A narrow-legged robot

Abstract

This utility model relates to the field of robotics and discloses a narrow-legged robot. The narrow-legged robot includes a support plate with a baffle fixedly mounted on its top. A moving mechanism is provided on the support plate, and the moving mechanism includes a first hinge block. To achieve flexible and stable movement in complex terrain environments, this narrow-legged robot utilizes a moving mechanism that, in conjunction with the output of a first stepping motor, drives a connecting block to rotate around the first hinge block, enabling the robot to make initial directional adjustments. The output of a second stepping motor drives the second hinge block to rotate, which in turn causes a third hinge block to rotate, allowing for further angle changes in the robot's legs. The output of a third stepping motor drives a fourth hinge block, causing a support plate to rotate. Through the coordinated operation of the three stepping motors and each hinge block, the robot can flexibly adjust its posture and achieve stable movement in different terrains.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a narrow-legged robot. Background Technology

[0002] In today's era of rapid technological development, robotics is widely used in various fields, especially in complex terrain environments such as disaster relief, geological exploration, and military reconnaissance. These environments are often characterized by rugged terrain and narrow spaces, which place extremely high demands on the mobility and adaptability of robots. Traditional wheeled or tracked robots can move efficiently on flat ground, but their mobility is greatly limited in complex terrains such as narrow spaces, steps, and gravel, making it difficult to meet actual needs.

[0003] In terms of mobility, early narrow-legged robots had a simple leg structure and limited drive methods, which made their directional adjustment inflexible and unable to quickly adapt to changes in terrain. When encountering terrain with large elevation differences or irregular terrain, the robot had difficulty maintaining balance by adjusting its posture, and was prone to tipping over or getting stuck, which seriously affected its work efficiency and reliability. In addition, the single drive method limited the robot's mobility in different terrains and could not give full play to the advantages of the narrow-legged design.

[0004] In light of this, we propose a narrow-legged robot. Utility Model Content

[0005] The purpose of this invention is to provide a narrow-legged robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A narrow-legged robot includes a support plate, a baffle plate fixedly mounted on the top of the support plate, and a moving mechanism provided on the support plate, the moving mechanism comprising:

[0008] The first hinge block is fixedly installed at the bottom end of the support plate. The first hinge block is fixedly installed inside the side wall of the first hinge block at the output end of the first stepping motor. The outer wall of the first stepping motor is fixedly installed on the inner wall of the top of the connecting block.

[0009] The second advancing motor is fixedly installed on the outer wall of the bottom end of the connecting block, the output end of the second advancing motor is fixedly installed on the inner wall of the second hinge block, and the outer wall of the second hinge block is fixedly installed on the outer wall of the third hinge block.

[0010] The third advancing motor is fixedly installed on the inner wall of the third hinge block and on the outer wall of the third advancing motor. The output end of the third advancing motor is fixedly installed on the inner wall of the fourth hinge block and on the top of the support plate.

[0011] In a further embodiment, the baffle is provided in two sets.

[0012] In a further embodiment, the first hinge block is provided in two sets.

[0013] In a further embodiment, the first hinge block, the second hinge block, the third hinge block, and the fourth hinge block are all U-shaped.

[0014] In a further embodiment, the pallet is provided with an auxiliary mechanism, which includes a slide rail. The slide rail is fixedly installed inside the bottom end of the pallet, and a slider is slidably installed inside the slide rail. The outer wall of the slider is fixedly installed on the outer wall of one side of the bent rod. A protrusion is fixedly installed at the bottom end of the pallet. One end of the tension rod is fixedly installed inside the protrusion, and the other end of the tension rod is fixedly installed inside one side of the bent rod. The other side of the bent rod is attached to the side wall of the pallet, and a beveled block is fixedly installed at the top of the bent rod near the pallet.

[0015] In a further embodiment, multiple sets of slide rails, sliders, bent rods, protrusions, and inclined blocks are provided to improve the clamping effect.

[0016] In a further embodiment, the tension rods on a single set of protrusions are provided in two sets.

[0017] Compared with the prior art, this utility model provides a narrow-legged robot with the following advantages:

[0018] 1. To enable the narrow-legged robot to move flexibly and stably in complex terrain environments, a movement mechanism is set up. The output end of the first stepping motor drives the connecting block to rotate around the first hinge block, allowing the robot to make initial directional adjustments. The output end of the second stepping motor drives the second hinge block to rotate, which in turn causes the third hinge block to rotate, enabling further angle changes of the robot's legs. The output end of the third stepping motor drives the fourth hinge block, causing the support plate to rotate. Through the coordinated operation of the three stepping motors and each hinge block, the robot can flexibly adjust its posture and achieve stable movement in different terrains.

[0019] 2. To facilitate the fixation of the torso, this narrow-legged robot incorporates an auxiliary mechanism. This mechanism, combined with the flexible sliding of a slider within a rail, allows for the rapid movement of a curved rod towards the torso. Simultaneously, a tension rod installed within a protrusion utilizes elastic deformation to generate tension, ensuring the curved rod tightly adheres to the torso's sidewall. Combined with the guiding effect of the inclined block, this precisely guides the torso into a preset fixed position. The synchronized operation of multiple auxiliary mechanisms enables rapid, stable, and precise initial positioning and clamping of the torso, laying a solid foundation for subsequent fixation operations. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 3 This is a schematic diagram of part of the structure of this utility model;

[0023] Figure 4 This utility model Figure 3 Enlarged structural diagram of region A in the middle;

[0024] Figure 5 This utility model Figure 2 A magnified structural diagram of region B in the middle.

