Gravity center pressing adjusting mechanism used during high-speed running of wheel-foot type robot

Abstract

The utility model relates to the technical field of robots, in particular to a gravity center pressing adjusting mechanism for a wheel-foot type robot during high-speed running, which comprises a robot body, a wheel-foot group is rotatably connected to the lower surface of the robot body, a pressing adjusting mechanism is arranged on the front surface of the wheel-foot group, and the pressing adjusting mechanism comprises a first connecting frame. A second connecting frame is rotatably connected to the lower surface of the first connecting frame, a rotating shaft is rotatably connected to the front surface of the second connecting frame, a supporting wheel is rotatably connected to the outer arc surface of the rotating shaft, a sliding block is slidably connected to the upper surface of the first connecting frame, and a fixing block is fixedly connected to the upper surface of the second connecting frame; the fixing block is hinged to one end of the first support, the sliding block is hinged to the other end of the first support, the upper surface of the first connecting frame is fixedly connected with a limiting rod, and the limiting rod penetrates through the sliding block and is in sliding connection with the sliding block.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely is a kind of for wheel-foot robot center of gravity down pressure adjusting mechanism when high speed travel. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, there are various wheel-foot robots with accompanying functions on the market.Wheel-foot robots can accompany people in learning, living and entertainment, etc.Wheel-foot robots can realize visual navigation, automatic tracking, visual following and visual obstacle avoidance, etc., through reading depth information, which is very convenient.

[0003] Through search, China public number is CN 221049831 U discloses a wheel-foot robot, comprising: robot body and at least two sets of wheel-foot walking mechanism;Robot body includes human-computer interaction component, control module, battery module and driving mechanism;Control module is connected with driving mechanism and wheel-foot walking mechanism respectively;Battery module and driving mechanism are arranged in vertical direction in laminated form;Along the advancing direction of wheel-foot robot, at least part of human-computer interaction component is arranged on the front side of battery module and driving mechanism, and control module is arranged on the rear side of battery module and driving mechanism.The wheel-foot robot provided by the utility model can respond to the instructions input by the user to the human-computer interaction component, so as to achieve the effect of accompanying the user;The center of gravity of the wheel-foot robot is located on the center line, and it is not easy to fall down, and the structure layout is reasonable.

[0004] Most wheel-foot robots are connected by two groups of supports to form adjustable wheel-foot robots, but most wheel-foot robots lack supporting mechanisms when adjusting, so that the wheel-foot robot is prone to instability after being pressed down, and is prone to rollover when running at high speed.In view of this, we propose a center of gravity down pressure adjusting mechanism for wheel-foot robot high speed travel. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a center of gravity down pressure adjusting mechanism for wheel-foot robot high speed travel, which solves the problem of reduced stability of wheel-foot robots due to lack of down pressure adjusting mechanism when pressed down and high speed travel.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0007] A kind of for wheel-legged robot center of gravity down pressure regulating mechanism when high speed, including robot body, the lower surface of the robot body is rotatably connected with wheel foot group, the front surface of the wheel foot group is provided with down pressure regulating mechanism, the down pressure regulating mechanism includes connecting frame one, the lower surface of the connecting frame one is rotatably connected with connecting frame two, the front surface of the connecting frame two is rotatably connected with rotating shaft, the outer arc surface of the rotating shaft is rotatably connected with support wheel, the upper surface of the connecting frame one is slidably connected with sliding block, the upper surface of the connecting frame two is fixedly connected with fixed block, the fixed block is hinged with one end of support one, the sliding block is hinged with the other end of support one, the upper surface of the connecting frame one is fixedly connected with limiting rod, the limiting rod passes through sliding block and is slidably connected with sliding block.

[0008] Preferably, the outer arc surface of the limiting rod is sleeved with spring one, one end of the spring one is fixedly connected with the sliding block, and the other end of the spring one is fixedly connected with the limiting rod.

[0009] Preferably, the lower surface of the connecting frame one is provided with a groove, and the upper surface of the connecting frame two is provided with a protrusion.

[0010] Preferably, the front surface of the rotating shaft is provided with a positioning mechanism, the positioning mechanism includes an annular block, the outer arc surface of the annular block is fixedly connected with a connecting block in a circumferential array, the front surface of the support wheel is slidably connected with a slide rod in a circumferential array, the slide rod is hinged with one end of support two, the connecting block is hinged with the other end of support two, and the lower surface of the slide rod is fixedly connected with a tapered block.

