Robot walking mechanism

Abstract

The utility model discloses a robot walking mechanism which comprises a box body and a self-walking assembly. A fixing plate is arranged between the inner walls of the front and rear ends of the box body; the self-walking assembly comprises first rotating rods, driven gears, a first rotating shaft, a vertical displacement adjusting plate and a walking ground supporting frame, the first rotating rods are rotationally connected between the front inner wall and the rear inner wall of the box body in a bilateral symmetry mode, and the driven gears are arranged at the front ends and the rear ends of the two first rotating rods correspondingly; first rotating shafts are fixedly connected to the left sides of the front side faces of the two driven gears on the front side, the front ends of the two first rotating shafts on the front side are rotationally connected with the rear side face of a vertical displacement adjusting plate, and first rotating shafts are fixedly connected to the right sides of the front side faces of the two driven gears on the rear side. The rear ends of the two first rotating shafts on the rear sides are rotationally connected with the front side face of a vertical displacement adjusting plate, and the whole robot walking mechanism is quite obvious in stable effect during operation and conforms to most linear advancing operation.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely is a robot walking mechanism. BACKGROUND

[0002] Industrial robot is the multi -joint mechanical hand or multi -freedom degree machine device to industrial field, it can automatically carry out work, is by self -propulsion and control ability to realize various functions a kind of machine, it can accept human command, also can run according to prearranged program;

[0003] The robot walking mechanism disclosed by CN201920007218.8 comprises a bottom plate and a robot fixing platform, the top of the bottom plate is fixedly connected with two guide rails, the right side surface of the guide rail is fixedly connected with a rack, the inside of the robot fixing platform is fixedly connected with a motor, the bottom of the robot fixing platform is provided with a through hole, and the output shaft of the motor is fixedly connected with a gear through the through hole;When the robot fixing platform needs to be moved, the motor is controlled to work through a switch at the moment, the motor drives the gear to rotate, the gear is engaged with the rack, so that the rack can drive the motor to move back and forth, and then the motor drives the robot fixing platform to move back and forth, at this moment, the roller rolls on the outer surface of the guide rail;

[0004] The robot walking mechanism has some small problems in actual operation, for example, the stability effect of the rack is poor when the rack is subjected to great pressure, and the application range is small, therefore, the robot walking mechanism is provided. UTILITY MODEL CONTENTS

[0005] The utility model solves the technical problems of overcoming the defects of the prior art, and provides a robot walking mechanism, which has very obvious stability effect during operation and can effectively solve the problems in the background art.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a robot walking mechanism, comprising a box body and a self-propelled assembly.

[0007] The box body is provided with a fixed plate between the inner walls of the front and rear ends.

[0008] The self-walking assembly comprises first rotating rods, driven gears, first rotating shafts, vertical displacement adjusting plates and walking supporting frames, the first rotating rods are symmetrically and rotatably connected between the front and rear inner walls of the box body, the front ends and the rear ends of the two first rotating rods are respectively provided with driven gears, the front sides of the two driven gears on the front side are respectively fixedly connected with first rotating shafts, the front ends of the two first rotating shafts on the front side are rotatably connected with the rear side of a vertical displacement adjusting plate, the front sides of the two driven gears on the rear side are also respectively fixedly connected with first rotating shafts, the rear ends of the two first rotating shafts on the rear side are rotatably connected with the front side of a vertical displacement adjusting plate, and the lower surfaces of the two vertical displacement adjusting plates are respectively provided with walking supporting frames.

[0009] Further, the control switch is arranged on the front side of the right side of the box body, the input end of the control switch is electrically connected with the external power supply, and the control switch controls the operation of the motor.

[0010] Further, the self-walking assembly further comprises second rotating rods, driving gears, transmission bevel gears and driving bevel gears, the second rotating rods are rotatably connected with the middle parts of the front side and the rear side of the box body respectively, the ends, away from the center of the box body, of the two second rotating rods are respectively provided with driving gears, the ends, close to the center of the box body, of the two second rotating rods are respectively provided with transmission bevel gears, the driving gears are respectively meshed with the two driven gears on the same side, the lower surface of the fixed plate is rotatably connected with the driving bevel gears, and the two transmission bevel gears are meshed with the driving bevel gears.

[0011] Further, the motor is arranged on the upper surface of the fixed plate, the output shaft of the motor is fixedly connected with the upper end of the driving bevel gear, the input end of the motor is electrically connected with the output end of the control switch, and the motor provides power for walking.

[0012] Further, the middle supporting plates are arranged on the middle parts of the opposite inner sides of the two walking supporting frames, so that the function of increasing the ground supporting area is realized.

[0013] Further, the top mounting seat is arranged on the upper surface of the box body, so that the function of mounting an external robot is realized.

