Parallel leg wheel robot with crank-slider structure

Abstract

The utility model provides a crank sliding block structure parallel leg wheel robot, and particularly relates to the technical field of robot equipment, the crank sliding block structure parallel leg wheel robot comprises a frame body and two groups of driving motors which are arranged on the inner side of the frame body and are connected in parallel, two sides of the frame body are provided with trundle assemblies, one trundle assembly is connected with one group of driving motors, and the other trundle assembly is connected with the other group of driving motors. One group of driving motors comprises a first motor and a second motor connected with the first motor in parallel, and each trundle assembly comprises a rotary assembly connected with the frame body, a box-type unit linear sliding block assembly arranged on the outer side of the rotary assembly and an optical axis fixing plate connected with the outer side of the box-type unit linear sliding block assembly; one side of the lower end of the optical axis fixing plate is connected with a brushless motor, and the output end of the brushless motor penetrates through the optical axis fixing plate and is connected with a wheel body; the first adjusting arm, the second adjusting arm, the optical axis fixing plate and the wheel body are arranged in a triangular structure, the stability of the wheel body in the moving process can be effectively improved, and therefore the stability of the box body in the running process is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot equipment technical field especially relates to a crank slider structure parallel leg wheel robot. BACKGROUND

[0002] The current common robot moving mechanism has wheel type, leg type, crawler type and composite type etc., the wheel type and crawler type robot are difficult to satisfy the terrain applicability requirement such as obstacle crossing, climbing, crossing ditch etc., and the leg robot adopts discrete support form, has the characteristics that the obstacle crossing ability is strong;

[0003] The existing robot, such as the patent with the patent announcement number CN218806218U discloses a kind of self-balancing wheel leg type biped robot, including rack, thigh, shank, connecting rod, trundle, the rack is provided with main control circuit board, battery, gyroscope, the rack both sides are symmetrically provided with the thigh being hinged connection, the thigh upper end is hinged connection with the rack, lower end is hinged connection with the shank upper part, the shank lower end is provided with the trundle being rotationally connected, the thigh one side is provided with connecting rod, the connecting rod one end is hinged connection with the rack, the other end is hinged connection with the shank top end;

[0004] However, the leg part in the patent adopts arc-shaped support structure, and the stability of this type of support mechanism is relatively poor, at the same time, the trundle itself is prone to bending when receiving a horizontal external force. UTILITY MODEL CONTENTS

[0005] In order to solve the above problems, the utility model provides a kind of crank slider structure parallel leg wheel robot to more exactly solve the above problems.

[0006] The utility model realizes by the following technical scheme:

[0007] The utility model provides a kind of crank slider structure parallel leg wheel robot, including frame body, and two groups of driving motors being set to the inside of the frame body and being parallel to each other, the two sides of the frame body are provided with trundle assembly, one the trundle assembly is connected with a group the driving motor, a group the driving motor includes first motor and the second motor being parallel to the first motor, the trundle assembly includes the rotation assembly being connected with the frame body, and the box type unit linear slide block assembly being set to the outside of the rotation assembly, and the optical axis fixed plate being connected with the outside of the box type unit linear slide block assembly, the lower end one side of the optical axis fixed plate is connected with brushless motor, the output end of the brushless motor passes through the optical axis fixed plate, and is connected with wheel body, the other side outer side shaft of the brushless motor is connected with first adjusting arm, the other end of the first adjusting arm is connected with the first motor, the rotation assembly outer shaft is connected with second adjusting arm, the other end of the second adjusting arm is connected with the second motor.

[0008] Further, the first adjusting arm comprises a shank connected with the brushless motor shaft, a joint bowl group connected with the other end of the shank, and a thigh arranged outside the shank and connected with the joint bowl group.

[0009] Further, the second adjusting arm comprises a connecting rod hinged with the rotating assembly, and a front leg hinged with the other end of the connecting rod, and the other end of the front leg is connected with the output end of the second motor.

[0010] Further, the rotating assembly comprises a rotating external printing member, rotating external fixing plates arranged on both sides of the rotating external printing member, a linear slide fixing plate connected with the outside of one of the rotating external fixing plates, a deep groove ball bearing arranged on the inside of the rotating external printing member, a rotating internal printing member arranged on the inside of the deep groove ball bearing, and a rotating fixing plate arranged on the inside of the rotating internal printing member.

[0011] Further, the box type unit linear slide assembly comprises two groups of connecting ends arranged on the outside of the linear slide fixing plate, an optical shaft arranged through the inside of the two groups of connecting ends, two protruding parts arranged on the inside of the optical shaft fixing plate, clamping connecting parts connected with the inside of the two protruding parts through screws, and the optical shaft top end is connected with the optical shaft top end through the clamping parts on the inside of the optical shaft fixing plate top end.