[0011] Preferably, the front surface of the support wheel is fixedly connected with a support frame in a circumferential array, and the inner surface of the support frame is slidably connected with the slide rod.

[0012] Preferably, the outer arc surface of the annular block is fixedly connected with an arc-shaped block, the lower surface of the arc-shaped block is penetrated by a plug and slidably connected with the plug, the plug penetrates the rotating shaft and is slidably connected with the rotating shaft, the outer arc surface of the rotating shaft is provided with a clamping hole, and the inner surface of the clamping hole is slidably connected with the plug.

[0013] Preferably, the cross-sectional shape of the plug is "T-shaped", the outer arc surface of the plug is sleeved with spring two, one end of the spring two is fixedly connected with the plug, and the other end of the spring two is fixedly connected with the lower surface of the arc-shaped block.

[0014] By the above technical solution, the utility model provides a kind of for wheel-legged robot center of gravity down pressure regulating mechanism when high speed. At least have the following beneficial effects:

[0015] (1), the utility model discloses a connecting frame one, connecting frame two, limit rod, spring one, sliding block and the setting of support one, through the elasticity of spring one and the mutual cooperation of support one, make connecting frame one with connecting frame two more stable connection, simultaneously, through the elasticity of spring one, can make support wheel always with ground contact, and the gravity center of robot body is in the downward adjustment, simultaneously, support wheel can with wheel foot group automatic adjustment simultaneously, make robot body more stable.

[0016] (2), the utility model discloses the setting of annular block, support two, slide rod, conical block and connecting block, through slide rod and conical block to support wheel and carry out the limit, when robot is in static state, to the limit of robot whole, guarantee the stability of robot, simultaneously, when robot is at high speed, through the outward pull of annular block, through the insertion of bolt into the card hole, after, to the limit of annular block, make robot can normally travel. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings described here are used to provide further understanding of the utility model and constitute a part of this application:

[0018] Figure 1 It is the whole structure schematic diagram of the utility model;

[0019] Figure 2 It is the whole structure schematic diagram of the utility model's down pressure adjusting mechanism;

[0020] Figure 3 It is the whole structure schematic diagram of the utility model's positioning mechanism;

[0021] Figure 4 It is the utility model Figure 3 A part structure enlarged schematic diagram of the utility model.

[0022] In the drawing: 1, robot body;2, wheel foot group;3, down pressure adjusting mechanism;31, connecting frame one;32, connecting frame two;33, rotating shaft;34, support wheel;35, sliding block;36, fixed block;37, support one;38, limit rod;39, spring one;310, recess;311, protruding block;4, positioning mechanism;41, annular block;42, connecting block;43, slide rod;44, support two;45, conical block;46, support frame;47, arc block;48, bolt;49, card hole;410, spring two. DETAILED DESCRIPTION

[0023] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of the present application.

[0024] Embodiment one

[0025] Please refer to Figures 1-4 The utility model provides a kind of for wheel-foot robot high-speed travel time gravity center down pressure regulating mechanism, including robot body 1, the lower surface of robot body 1 is rotatably connected with wheel foot group 2, wheel foot group 2 is connected by two groups of rods, first rod is connected with robot body 1, second rod is rotatably connected with first rod, the wheel foot group 2 is provided with four groups, by these settings, robot body 1 is supported, while ensuring that robot body 1 can normally run, the front surface of wheel foot group 2 is provided with down pressure regulating mechanism 3, down pressure regulating mechanism 3 includes connecting frame one 31, the lower surface of connecting frame one 31 is rotatably connected with connecting frame two 32, the front surface of connecting frame two 32 is rotatably connected with rotating shaft 33, the outer arc surface of rotating shaft 33 is rotatably connected with support wheel 34, the upper surface of connecting frame one 31 is slidably connected with sliding block 35, the upper surface of connecting frame two 32 is fixedly connected with fixed block 36, fixed block 36 is hinged with one end of support one 37, sliding block 35 is hinged with the other end of support one 37, the upper surface of connecting frame one 31 is fixedly connected with limiting rod 38, limiting rod 38 passes through sliding block 35 and is slidably connected with sliding block 35, limiting rod 38 is positioned to sliding block 35, ensure that sliding block 35 can stably slide, the outer arc surface of limiting rod 38 is sleeved with spring one 39, one end of spring one 39 is fixedly connected with sliding block 35, the other end of spring one 39 is fixedly connected with limiting rod 38, spring one 39 is provided for connecting frame one 31 and connecting frame two 32 with elasticity, the lower surface of connecting frame one 31 is provided with recess 310, the upper surface of connecting frame two 32 is provided with convex block 311, recess 310 is set in connecting frame one 31, so that connecting frame two 32 can be in recess 310, so as to facilitate rotation connection, while, ensure that connecting frame two 32 can stably rotate in connecting frame one 31.