[0014] Further, the external supporting frames are arranged on the front side and the rear side of the box body, so that the function of normal side is realized.

[0015] Compared with the prior art, the robot walking mechanism has the following advantages:

[0016] By utilizing eccentric structure and transverse parallelogram transmission mechanism, two support plates are driven to contact ground in turn, walking action is simulated, and by utilizing multi-position support structure, stability effect is very obvious when the whole mechanism operates, and the robot meets linear operation. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 It is a structural schematic view of the utility model;

[0018] Fig. 2 It is a structural schematic view of the utility model self-walking assembly;

[0019] Fig. 3 It is a structural schematic view of the utility model walking ground support frame and middle support plate.

[0020] In the figure: 1 box, 2 self-walking assembly, 21 first rotating rod, 22 driven gear, 23 first rotating shaft, 24 vertical displacement adjusting plate, 25 walking ground support frame, 26 second rotating rod, 27 driving gear, 28 transmission bevel gear, 29 driving bevel gear, 3 motor, 4 middle support plate, 5 top mounting seat, 6 control switch, 7 external support frame. DETAILED DESCRIPTION

[0021] 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.

[0022] Please refer to Figs. 1-3 The embodiment provides a technical scheme: a robot walking mechanism, comprising a box 1 and a self-walking assembly 2.

[0023] The box 1: the inner wall between the front and rear ends is provided with a fixed plate, further comprising a top mounting seat 5, the top mounting seat 5 is arranged on the upper surface of the box 1, further comprising an external support frame 7, the external support frame 7 is arranged on the front side and the rear side of the box 1 in a disassembled manner.

[0024] The self-walking assembly 2 comprises the first rotating rods 21, the driven gears 22, the first rotating shafts 23, the vertical displacement adjusting plates 24 and the walking supporting frames 25, the first rotating rods 21 are symmetrically and rotatably connected between the front and rear inner walls of the box body 1, the front ends and the rear ends of the two first rotating rods 21 are respectively provided with the driven gears 22, the front sides of the two driven gears 22 on the front side are respectively fixedly connected with the first rotating shafts 23, the front ends of the two first rotating shafts 23 on the front side are rotatably connected with the rear side of one vertical displacement adjusting plate 24, the front sides of the two driven gears 22 on the rear side are also respectively fixedly connected with the first rotating shafts 23, the rear ends of the two first rotating shafts 23 on the rear side are rotatably connected with the front side of one vertical displacement adjusting plate 24, the lower surfaces of the two vertical displacement adjusting plates 24 are respectively provided with the walking supporting frames 25, the control switch 6 is arranged on the front side of the right side of the box body 1, the input end of the control switch 6 is electrically connected with the external power supply, the self-walking assembly 2 further comprises the second rotating rods 26, the driving gears 27, the transmission bevel gears 28 and the driving bevel gears 29, the second rotating rods 26 are respectively rotatably connected with the middle parts of the front side and the rear side of the box body 1, the ends, away from the center of the box body 1, of the two second rotating rods 26 are respectively provided with the driving gears 27, the ends, close to the center of the box body 1, of the two second rotating rods 26 are respectively provided with the transmission bevel gears 28, the driving gears 27 are respectively meshingly connected with the two driven gears 22 on the same side, the lower surface of the fixed plate is rotatably connected with the driving bevel gears 29, the two transmission bevel gears 28 are respectively meshingly connected with one driving bevel gear 29, the motor 3 is arranged on the upper surface of the fixed plate, the output shaft of the motor 3 is fixedly connected with the upper end of the driving bevel gear 29, the input end of the motor 3 is electrically connected with the output end of the control switch 6, the middle supporting plates 4 are respectively arranged on the middle parts of the opposite inner sides of the two walking supporting frames 25, when the robot walking mechanism needs to be used, the control switch 6 is adjusted and controlled, the motor 3 operates, the output shaft of the motor 3 rotates, the driving bevel gear 29 is driven to rotate, the two transmission bevel gears 28 are driven to rotate, the second rotating rods 26 are driven to rotate, the driving gears 27 are driven to rotate, the four driven gears 22 are driven to synchronously rotate, the two vertical displacement adjusting plates 24 are driven to horizontally rotate around the axes of the second rotating rods 26 as the center, then, the positions of the two vertical displacement adjusting plates 24 are in front of and behind each other, so when rotating, the two walking supporting frames 25 are sequentially driven to move to the right, when the walking supporting frame 25 on the front side supports the ground, the walking supporting frame 25 on the front side supports the whole mechanism, at this time, the walking supporting frame 25 on the rear side is away from the ground, when the walking supporting frame 25 on the rear side supports the ground, the walking supporting frame 25 on the rear side supports the whole mechanism, at this time, the walking supporting frame 25 on the front side is away from the ground, when the two walking supporting frames 25 are on the same horizontal plane, the two walking supporting frames 25 support the mechanism together with the two external supporting frames 7, then the above process is repeated, so that the automatic walking of the mechanism can be realized.

