Quick-to-replace crawler belt for wheel-foot robot

Abstract

The utility model relates to the related technical field of wheel-foot robots, in particular to a fast-to-replace crawler belt for a wheel-foot robot, which comprises a robot main body and a lifting mechanism, the bottom of the robot main body is provided with the lifting mechanism, and one side of the surface of a mounting plate is provided with a driving mechanism. According to the fast-to-replace crawler belt used by the wheel-foot robot, through the arrangement of the lifting mechanism, when the robot main body of the wheel-foot robot detects that the current running road surface is sand, mud or other soft ground, a servo motor is controlled to drive a one-way lead screw to rotate in a lifting groove; due to the fact that the lifting block is embedded in the lifting groove and arranged on the surface of the one-way lead screw in a threaded and sleeved mode, when the one-way lead screw rotates, the lifting block descends along the one-way lead screw in the lifting groove, the limiting block slides downwards in the limiting groove, and therefore the mounting plate and the driving mechanism are driven to descend so that the chain belt can be attached to the ground.

Description

TECHNICAL FIELD

[0001] The utility model relates to the related technical field of wheel-legged robot especially, a kind of quick replacement track for wheel-legged robot. BACKGROUND

[0002] Wheel-legged robot is a new type of robot combining wheeled and foot mobile method, wheel-legged robot is usually installed wheel at the end of leg structure, forming unique wheel-foot structure.This design combines the characteristics of wheeled and foot, both has the efficient moving ability of wheel, also has the good adaptability of foot structure under complex terrain, on flat ground, wheel-legged robot mainly relies on the rolling of wheel to realize fast movement, when encountering obstacles, stairs, rugged ground and other complex terrain, robot will switch to foot mode.

[0003] But the existing wheel-legged robot, when moving on sandy ground, mud ground or other relatively soft ground, wheel-legged robot tire will slip, generally manually installs some components with large friction on tire surface in advance, to avoid slip phenomenon, but after robot walks on highway or urban road, because ground is flat, manually unloads these components, it is cumbersome, time-consuming and laborious. INVENTION CONTENTS

[0004] The utility model aims at providing a kind of quick replacement track for wheel-legged robot, to solve the problem that the existing wheel-legged robot in the background art described above, when moving on sandy ground, mud ground or other relatively soft ground, wheel-legged robot tire will slip, generally manually installs some components with large friction on tire surface in advance, to avoid slip phenomenon, but after robot walks on highway or urban road, because ground is flat, manually unloads these components, it is cumbersome, time-consuming and laborious.

[0005] To achieve the above object, the utility model provides the following technical scheme: a kind of quick replacement track for wheel-legged robot, including robot main body and lifting mechanism, the bottom of the robot main body is provided with lifting mechanism, one end of the lifting mechanism is connected with mounting plate, the surface one side of the mounting plate is provided with driving mechanism;

[0006] The lifting mechanism includes stand, lifting groove, limiting groove, servo motor, one-way screw rod, lifting block and limit block, the bottom of the robot main body is fixedly connected with stand, the surface one side of the stand is provided with lifting groove, the inner wall of the stand is provided with limiting groove, one end of the stand is provided with servo motor, the inside of the lifting groove is provided with one-way screw rod, one end of the one-way screw rod is penetrated with lifting block, the two ends of the lifting block are fixedly connected with limit block.

[0007] Preferably, the lifting groove is communicated with the limiting groove, and the limiting groove is a dovetail groove.

[0008] Preferably, the output end of the servo motor is connected with the one-way screw rod, and the lifting block is embedded in the lifting groove.

[0009] Preferably, the lifting block is sleeved on the surface of the one-way screw rod, and one end of the lifting block is fixedly connected with the mounting plate.

[0010] Preferably, the limiting block is a dovetail block, and the limiting block is embedded in the limiting groove.

[0011] Preferably, the driving mechanism comprises a supporting frame, a driving motor, a driving shaft, a driven shaft, a driving wheel, a driven wheel and a chain belt, one side of the surface of the mounting plate is fixedly connected with the supporting frame, the driving motor is installed in the supporting frame, the driving shaft penetrates through one side of the surface of the supporting frame, the driven shaft is installed on one side of the surface of the supporting frame, one end of the driving shaft is connected with the driving wheel, one end of the driven shaft is connected with the driven wheel, and the surface of the driving wheel is sleeved with the chain belt.

[0012] Preferably, the output shaft of the driving motor is connected with the driving shaft, the chain belt is meshedly connected with the driving wheel, one end of the chain belt is sleeved on the surface of the driven wheel, and the chain belt is meshedly connected with the driven wheel.

[0013] Compared with the prior art, the robot has the advantages that the robot uses the quick replacement track, through the setting of the lifting mechanism, when the robot body moves on the sand, mud or other relatively soft ground, the chain belt can be made to be in close contact with the ground through the lifting mechanism, and then the robot body is driven to move through the driving mechanism, so that the operation is convenient and quick. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a side view appearance structure schematic view of the utility model;

[0015] Figure 2 It is a lifting mechanism structure schematic view of the utility model;

[0016] Figure 3 It is a lifting mechanism exploded structure schematic view of the utility model;

[0017] Figure 4 It is a driving mechanism structure schematic view of the utility model.