[0026] In the embodiment, through the setting of the connecting frame one 31, the connecting frame two 32, the limiting rod 38, the spring one 39, the sliding block 35 and the support one 37, the connecting frame one 31 and the connecting frame two 32 are more stably connected through the elasticity of the spring one 39 and the cooperation of the support one 37, meanwhile, through the elasticity of the spring one 39, the supporting wheel 34 can always contact with the ground, and the supporting wheel 34 can automatically adjust with the wheel foot group 2 while the gravity center of the robot body 1 is adjusted downward, so that the robot body 1 is more stable.

[0027] Embodiment two

[0028] Please refer to Figures 1-4 , on the basis of embodiment one, the utility model provides a technical scheme: preferably, the front surface of rotating shaft 33 is provided with positioning mechanism 4, positioning mechanism 4 includes annular block 41, the outer arc surface of annular block 41 is fixedly connected with connecting block 42 in circumferential array, the front surface of supporting wheel 34 is slidably connected with slide rod 43 in circumferential array, one end of slide rod 43 is hinged with support two 44, the other end of connecting block 42 is hinged with support two 44, the lower surface of slide rod 43 is fixedly connected with conical block 45, through the setting of conical block 45, when robot body 1 travels in muddy road section, through conical block 45 inserts muddy road section, makes robot body 1 fixed more stable, improves the friction of supporting wheel 34 and ground through two groups of conical block 45, makes robot body 1 more stable when stationary, the front surface of supporting wheel 34 is fixedly connected with support frame 46 in circumferential array, the inner surface of support frame 46 is slidably connected with slide rod 43, through the limiting of support frame 46 to slide rod 43, makes slide rod 43 more stable on supporting wheel 34 sliding, the outer arc surface of annular block 41 is fixedly connected with arc block 47, the lower surface of arc block 47 is penetrated with bayonet 48 and is slidably connected with bayonet 48, bayonet 48 penetrates rotating shaft 33 and is slidably connected with rotating shaft 33, the outer arc surface of rotating shaft 33 is provided with clamping hole 49, the inner surface of clamping hole 49 is slidably connected with bayonet 48, the cross section shape of bayonet 48 is " T type", through the setting of clamping hole 49, can make bayonet 48 insert clamping hole 49, so as to limit annular block 41 after bayonet 48 inserts clamping hole 49, so as to guarantee that annular block 41 does not move after sliding block 43 and conical block 45 are pulled and contracted through support two 44, makes the whole device more stable, the outer arc surface of bayonet 48 is sleeved with spring two 410, one end of spring two 410 is fixedly connected with bayonet 48, the other end of spring two 410 is fixedly connected with the lower surface of arc block 47.

[0029] In this embodiment, through the setting of the annular block 41, the support bracket two 44, the slide rod 43, the conical block 45 and the connecting block 42, the support wheel 34 is limited by the slide rod 43 and the conical block 45, the robot is limited as a whole when the robot is in a static state, the stability of the robot is guaranteed, and when the robot is running at high speed, the annular block 41 is pulled outward, the annular block 41 is limited after the bolt 48 is inserted into the clamping hole 49, so that the robot can normally run.