[0025] The working principle of the robot walking mechanism is as follows: when the robot walking mechanism needs to be used, the control switch 6 is adjusted and controlled, the motor 3 is operated, the output shaft of the motor 3 is rotated, and then the driving bevel gear 29 is driven to rotate, and then the two transmission bevel gears 28 are driven to rotate, and then the second rotating rod 26 is driven to rotate, and then the driving gear 27 is driven to rotate, and then the four driven gears 22 are driven to rotate synchronously, and then the two vertical displacement adjusting plates 24 are driven to rotate horizontally around the axis of the second rotating rod 26 as the center, and then the positions of the two vertical displacement adjusting plates 24 are in front of and behind each other, so that when rotating, the two walking support frames 25 are sequentially driven to move to the right, and when the walking support frame 25 on the front side supports the ground, the walking support frame 25 on the front side supports the entire mechanism, at this time the walking support frame 25 on the rear side is away from the ground, and when the walking support frame 25 on the rear side supports the ground, the walking support frame 25 on the rear side supports the entire mechanism, at this time the walking support frame 25 on the front side is away from the ground, and when the two walking support frames 25 are in the same horizontal plane, the two walking support frames 25 support the mechanism together with the two external support frames 7, and then the above process is repeated, so that the automatic walking of the mechanism can be realized.

[0026] It is worth noting that the motor 3 disclosed in the above embodiments can be freely configured according to actual application scenarios, and the motor 3 is recommended to be a BSM80C-250AA servo motor, and the control switch 3 is provided with a control button corresponding to the motor 3 and used for controlling the switch of the motor 3.

[0027] The above is only an embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent structure or equivalent process transformation using the contents of the utility model specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection range of the utility model.

Claims

1. A robot walking mechanism characterized by comprising: It comprises a box (1) and a self-propelled assembly (2); The box (1) is provided with a fixed plate between the inner walls of the front and rear ends; The self-propelled assembly (2) comprises first rotating rods (21), driven gears (22), first rotating shafts (23), vertical displacement adjustment plates (24) and walking support frames (25). The first rotating rods (21) are symmetrically and rotatably connected between the inner walls of the front and rear ends of the box (1). The front ends and the rear ends of the two first rotating rods (21) are provided with driven gears (22). The front sides of the two driven gears (22) on the front side are fixedly connected with first rotating shafts (23) on the left side. The front ends of the two first rotating shafts (23) on the front side are rotatably connected with the rear side of a vertical displacement adjustment plate (24). The front sides of the two driven gears (22) on the rear side are also fixedly connected with first rotating shafts (23) on the right side. The rear ends of the two first rotating shafts (23) on the rear side are rotatably connected with the front side of a vertical displacement adjustment plate (24). The lower surfaces of the two vertical displacement adjustment plates (24) are provided with walking support frames (25).

2. The robotic walking mechanism of claim 1, wherein: It also comprises a control switch (6) arranged on the front side of the right side of the box (1). The input end of the control switch (6) is electrically connected with an external power supply.

3. A robot walking mechanism according to claim 2, characterized in that: The self-propelled assembly (2) further comprises second rotating rods (26), drive gears (27), transmission bevel gears (28) and drive bevel gears (29). The second rotating rods (26) are rotatably connected to the middle part of the front side and the middle part of the rear side of the box (1). The ends of the two second rotating rods (26) away from the center of the box (1) are provided with drive gears (27). The ends of the two second rotating rods (26) close to the center of the box (1) are provided with transmission bevel gears (28). The drive gears (27) are meshingly connected with the two driven gears (22) on the same side. The lower surface of the fixed plate is rotatably connected with a drive bevel gear (29). The two transmission bevel gears (28) are meshingly connected with a drive bevel gear (29).

4. The robotic walking mechanism of claim 3, wherein: It also comprises a motor (3) arranged on the upper surface of the fixed plate. The output shaft of the motor (3) is fixedly connected with the upper end of the drive bevel gear (29). The input end of the motor (3) is electrically connected with the output end of the control switch (6).

5. The robotic walking mechanism of claim 1, wherein: It also comprises a middle support plate (4) arranged on the middle part of the opposite inner sides of the two walking support frames (25).

6. The robotic walking mechanism of claim 1, wherein: It also comprises a top mounting seat (5) arranged on the upper surface of the box (1).

7. The robotic walking mechanism of claim 1, wherein: It also comprises an external support frame (7) arranged on the front side and the rear side of the box (1).

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