[0012] Further, the frame body is provided with two clamping protruding ends on both sides of the bottom end, and the inside of the two clamping protruding ends is clamped and connected with an anti-collision guide wheel through screws.

[0013] Further, the frame body is provided with a main control fixing plate at the bottom, a main control board is arranged on the top of the main control fixing plate and on the inside of the frame body, two batteries are arranged on the inside of the frame body, a top plate is connected with the top of the frame body, handrails are arranged on both sides of the top of the top plate, and the top of the battery passes through the top plate.

[0014] The utility model discloses the beneficial effect:

[0015] The first adjusting arm, the second adjusting arm, the optical shaft fixing plate and the wheel body adopt a triangular structure, which can effectively increase the stability of the wheel body during movement, thereby ensuring the stability of the box during movement.

[0016] The rotary assembly can rotate the wheel body and the optical axis fixing plate to an accurate angle position according to preset programs and instructions, ensures the accuracy and repeatability of the robot action, and enables the leg part of the robot to rotate flexibly at different angles and directions, so that various complex actions and operation tasks can be realized.

[0017] The parallel connection of the caster assembly and the driving motor has the advantage that the frame body can still work in driving mode due to its own gravity in the case that the first adjusting arm is damaged. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is an overall structure schematic view of the utility model;

[0019] Figure 2 It is a frame body and driving motor connection structure schematic view of the utility model;

[0020] Figure 3 It is a frame body and anti-collision guide wheel connection lower view structure schematic view of the utility model;

[0021] Figure 4 It is a frame body and battery connection structure schematic view of the utility model;

[0022] Figure 5 It is a first adjusting arm and second adjusting arm structure schematic view of the utility model;

[0023] Figure 6 It is a first adjusting arm and brushless motor connection split structure schematic view of the utility model;

[0024] Figure 7 It is a box type unit linear slide block assembly structure schematic view of the utility model;

[0025] Figure 8 It is a rotary assembly split structure schematic view of the utility model;

[0026] Figure 9 It is a frame body and top plate connection structure schematic view of the utility model;

[0027] Figure 10 It is a frame body top view structure schematic view of the utility model.

[0028] In the figure, 1, frame; 11, drive motor; 111, first motor; 112, second motor; 12, clamping protruding end; 13, anti-collision guide wheel; 14, main control fixed plate; 15, main control plate; 16, battery; 17, top plate; 18, handrail; 2, caster assembly; 21, rotation assembly; 211, rotation external printing part; 212, rotation external fixed plate; 213, linear slide fixed plate; 214, deep groove ball bearing; 215, rotation internal printing part; 216, rotation fixed plate; 22, box type unit linear slide assembly; 221, connecting end; 222, optical axis; 223, protruding part; 224, clamping connecting part; 225, clamping part; 23, optical axis fixed plate; 24, brushless motor; 25, wheel body; 3, first adjusting arm; 31, calf; 32, joint bowl group; 33, thigh; 4, second adjusting arm; 41, connecting rod; 42, front leg. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the utility model embodiment clearer, the following will combine the technical scheme in the utility model embodiment to describe clearly and completely, obviously, the described embodiment is part of the utility model, rather than all the embodiments. Based on the embodiment of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model. EMBODIMENT

[0030] REFERENCE Figures 1-10 A crank slider structure parallel leg wheel robot, comprising a frame 1, and two groups of drive motors 11 arranged on the inner side of the frame 1 and parallel to each other, both sides of the frame 1 are provided with caster assemblies 2, one caster assembly 2 is connected with a group of drive motors 11, a group of drive motors 11 comprises a first motor 111 and a second motor 112 parallel to the first motor 111, the caster assembly 2 comprises a rotation assembly 21 connected with the frame 1, a box type unit linear slide assembly 22 arranged on the outer side of the rotation assembly 21, and an optical axis fixed plate 23 connected with the outer side of the box type unit linear slide assembly 22, the lower end of one side of the optical axis fixed plate 23 is connected with a brushless motor 24, the output end of the brushless motor 24 passes through the optical axis fixed plate 23 and is connected with a wheel body 25, the other side of the brushless motor 24 is connected with a first adjusting arm 3, the other end of the first adjusting arm 3 is connected with the first motor 111, the outer shaft of the rotation assembly is connected with a second adjusting arm 4, the other end of the second adjusting arm 4 is connected with the second motor 112;