[0030] When the robot body 1 adjusts the gravity center downward, the robot body 1 moves downward as a whole, the wheel-foot group 2 moves downward, the connecting frame one 31 and the connecting frame two 32 move downward as a whole, the fixed block 36 of the connecting frame two 32 drives the sliding block 35 to slide on the right surface of the connecting frame one 31 through the support bracket one 37, the sliding block 35 slides on the outer arc surface of the limiting rod 38 and extrudes the spring one 39, when the spring one 39 is compressed, the elastic force of the spring one 39 makes the support wheel 34 tightly contact with the ground, when the robot body 1 needs to run at high speed, the bolt 48 is pulled downward, the bolt 48 is separated from the rotating shaft 33, the arc block 47 is pulled outward, the arc block 47 drives the slide rod 43 to shrink to the center of the support wheel 34 through the connecting block 42 and the support bracket two 44, the slide rod 43 drives the conical block 45 to shrink into the support bracket 46, the bolt 48 is released, the bolt 48 is popped into the clamping hole 49 through the elastic force of the spring two 410, the annular block 41 is limited, and the rotation of the support wheel 34 is not affected by the conical block 45.

[0031] It should be noted that, in the present document, the terms such as first and second, etc., are used merely to differentiate one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between such entities or operations. In addition, the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device.

[0032] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A center of gravity lowering adjustment mechanism for a wheel-legged robot during high-speed travel, comprising a robot body (1), characterized in that: The lower surface of the robot body (1) is rotationally connected with a wheel foot group (2), the front surface of the wheel foot group (2) is provided with a downward pressing adjusting mechanism (3), the downward pressing adjusting mechanism (3) comprises a connecting frame one (31), the lower surface of the connecting frame one (31) is rotationally connected with a connecting frame two (32), the front surface of the connecting frame two (32) is rotationally connected with a rotating shaft (33), the outer arc surface of the rotating shaft (33) is rotationally connected with a supporting wheel (34), the upper surface of the connecting frame one (31) is slidingly connected with a sliding block (35), the upper surface of the connecting frame two (32) is fixedly connected with a fixed block (36), the fixed block (36) is hingedly connected with one end of a support one (37), the sliding block (35) is hingedly connected with the other end of the support one (37), the upper surface of the connecting frame one (31) is fixedly connected with a limiting rod (38), the limiting rod (38) penetrates through and is slidingly connected with the sliding block (35).

2. The gravity center lowering adjustment mechanism for a wheel-legged robot according to claim 1, wherein: The outer arc surface of the limiting rod (38) is sleeved with a spring one (39), one end of the spring one (39) is fixedly connected with the sliding block (35), and the other end of the spring one (39) is fixedly connected with the limiting rod (38).

3. The gravity center lowering adjustment mechanism for a wheel-legged robot according to claim 2, wherein: The lower surface of the connecting frame one (31) is provided with a groove (310), and the upper surface of the connecting frame two (32) is provided with a protruding block (311).

4. The gravity center lowering adjustment mechanism for a wheel-legged robot according to claim 3, wherein: The front surface of the rotating shaft (33) is provided with a positioning mechanism (4), the positioning mechanism (4) comprises an annular block (41), the outer arc surface of the annular block (41) is fixedly connected with a connecting block (42) in a circumferential array, the front surface of the supporting wheel (34) is slidingly connected with a sliding rod (43) in a circumferential array, one end of the sliding rod (43) is hingedly connected with a support two (44), the connecting block (42) is hingedly connected with the other end of the support two (44), and the lower surface of the sliding rod (43) is fixedly connected with a conical block (45).

5. The gravity center lowering adjustment mechanism for a wheel-legged robot according to claim 4, wherein: The front surface of the supporting wheel (34) is fixedly connected with a supporting frame (46) in a circumferential array, and the inner surface of the supporting frame (46) is slidingly connected with the sliding rod (43).

6. The gravity center lowering adjustment mechanism for a wheel-legged robot according to claim 5, wherein: The outer arc surface of the annular block (41) is fixedly connected with an arc-shaped block (47), the lower surface of the arc-shaped block (47) penetrates through and is slidingly connected with a bolt (48), the bolt (48) penetrates through and is slidingly connected with the rotating shaft (33), and the outer arc surface of the rotating shaft (33) is provided with a clamping hole (49), and the inner surface of the clamping hole (49) is slidingly connected with the bolt (48).

7. The gravity center lowering adjustment mechanism for a wheel-legged robot according to claim 6, wherein: The cross section of the bolt (48) is in a "T" shape, the outer arc surface of the bolt (48) is sleeved with a spring two (410), one end of the spring two (410) is fixedly connected with the bolt (48), and the other end of the spring two (410) is fixedly connected with the lower surface of the arc-shaped block (47).

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