[0018] In the figure: 1, the robot main body; 2, lifting mechanism; 201, column; 202, lifting groove; 203, limit groove; 204, servo motor; 205, one-way screw; 206, lifting block; 207, limit block; 3, mounting plate; 4, driving mechanism; 401, support frame; 402, driving motor; 403, driving shaft; 404, driven shaft; 405, driving wheel; 406, driven wheel; 407, chain belt. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0020] Please refer to Figures 1-4 The utility model provides a kind of technical scheme: a kind of quick replacement track used by wheel-foot robot, including robot main body 1 and lifting mechanism 2, the bottom of robot main body 1 is provided with lifting mechanism 2, one end of lifting mechanism 2 is connected with mounting plate 3, the surface one side of mounting plate 3 is provided with driving mechanism 4;

[0021] The lifting mechanism 2 comprises a stand 201, a lifting groove 202, a limiting groove 203, a servo motor 204, a one-way screw rod 205, a lifting block 206 and a limiting block 207, the bottom of the robot body 1 is fixedly connected with the stand 201, the surface of the stand 201 is provided with the lifting groove 202 on one side, the inner wall of the stand 201 is provided with the limiting groove 203, one end of the stand 201 is provided with the servo motor 204, the inside of the lifting groove 202 is provided with the one-way screw rod 205, one end of the one-way screw rod 205 penetrates through the lifting block 206, the two ends of the lifting block 206 are fixedly connected with the limiting block 207, through the setting of the stand 201, the lifting groove 202, the limiting groove 203, the servo motor 204, the one-way screw rod 205, the lifting block 206 and the limiting block 207, when the robot body 1 of the wheel-foot robot detects that the current driving road surface is sandy land, muddy land or other relatively soft ground during use, the servo motor 204 is controlled at this time to drive the one-way screw rod 205 to rotate in the inside of the lifting groove 202, because the lifting block 206 is embedded in the inside of the lifting groove 202 and the lifting block 206 is threadedly sleeved on the surface of the one-way screw rod 205, and the limiting block 207 fixedly connected at the two ends of the lifting block 206 is embedded in the inside of the limiting groove 203, so that when the one-way screw rod 205 rotates, the lifting block 206 moves downward along the one-way screw rod 205 in the inside of the lifting groove 202, and the limiting block 207 slides downward in the inside of the limiting groove 203, thereby driving the mounting plate 3 and the driving mechanism 4 to descend to make the chain belt 407 adhere to the ground.

[0022] Further, the lifting groove 202 is in communication with the limiting groove 203, the limiting groove 203 is a dovetail type groove, and the lifting groove 202 provides a movement space for the one-way screw rod 205 and the lifting block 206 through the setting of the lifting groove 202.

[0023] Further, the output end of the servo motor 204 is connected with the one-way screw rod 205, the lifting block 206 is embedded in the inside of the lifting groove 202, and the servo motor 204 drives the one-way screw rod 205 to rotate in the inside of the lifting groove 202 through the setting of the servo motor 204.

[0024] Further, the lifting block 206 is threadedly sleeved on the surface of the one-way screw rod 205, one end of the lifting block 206 is fixedly connected with the mounting plate 3, and the lifting block 206 drives the mounting plate 3 to move up and down through the setting of the lifting block 206.

[0025] Further, the limiting block 207 is a dovetail type block, the limiting block 207 is embedded in the inside of the limiting groove 203, and the limiting block 207 limits the lifting block 206 through the setting of the limiting block 207, so as to avoid the lifting block 206 from rotating with the one-way screw rod 205.

[0026] Further, the driving mechanism 4 comprises a support frame 401, a driving motor 402, a driving shaft 403, a driven shaft 404, a driving wheel 405, a driven wheel 406 and a chain belt 407, the surface side of the mounting plate 3 is fixedly connected with the support frame 401, the inside of the support frame 401 is installed with the driving motor 402, the surface side of the support frame 401 penetrates through the driving shaft 403, the surface side of the support frame 401 is installed with the driven shaft 404, one end of the driving shaft 403 is connected with the driving wheel 405, one end of the driven shaft 404 is connected with the driven wheel 406, the surface of the driving wheel 405 is sleeved with the chain belt 407, through the setting of the support frame 401, the driving motor 402, the driving shaft 403, the driven shaft 404, the driving wheel 405, the driven wheel 406 and the chain belt 407, when driving on the sand, mud or other relatively soft ground, the driving motor 402 is turned on at the time, the driving motor 402 drives the driving wheel 405 to rotate through the driving shaft 403, since the chain belt 407 is sleeved on the surface of the driving wheel 405 and the driven wheel 406, and the chain belt 407 is in engagement with the driving wheel 405 and the driven wheel 406, so that when the driving wheel 405 rotates, the chain belt 407 and the driven wheel 406 rotate, at this time, the chain belt 407 drives the robot main body 1 to move on the ground.

