Quickly assembled and disassembled four-foot wheeled robot

Abstract

The utility model discloses a four-legged wheeled robot capable of being quickly assembled and disassembled, and relates to the technical field of four-legged wheeled robots, the four-legged wheeled robot comprises a robot trunk, and L-shaped connecting frames are fixedly connected to the left ends and the right ends of the front face and the back face of the robot trunk. According to the four-foot wheeled robot capable of being rapidly disassembled and assembled, through the design of a spring and a limiting block of the connecting assembly, the foot wheels and the longitudinal rocker arm are rapidly disassembled and assembled, the limiting block is embedded into a limiting hole in the bottom of the longitudinal rocker arm under the elastic force of the spring, mechanical locking is formed, and when the foot wheels are replaced, only the limiting block needs to be manually pressed to be separated from the limiting hole; the limiting strips are in sliding fit with the limiting grooves in the special-shaped holes, it is guaranteed that the movement track of the limiting blocks is stable, clamping stagnation caused by spring deflection is avoided, and the problem that foot wheels of a traditional quadruped robot are tedious to disassemble and assemble is solved. And the multi-scene requirements of the robot for industrial inspection, emergency rescue and the like in a complex environment are obviously improved.

Description

Technical Field

[0001] This utility model relates to the field of quadruped wheeled robot technology, specifically a quadruped wheeled robot that can be quickly assembled and disassembled. Background Technology

[0002] (Macro background technology).

[0003] In the prior art, such as in CN211308784U, a quadruped wheeled robot is disclosed, which includes: a torso, a wheeled motion mechanism, and four leg motion mechanisms mounted on the torso; the wheeled motion mechanism includes a power element and at least three wheels mounted on the bottom of the torso, and the power element drives at least one wheel to rotate; the leg motion mechanism includes a first drive structure, a first leg, a second drive structure, and a second leg, one end of the first leg is hinged to the torso, and the other end of the first leg is hinged to one end of the second leg.

[0004] Although the aforementioned patent reduces unnecessary energy consumption of the leg joints and improves the robot's endurance by eliminating the weight of the torso after the first and second legs leave the ground during movement, thus reducing wear and tear on the leg joints and extending the robot's lifespan, the excessive wear and tear on the wheels due to friction with the ground during movement, coupled with a lack of shock absorption, reduces the lifespan of the wheels. Regular replacement and maintenance of the wheels is required, but the wheels are fixed to the robot's legs using bolts and other structures, necessitating various tools for replacement, making disassembly and assembly inconvenient and adding difficulty to the process.

[0005] Therefore, this utility model provides a quadrupedal wheeled robot that can be quickly assembled and disassembled. Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model provides a quadrupedal wheeled robot that can be quickly disassembled and assembled. This solves the problems of inconvenience caused by the fact that the wheels are fixed to the robot's legs using screw bolts and other structures, requiring various tools for replacement, and excessive wear and tear on the wheels due to friction with the ground, as well as the lack of shock absorption, which reduces the robot's lifespan.

[0007] To achieve the above objectives, this utility model is implemented through the following technical solution: a quadrupedal wheeled robot that can be quickly disassembled and assembled, including a robot body, with L-shaped connecting frames fixedly connected to the left and right ends of the front and back of the robot body to form a four-corner symmetrical structure, a transverse rocker arm provided at one end of each L-shaped connecting frame, a longitudinal rocker arm provided at one end of each transverse rocker arm, and a connecting component for quick disassembly, replacement and maintenance sleeved at the bottom of each longitudinal rocker arm;

[0008] The connecting assembly includes a caster wheel sleeved on the bottom of the longitudinal rocker arm. The caster wheel has irregular holes on both sides. A spring is fixedly connected inside the irregular hole. A limit block is fixedly connected to one end of the spring.

[0009] The bottom surface of the caster wheel is provided with a shock-absorbing pad, and the bottom of the shock-absorbing pad is provided with an anti-slip rubber pad.

[0010] Preferably, the bottom of the longitudinal rocker arm has axially symmetrical limit holes on both sides, and one end of the limit block extends into the interior of the limit hole.

[0011] Preferably, the bottom of the anti-slip rubber pad is provided with a plurality of elastic rubber strips, which are arranged in a straight line along the arc-shaped surface of the anti-slip rubber pad.

[0012] Preferably, the bottom and top surfaces inside the irregular hole are provided with limiting grooves, and the limiting grooves are distributed symmetrically along the upper and lower axes.

[0013] Preferably, the top and bottom of the limiting block are provided with limiting strips, and the surface of the limiting strips is slidably connected to the inside of the limiting groove.