[0031] The first adjusting arm 3, the second adjusting arm 4, the optical axis fixing plate 23 and the wheel body 25 adopt a triangular structure, which can effectively increase the stability of the wheel body 25 during movement, thereby ensuring the stability of the box body during movement. Meanwhile, the rotation assembly 21 can increase the tightness of the connection between the wheel body 25 and the frame body 1, and increase the limit of the lateral stress of the wheel body 25 itself, so that the shafts of the first motor and the second motor will not be bent when the wheel body 25 is subjected to lateral external force, thereby increasing the service life of the whole. The first adjusting arm 3 and the second adjusting arm 4 are arranged with the box unit linear slide assembly 22, which can adjust the height of the wheel body 25, thereby facilitating the obstacle movement of the wheel body 25, and ensuring the movement of the robot itself.

[0032] Specifically, during the movement of the robot, the wheel body 25 rotates and drives the box body to move. When the wheel body 25 encounters an obstacle during the movement of the box body, the wheel body 25 drives the optical axis fixing plate 23 to move upward, thereby completing the height adjustment of the wheel body 25. Meanwhile, during the upward movement of the optical axis fixing plate 23, the first motor 111 and the second motor 112 synchronously drive the first adjusting arm 3 and the second adjusting arm 4 to rotate, and make the first adjusting arm 3 and the second adjusting arm 4 bend at different angles according to the adjustment of the optical axis fixing plate, thereby ensuring the stability of the box body during movement.

[0033] In the embodiment, the parallel connection of the caster assembly 2 and the driving motor 11 has the advantages that, in the case that the first adjusting arm 3 is damaged, the wheel body 25 can still move due to the gravity of the frame body 1 and the vertical support of the second adjusting wall 4, and the balance car can maintain the shape.

[0034] In the embodiment, during actual use, by giving the first adjusting arm 3 a momentary forward rotation speed and a reverse rotation speed again, the wheel body 25 can be extended and retracted, thereby realizing the jumping function of the frame body 1.

[0035] Reference Figure 5 The first adjusting arm 3 comprises a calf 31 connected with the shaft of the brushless motor 24, a joint bowl set 32 connected with the other end of the calf 31, and a thigh 33 arranged outside the calf 31 and connected with the joint bowl set 32, and the other end of the thigh 33 is connected with the first motor 111.

[0036] The first motor 111 can drive the thigh to rotate, and the rotation of the thigh can pull the calf through the joint bowl set 32, thereby ensuring the auxiliary support of the first adjusting arm 3 to the optical axis fixing plate 23.

[0037] Reference Figure 5The second adjusting arm 4 comprises a connecting rod 41 hinged with the rotating assembly 21, and a front leg 42 hinged at the other end of the connecting rod 41, and the other end of the front leg 42 is connected with the output end of the second motor 112.

[0038] The second motor 112 can drive the front leg 42 to rotate, and the rotation of the front leg 42 can pull the connecting rod 41, so that the front leg 42 and the connecting rod 41 can be bent according to the movement of the optical axis fixing plate 23, and the auxiliary fixing of the optical axis fixing plate 23 is realized synchronously, so as to ensure the stability of the box body during driving.

[0039] Referring to Figure 8 The rotating assembly 21 comprises a rotating outer printing part 211, and rotating outer fixing plates 212 arranged on both sides of the rotating outer printing part 211, an outer side of one of the rotating outer fixing plates 212 is connected with a linear sliding block fixing plate 213, an inner side of the rotating outer printing part 211 is provided with a deep groove ball bearing 214, an inner side of the deep groove ball bearing 214 is provided with a rotating inner printing part 215, and an inner side of the rotating inner printing part 215 is provided with a rotating fixing plate 216.

[0040] The rotating assembly 21 can adjust the angle of the wheel body 25 and the optical axis fixing plate 23. Specifically, the deep groove ball bearing 214 can provide a basis for the rotation of the rotating outer printing part 211, the rotating outer fixing plate 212 and the linear sliding block fixing plate 213, and the wheel body 25 and the optical axis fixing plate 23 connected with the linear sliding block fixing plate 213 can rotate synchronously due to the rotation of the linear sliding block fixing plate 213, so as to realize the angle adjustment of the wheel body 25 and the optical axis fixing plate 23.

[0041] Referring to Figure 7 The box unit linear sliding block assembly 22 comprises two groups of connecting ends 221 arranged on the outer side of the linear sliding block fixing plate 213, the inner side of the two groups of connecting ends 221 is provided with an optical axis 222 penetrating through, the inner side of the two protruding parts 223 is connected with a clamping connecting piece 224 through a screw, and the inner side of the top end of the optical axis fixing plate 23 is connected with the top end of the optical axis 222 through a clamping piece 225.