[0027] Further, the output shaft of the driving motor 402 is connected with the driving shaft 403, the chain belt 407 is in engagement with the driving wheel 405, one end of the chain belt 407 is sleeved on the surface of the driven wheel 406, the chain belt 407 is in engagement with the driven wheel 406, through the setting of the driving motor 402, when in use, the driving motor 402 can drive the driving wheel 405 to rotate through the driving shaft 403.

[0028] Working principle: when the robot body 1 of the wheel-foot robot detects that the current running road surface is sand, mud or other relatively soft ground, at this time, the servo motor 204 is controlled to drive the unidirectional screw rod 205 to rotate in the inside of the lifting groove 202, since the lifting block 206 is embedded in the inside of the lifting groove 202 and the lifting block 206 is threadedly sleeved on the surface of the unidirectional screw rod 205, and the limiting block 207 fixedly connected at both ends of the lifting block 206 is embedded in the inside of the limiting groove 203, so that when the unidirectional screw rod 205 rotates, the lifting block 206 moves downward in the inside of the lifting groove 202 along the unidirectional screw rod 205, and the limiting block 207 slides downward in the inside of the limiting groove 203, thereby driving the mounting plate 3 and the driving mechanism 4 to descend to make the chain belt 407 adhere to the ground, and when running on the sand, mud or other relatively soft ground, at this time, the driving motor 402 is opened, the driving motor 402 drives the driving wheel 405 to rotate through the driving shaft 403, since the chain belt 407 is sleeved on the surface of the driving wheel 405 and the driven wheel 406, and the chain belt 407 is meshingly connected with the driving wheel 405 and the driven wheel 406, so that when the driving wheel 405 rotates, the chain belt 407 and the driven wheel 406 rotate, at this time, the chain belt 407 drives the robot body 1 to move on the ground.

[0029] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A quick replacement track used by a wheel-foot robot, comprising a robot body (1) and a lifting mechanism (2), characterized in that: The bottom of the robot body (1) is provided with a lifting mechanism (2), one end of the lifting mechanism (2) is connected with a mounting plate (3), and the surface of the mounting plate (3) is provided with a driving mechanism (4); The lifting mechanism (2) comprises a stand (201), a lifting groove (202), a limiting groove (203), a servo motor (204), a one-way screw rod (205), a lifting block (206) and a limiting block (207), the bottom of the robot body (1) is fixedly connected with the stand (201), the surface of the stand (201) is provided with the lifting groove (202), the inner wall of the stand (201) is provided with the limiting groove (203), one end of the stand (201) is provided with the servo motor (204), the inside of the lifting groove (202) is provided with the one-way screw rod (205), one end of the one-way screw rod (205) penetrates through the lifting block (206), and the two ends of the lifting block (206) are fixedly connected with the limiting block (207).

2. The quick replacement track for a wheel-legged robot according to claim 1, wherein: The lifting groove (202) and the limiting groove (203) are communicated, and the limiting groove (203) is a dovetail groove.

3. The quick-change track for use in a wheel-legged robot according to claim 1, wherein: The output end of the servo motor (204) is connected with the one-way screw rod (205), and the lifting block (206) is embedded in the inside of the lifting groove (202).

4. The quick-change track for use in a wheel-legged robot according to claim 1, wherein: The lifting block (206) is threadedly sleeved on the surface of the one-way screw rod (205), and one end of the lifting block (206) is fixedly connected with the mounting plate (3).

5. The quick-change track for use in a wheel-legged robot according to claim 1, wherein: The limiting block (207) is a dovetail block, and the limiting block (207) is embedded in the inside of the limiting groove (203).

6. The quick-change track for use in a wheel-legged robot according to claim 1, wherein: The driving mechanism (4) comprises a support frame (401), a driving motor (402), a driving shaft (403), a driven shaft (404), a driving wheel (405), a driven wheel (406) and a chain belt (407), the surface of the mounting plate (3) is fixedly connected with the support frame (401), the inside of the support frame (401) is provided with the driving motor (402), one end of the support frame (401) penetrates through the driving shaft (403), the surface of the support frame (401) is provided with the driven shaft (404), one end of the driving shaft (403) is connected with the driving wheel (405), one end of the driven shaft (404) is connected with the driven wheel (406), and the surface of the driving wheel (405) is sleeved with the chain belt (407).

7. The quick-change track for use in a wheel-legged robot according to claim 6, wherein: The output shaft of the driving motor (402) is connected with the driving shaft (403), the chain belt (407) is in meshing connection with the driving wheel (405), one end of the chain belt (407) is sleeved on the surface of the driven wheel (406), and the chain belt (407) is in meshing connection with the driven wheel (406).

Images