[0014] Preferably, a connecting rod is provided inside the top end of the longitudinal rocker arm, and a connecting block is provided at one end of the connecting rod. Beneficial effects

[0015] This invention provides a quadrupedal wheeled robot that can be quickly assembled and disassembled. Compared with the prior art, it has the following advantages:

[0016] 1. This quick-assembly quadruped wheeled robot utilizes a spring and limit block design in its connecting components to enable rapid assembly and disassembly of the wheels and longitudinal rocker arm. The limit block, under the spring force, embeds into the limit hole at the bottom of the longitudinal rocker arm, forming a mechanical lock. When replacing the wheels, simply press the limit block manually to disengage it from the limit hole, and the wheels can be slid off along the longitudinal rocker arm without any tools. The limit strip slides into the limit groove in the irregular hole, ensuring stable movement of the limit block and preventing jamming caused by spring misalignment. This solves the pain point of cumbersome wheel assembly and disassembly in traditional quadruped robots, significantly improving the robot's performance in complex environments, industrial inspection, emergency rescue, and other scenarios.

[0017] 2. This quick-assembly quadruped wheeled robot reduces impact loss between the wheels and the ground through a composite shock-absorbing structure. The shock-absorbing pads use elastic materials (such as silicone) to absorb vertical vibration energy, reducing the impact on the robot's torso. The anti-slip rubber pads contact the ground to provide friction resistance. The elastic rubber strips on the bottom are arranged in a straight array, which enhances grip and further buffers lateral impact through local deformation, adapting to complex terrain. This solves the pain points of insufficient shock absorption and poor adaptability of traditional quadruped robots, significantly improving the robot's stability and durability in complex environments. Attached Figure Description

[0018] Figure 1 This is a three-dimensional appearance schematic diagram of the present utility model;

[0019] Figure 2 This is a three-dimensional appearance diagram of the machine torso of this utility model.

[0020] Figure 3 This is a three-dimensional appearance diagram of the connecting component of this utility model;

[0021] Figure 4 This is a three-dimensional appearance diagram of the shock-absorbing pad of this utility model.

[0022] In the diagram: 1. Machine body; 2. L-shaped connecting frame; 3. Horizontal rocker arm; 4. Longitudinal rocker arm; 41. Limiting hole; 5. Connecting assembly; 51. Caster wheel; 511. Shock-absorbing pad; 512. Anti-slip rubber pad; 513. Elastic rubber strip; 52. Irregular hole; 53. Spring; 54. Limiting block; 6. Limiting groove; 7. Limiting strip; 8. Connecting rod; 9. Connecting block. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] This utility model provides two technical solutions:

[0025] Figures 1-4The first embodiment is shown: a quick-release quadruped wheeled robot, including a robot body 1. L-shaped connecting frames 2 are fixedly connected to the left and right ends of the front and back of the robot body 1, forming a four-corner symmetrical structure. A horizontal rocker arm 3 is provided at one end of each L-shaped connecting frame 2, and a vertical rocker arm 4 is provided at one end of each horizontal rocker arm 3. A connecting component 5 for quick disassembly, replacement and maintenance is sleeved at the bottom of the vertical rocker arm 4. The connecting component 5 includes a caster wheel 51 sleeved at the bottom of the vertical rocker arm 4. A special-shaped hole 52 is opened on both sides of the caster wheel 51. A spring 53 is fixedly connected inside the special-shaped hole 52. A limit block 54 is fixedly connected to one end of the spring 53.

[0026] Specifically, the spring 53 provides an 8-10N preload to drive the limit block 54 to insert into the limit hole 41 of the longitudinal rocker arm 4, forming a tool-free disassembly and assembly structure. The replacement time of the caster wheel 51 is significantly reduced compared to traditional threaded connections. The caster wheel 51 is fitted onto the bottom of the longitudinal rocker arm 4, and with the spring 53 and limit block 54 within the irregular holes 52 on both sides, quick disassembly and assembly of the caster wheel 51 are achieved. No tools are required during operation; simply pressing the limit block 54 releases the lock, significantly shortening maintenance time and solving the problem of cumbersome disassembly and assembly in traditional threaded fasteners. This makes it suitable for high-frequency replacement scenarios.

[0027] In this embodiment, the bottom surface of the caster wheel 51 is provided with a shock-absorbing pad 511, the bottom of the shock-absorbing pad 511 is provided with an anti-slip rubber pad 512, and the bottom of the anti-slip rubber pad 512 is provided with a plurality of elastic rubber strips 513, which are arranged in a single array along the arc-shaped surface of the anti-slip rubber pad 512.

[0028] Specifically, the elastic rubber strips 513 at the bottom of the anti-slip rubber pad 512 are arranged in a straight line. They absorb the impact force of the ground through local deformation, while enhancing the grip, adapting to complex terrains such as wet and slippery surfaces and gravel, reducing the risk of slipping, and reducing the friction loss between the caster wheel 51 and the ground.

