheel, that is, the up and down movement of the first driven wheel relative to the module base plate can cause the connecting rod to rotate relative to the module base plate; the other end of the connecting rod is connected to the second driven wheel through an elastic mechanism.

[0008] Furthermore, a first slide capable of sliding up and down relative to the module base plate is installed on the module base plate, and the driving wheel is installed on the first slide; the middle part of the connecting rod is hinged on the first slide; a first spring is provided between the first slide and the module base plate.

[0009] Furthermore, a connecting sleeve is fixed to the first slide, the connecting sleeve having a protrusion protruding from the first slide, and the connecting rod is rotatably mounted relative to the protrusion; the driving wheel is a hub motor, the shaft of which passes through the center hole of the connecting sleeve, and the center axis of the driving wheel is fixed relative to the connecting sleeve. In this way, the connecting rod and the driving wheel can be coaxially mounted and the connecting rod can rotate independently.

[0010] Furthermore, the connecting sleeve has a flange, a first shaft section, and a second shaft section, the diameters of which decrease sequentially from front to back; the hinge hole of the connecting rod is rotatably engaged with the first shaft section;

[0011] The second shaft segment has a flat portion, the first slide seat has a mounting hole matching the outer contour of the second shaft segment, and a locking screw is installed on the second shaft segment.

[0012] Furthermore, a second slide and a third slide corresponding to the first driven wheel and the second driven wheel are installed on the module seat plate, and a second spring and a third spring are respectively provided between the second slide and the third slide and the module seat plate; a first pin is fixed on the second slide; and the end of the connecting rod has a strip hole that cooperates with the pin.

[0013] Furthermore, the elastic mechanism is an elastic shock absorber, both ends of which are rotatably connected to the connecting rod and the third slide seat respectively.

[0014] Beneficial effects: The shock-absorbing walking module of the robot of the present invention has the following beneficial effects:

[0015] (1) With the above structure, when any one of the driving wheel, the first driven wheel and the second driven wheel encounters a special terrain with a convex or concave shape, the connecting rod can play a balancing and buffering role, so that the driving wheel, the first driven wheel and the second driven wheel can quickly reach a new balance. The new balance between the three is less dependent on the robot chassis, which can reduce the impact on the robot chassis and improve the walking stability of the robot.

[0016] (2) The layout of the connecting rod and its connection structure with each wheel are reasonably set up, which can effectively establish the connection between the three wheels, so that if any one of the three is impacted, the other two can respond quickly and achieve a new balance.

[0017] (3) The shock-absorbing walking module adopts a modular design, which is easy to integrate into the robot. It only needs to fix the module base plate to the robot chassis, which is easy to use. In actual application to the robot, two sets of walking modules are installed on the robot base. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a first-person structural diagram of the robot's shock-absorbing walking module;

[0019] Figure 2 This is a second-perspective structural diagram of the robot's shock-absorbing walking module;

[0020] Figure 3 This is a cross-sectional structural diagram of the robot's shock-absorbing walking module.

[0021] In the figure: 1-module base plate; 2-driving wheel; 3-first driven wheel; 4-second driven wheel; 5-connecting rod; 5a-strip hole; 6-elastic mechanism; 7-first slide; 8-first spring; 9-connecting sleeve; 91-flange; 92-first shaft section; 93-second shaft section; 94-locking screw; 10-second slide; 10a-first pin; 11-third slide; 12-second spring; 13-third spring. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] like Figure 1 and Figure 2 The shock-absorbing walking module of the robot shown includes a module base plate 1, a centrally arranged driving wheel 2, and a first driven wheel 3 and a second driven wheel 4 respectively arranged in front of and behind the driving wheel 2; the driving wheel 2, the first driven wheel 3 and the second driven wheel 4 can all float elastically up and down relative to the module base plate 1; and also includes a connecting rod 5, the middle part of which has a hinge hole, the hinge hole is always coaxially arranged with the central axis of the driving wheel 2, and the connecting rod 5 can rotate independently relative to the central axis of the driving wheel 2.

[0024] A rigid linkage is established between one end of the connecting rod 5 and the first driven wheel 3, that is, the up and down movement of the first driven wheel 3 relative to the module base plate 1 can cause the connecting rod 5 to rotate relative to the module base plate 1; the other end of the connecting rod 5 is connected to the second driven wheel 4 through the elastic mechanism 6.

[0025] With the above structure, when any one of the driving wheel 2, the first driven wheel 3 and the second driven wheel 4 encounters a special terrain with projections or depressions, the connecting rod 5 can play a balancing and buffering role, so that the driving wheel 2, the first driven wheel 3 and the second driven wheel 4 can quickly reach a new balance. The new balance between the three is less dependent on the robot chassis, which can reduce the impact on the robot chassis and improve the stability of the robot's walking.