[0042] The optical axis 222 can provide a basis for the up-down movement of the optical axis fixing plate 23, the connecting end 221 can provide a basis for the up-down movement of the optical axis 222, and the clamping piece 225 and the clamping connecting piece 224 can connect the upper and lower ends of the optical axis fixing plate 23 with the upper and lower ends of the optical axis 222 respectively.

[0043] Referring to Figure 3Two clamping protruding ends 12 are arranged at the two sides of the bottom end of the frame body 1, and the inner sides of the two clamping protruding ends 12 are clamped and connected with anti-collision guide wheels 13 through screws.

[0044] The anti-collision guide wheels 13 can play a role in protecting the frame body 1, thereby guaranteeing the safety of the frame body 1 during driving.

[0045] Reference Figure 10 A main control fixed plate 14 is arranged at the bottom of the frame body 1, a main control plate 15 is arranged at the top of the main control fixed plate 14 and located at the inner side of the frame body 1, two batteries 16 are arranged at the inner side of the frame body 1, a top plate 17 is connected to the frame body 1, handrails 18 are arranged at the two sides of the top of the top plate 17, and the top of the battery 16 penetrates through the top plate 17.

[0046] It should be noted that the utility model only protects the mechanical part, and the functions realized by the software control part related thereto are not within the protection scope of the utility model.

[0047] Of course, the utility model can also have other various implementation manners, and other implementation manners obtained by the ordinary skilled in the art based on the implementation manner without any creative labor all belong to the protection scope of the utility model.

Claims

1. A crank-slider structure parallel leg wheeled robot, characterized by, Including frame, and set in the inside of the frame, and parallel to each other two groups of drive motor, both sides of the frame are provided with the truck assembly, a truck assembly is connected with a group of drive motor, a group of drive motor includes first motor and parallel to the first motor second motor, the truck assembly includes the swivel assembly connected with the frame, and the box type unit linear slide block assembly is arranged outside the swivel assembly, and the optical axis fixed plate is connected outside the box type unit linear slide block assembly, the lower end of the optical axis fixed plate one side is connected with brushless motor, the output end of the brushless motor passes through the optical axis fixed plate and is connected with the wheel body, the other side of the brushless motor outside shaft is connected with the first adjusting arm, the other end of the first adjusting arm is connected with the first motor, the swivel assembly outer shaft is connected with the second adjusting arm, and the other end of the second adjusting arm is connected with the second motor.

2. The crank-slider structure parallel leg wheel robot according to claim 1, characterized in that, The first adjusting arm includes the calf connected with the brushless motor shaft, the joint bowl group connected with the other end of the calf shaft, and the thigh arranged outside the calf and connected with the joint bowl group shaft, and the other end of the thigh is connected with the first motor.

3. The crank-slider structure parallel leg wheel robot according to claim 1, wherein The second adjusting arm includes the connecting rod hinged with the swivel assembly, and the foreleg hinged with the other end of the connecting rod, and the other end of the foreleg is connected with the output end of the second motor.

4. The crank-slider structure parallel leg wheel robot according to claim 1, wherein The swivel assembly includes a swivel external printing part, and swivel external fixed plates are arranged on both sides of the swivel external printing part, and the outer side of one side of the swivel external fixed plate is connected with a linear slide block fixed plate, the inner side of the swivel external printing part is provided with a deep groove ball bearing, the inner side of the deep groove ball bearing is provided with a swivel internal printing part, and the inner side of the swivel internal printing part is provided with a swivel fixed plate.

5. The crank-slider structure parallel leg wheel robot according to claim 4, wherein The box type unit linear slide block assembly includes two groups of connecting ends arranged outside the linear slide block fixed plate, and an optical axis is arranged through the inner side of the two groups of connecting ends, two protruding parts are arranged on the inner side of the optical axis fixed plate, the inner side of the two protruding parts is connected with a clamping connecting piece through a screw, and the top end of the optical axis fixed plate is connected with the top end of the optical axis through a clamping piece.

6. The crank-slider structure parallel leg wheel robot according to claim 1, wherein Both sides of the bottom end of the frame are provided with two clamping protruding ends, and the inner side of the two clamping protruding ends is clamped and connected with an anti-collision guide wheel through a screw.

7. The crank-slider structure parallel leg wheel robot according to claim 1, wherein The bottom of the frame is provided with a main control fixed plate, the top of the main control fixed plate and located on the inner side of the frame is provided with a main control board, the inner side of the frame is provided with two batteries, the top of the frame is connected with a top plate, both sides of the top of the top plate are provided with handrails, and the top of the battery passes through the top plate.

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