[0029] Figures 1-4 The second embodiment is shown. The main difference from the first embodiment is that: the bottom of the longitudinal rocker arm 4 has axially symmetrical limit holes 41 on both sides, one end of the limit block 54 penetrates into the interior of the limit hole 41, the bottom and top surfaces of the irregular hole 52 are provided with limit grooves 6, the limit grooves 6 are distributed axially symmetrically, the top and bottom of the limit block 54 are provided with limit strips 7, the surface of the limit strips 7 is slidably connected to the interior of the limit grooves 6, and the top of the longitudinal rocker arm 4 is provided with a connecting rod 8, one end of the connecting rod 8 is provided with a connecting block 9.

[0030] Specifically, the limiting block 54 is embedded in the limiting hole 41 of the longitudinal rocker arm 4 under the elastic force of the spring 53, forming a mechanical lock to prevent the caster wheel 51 from accidentally falling off during movement, improving connection reliability, and ensuring a stable connection between the caster wheel 51 and the longitudinal rocker arm 4 when the robot moves at high speed or crosses obstacles. The limiting groove 6 in the irregular hole 52 slides with the limiting strip 7 of the limiting block 54 to constrain the extension and retraction direction of the spring 53 and prevent the limiting block 54 from being tilted and jammed. The connecting rod 8 at the top of the longitudinal rocker arm 4 is hinged to the connecting block 9 to support the flexible swing of the transverse rocker arm 3 and the longitudinal rocker arm 4.

[0031] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0032] Working principle: When installing the caster wheel 51, press the limiting blocks 54 on both sides of the caster wheel 51 to overcome the 10N preload of the spring 53 and make it retract into the irregular hole 52. Align the top sleeve of the caster wheel 51 with the bottom of the longitudinal rocker arm 4 and push it in along the axial direction until the limiting hole 41 and the limiting block 54 are coaxial. Release the limiting block 54, and the spring 53 pushes the limiting block 54 into the limiting hole 41. A "click" sound indicates that the locking is complete. The limiting strip 7 slides with the limiting groove 6 in the irregular hole 52 to ensure the stability of the movement trajectory of the limiting block 54 and prevent the spring 53 from deviating.

[0033] When disassembling the caster wheel 51, press the limiting blocks 54 on both sides of the caster wheel 51 by hand at the same time to overcome the elastic force of the spring 53 and make it disengage from the limiting hole 41 of the longitudinal rocker arm 4. The caster wheel 51 can be removed for cleaning, repair or replacement by the longitudinal rocker arm 4 axially sliding.

[0034] The shock-absorbing pads 511 at the bottom of the caster wheel 51 absorb vertical vibration energy and reduce the impact on the machine body 1. The anti-slip rubber pads 512 contact the ground through the linear array of elastic rubber strips 513 at the bottom, which enhance grip through local deformation in complex terrain and buffer lateral impacts.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A quick-assembly and disassembly quadruped wheeled robot, comprising a robot body (1), characterized in that: The machine body (1) has L-shaped connecting frames (2) fixedly connected to the left and right ends of the front and back sides to form a four-corner symmetrical structure. One end of each L-shaped connecting frame (2) is provided with a horizontal rocker arm (3), and one end of the horizontal rocker arm (3) is provided with a vertical rocker arm (4). The bottom of the vertical rocker arm (4) is fitted with a connecting component (5) for quick disassembly, replacement and maintenance. The connecting assembly (5) includes a caster wheel (51) sleeved on the bottom of the longitudinal rocker arm (4). The caster wheel (51) has irregular holes (52) on both sides. A spring (53) is fixedly connected inside the irregular hole (52). A limit block (54) is fixedly connected to one end of the spring (53). The bottom surface of the caster wheel (51) is provided with a shock-absorbing pad (511), and the bottom of the shock-absorbing pad (511) is provided with an anti-slip rubber pad (512).

2. The quick-assembly and disassembly quadruped wheeled robot according to claim 1, characterized in that: The bottom of the longitudinal rocker arm (4) has axially symmetrical limit holes (41) on both sides, and one end of the limit block (54) extends into the interior of the limit hole (41).

3. The quick-assembly and disassembly quadruped wheeled robot according to claim 1, characterized in that: The bottom of the anti-slip rubber pad (512) is provided with a number of elastic rubber strips (513), which are arranged in a line along the arc surface of the anti-slip rubber pad (512).

4. A quadrupedal wheeled robot with quick assembly and disassembly according to claim 1, characterized in that: The bottom and top surfaces inside the irregular hole (52) are provided with limiting grooves (6), and the limiting grooves (6) are distributed symmetrically along the upper and lower axes.

5. A quick-assembly and disassembly quadruped wheeled robot according to claim 1, characterized in that: The top and bottom of the limiting block (54) are provided with limiting strips (7), and the surface of the limiting strips (7) is slidably connected to the inside of the limiting groove (6).

6. A quick-assembly and disassembly quadruped wheeled robot according to claim 1, characterized in that: The longitudinal rocker arm (4) has a connecting rod (8) inside its top end, and a connecting block (9) is provided at one end of the connecting rod (8).

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