[0026] Specifically, a first slide 7 capable of sliding up and down relative to the module base plate 1 is installed on the module base plate 1, and the driving wheel 2 is installed on the first slide 7; the middle part of the connecting rod 5 is hinged on the first slide 7; a first spring 8 is provided between the first slide 7 and the module base plate 1.

[0027] A connecting sleeve 9 is fixed to the first slide 7. The connecting sleeve 9 has a protrusion protruding from the first slide 7. The connecting rod 5 is rotatably mounted relative to the protrusion. The driving wheel 2 is a hub motor, the shaft of which passes through the center hole of the connecting sleeve 9, and the center axis of the driving wheel 2 is fixed relative to the connecting sleeve 9. In this way, the connecting rod 5 and the driving wheel 2 can be coaxially mounted and the connecting rod 5 can rotate independently.

[0028] like Figure 3 As shown, the connecting sleeve 9 has a flange 91, a first shaft section 92 and a second shaft section 93, the diameters of which decrease from front to back; the hinge hole of the connecting rod 5 is rotatably engaged with the first shaft section 92;

[0029] The second shaft segment 93 has a flat portion, the first slide seat 7 has a mounting hole matching the outer contour of the second shaft segment 93 , and a locking screw 94 is installed on the second shaft segment 93 .

[0030] The module base plate 1 is equipped with a second slide 10 and a third slide 11 corresponding to the first driven wheel 3 and the second driven wheel 4, and a second spring 12 and a third spring 13 are respectively provided between the second slide 10 and the third slide 11 and the module base plate 1; a first pin shaft 10a is fixed on the second slide 10; the end of the connecting rod 5 has a strip hole 5a that cooperates with the pin shaft 10a.

[0031] The elastic mechanism 6 is an elastic shock absorber, and two ends thereof are rotatably connected to the connecting rod 5 and the third sliding seat 11 respectively.

[0032] In the above structure, the layout of the connecting rod 5 and the connection structure with each wheel are reasonably set, which can effectively establish the connection between the three wheels, so that if any one of the three is impacted, the other two can respond quickly and achieve a new balance.

[0033] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A shock-absorbing walking module for a robot, comprising a module base plate (1), a centrally arranged driving wheel (2), and a first driven wheel (3) and a second driven wheel (4) respectively arranged in front of and behind the driving wheel (2); characterized in that: The driving wheel (2), the first driven wheel (3) and the second driven wheel (4) are all capable of elastically floating up and down relative to the module base plate (1); and further comprising a connecting rod (5), wherein the middle portion of the connecting rod (5) has a hinge hole, the hinge hole is always coaxially arranged with the central axis of the driving wheel (2), and the connecting rod (5) can independently rotate relative to the central axis of the driving wheel (2); A rigid linkage relationship is established between one end of the connecting rod (5) and the first driven wheel (3); the other end of the connecting rod (5) is connected to the second driven wheel (4) via an elastic mechanism (6).

2. The shock-absorbing walking module of the robot according to claim 1, characterized in that: A first slide (7) capable of sliding up and down relative to the module base plate (1) is installed on the module base plate, and the driving wheel (2) is installed on the first slide (7); the middle part of the connecting rod (5) is hinged on the first slide (7); and a first spring (8) is provided between the first slide (7) and the module base plate (1).

3. The shock-absorbing walking module of the robot according to claim 2, characterized in that: A connecting sleeve (9) is fixed on the first slide (7), the connecting sleeve (9) having a protruding portion protruding outward from the first slide (7), and the connecting rod (5) is rotatably mounted relative to the protruding portion; the driving wheel (2) is a hub motor, wherein the shaft passes through the center hole of the connecting sleeve (9), and the center axis of the driving wheel (2) is fixed relative to the connecting sleeve (9).

4. The shock-absorbing walking module of the robot according to claim 3, characterized in that: The connecting sleeve (9) has a flange (91), a first shaft section (92) and a second shaft section (93), the diameters of which decrease from front to back; the hinge hole of the connecting rod (5) is rotatably matched with the first shaft section (92); The second shaft section (93) has a flat portion, the first slide seat (7) has a mounting hole matching the outer contour of the second shaft section (93), and a locking screw (94) is installed on the second shaft section (93).

5. The shock-absorbing walking module of the robot according to claim 1, characterized in that: The module base plate (1) is provided with a second slide (10) and a third slide (11) corresponding to the first driven wheel (3) and the second driven wheel (4); a second spring (12) and a third spring (13) are provided between the second slide (10) and the third slide (11) and the module base plate (1), respectively; a first pin shaft (10a) is fixed on the second slide (10); and the end of the connecting rod (5) has a strip hole (5a) that matches the pin shaft (10a).

6. The shock-absorbing walking module of the robot according to claim 5, characterized in that: The elastic mechanism (6) is an elastic shock absorber, and its two ends are respectively rotatably connected to the connecting rod (5) and the third sliding seat (11).

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