[0025] Explanation of icon numbers:

[0026] 1. Pallet; 2. Baffle;

[0027] 3. Moving mechanism; 31. First hinge block; 32. First stepping motor; 33. Connecting block; 34. Second stepping motor; 35. Second hinge block; 36. Third hinge block; 37. Third stepping motor; 38. Fourth hinge block; 39. Support plate;

[0028] 4. Auxiliary mechanism; 41. Slide rail; 42. Slider; 43. Bending rod; 44. Protrusion; 45. Tension rod; 46. Inclined block. Detailed Implementation

[0029] 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.

[0030] In this application, the term "above" indicates the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is primarily used to better describe this application and its embodiments, and is not intended to limit the indicated device, element, or component to having a specific orientation, or to construct and operate in a specific orientation. Furthermore, the term "above" may also be used in certain circumstances to indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances.

[0031] Please see Figures 1-5 This utility model provides a technical solution:

[0032] A narrow-legged robot includes a support plate 1, with a baffle 2 fixedly installed on the top of the support plate 1, and the baffle 2 is provided in two sets.

[0033] In one embodiment of this utility model, a moving mechanism 3 is provided on the pallet 1. The moving mechanism 3 includes a first hinge block 31. The first hinge block 31 is fixedly installed at the bottom end of the pallet 1. Two sets of the first hinge blocks 31 are provided. The inner side wall of the first hinge block 31 is fixedly installed to the output end of the first stepping motor 32. The outer wall of the first stepping motor 32 is fixedly installed to the inner wall of the top end of the connecting block 33. The outer wall of the bottom end of the connecting block 33 is fixedly installed to the outer wall of the second stepping motor 34. The output end of the second stepping motor 34 is fixedly installed to the inner wall of the second hinge block 35. The outer wall of the second hinge block 35 is fixedly installed to the outer wall of the third hinge block 36. The inner wall of the third hinge block 36 is fixedly installed to the outer wall of the third stepping motor 37. The output end of the third stepping motor 37 is fixedly installed to the inner wall of the fourth hinge block 38. The first hinge block 31, the second hinge block 35, the third hinge block 36, and the fourth hinge block 38 are all U-shaped. The outer wall of the fourth hinge block 38 is fixedly installed to the top end of the support plate 39.

[0034] In this embodiment, when the narrow-legged robot needs to move, the first stepping motor 32 is activated. The output end of the first stepping motor 32 is fixedly connected to the inside of the side wall of the first hinge block 31. The first hinge block 31 is fixedly installed at the bottom of the support plate 1. The output end of the first stepping motor 32 rotates, using the first hinge block 31 as a fulcrum, causing the connecting block 33 to swing back and forth around it. Since the bottom outer wall of the connecting block 33 is fixedly installed on the outer wall of the second stepping motor 34, the swing of the connecting block 33 will cause the second stepping motor 34 and subsequent structures to move back and forth. At this time, the second stepping motor 34 remains stationary, and its output end is fixedly installed on the inner wall of the second hinge block 35, serving as a fixed connection component between the connecting block 33 and the second hinge block 35, transmitting the swing of the connecting block 33 to the second hinge block 35. The outer wall of the second hinge block 35 is fixedly connected to the outer wall of the third hinge block 36. Therefore, the second hinge block 35 will move back and forth with the swing of the connecting block 33, thereby causing the third hinge block 36 to swing back and forth synchronously. The robot's legs initially swing forward and backward. When fine adjustments to the swing amplitude or posture are needed, the third stepping motor 37 is activated. The output end of the third stepping motor 37 is fixedly mounted on the inner wall of the fourth hinge block 38. The rotation of the motor output end drives the fourth hinge block 38 to rotate slightly forward and backward around its rotation axis. Since the outer wall of the fourth hinge block 38 is fixedly mounted on the top of the support plate 39, the rotation of the fourth hinge block 38 will cause the support plate 39 to swing and adjust in the forward and backward direction, so that the robot's feet can better adapt to the undulations of the ground during the forward and backward swing. For example, when encountering small bumps or depressions, the angle of the feet can be adjusted to maintain contact stability, increasing the robot's stability and passability during movement. During the entire movement process, the first stepping motor 32, the third stepping motor 37, the first hinge block 31, the second hinge block 35, the third hinge block 36, and the fourth hinge block 38 cooperate with each other to achieve stable movement of the robot in complex terrain through forward and backward swings at different angles and in different sequences.

[0035] In one embodiment of this utility model, an auxiliary mechanism 4 is provided on the pallet 1. The auxiliary mechanism 4 includes a slide rail 41. The slide rail 41 is fixedly installed inside the bottom end of the pallet 1. A slider 42 is slidably installed inside the slide rail 41. The outer wall of the slider 42 is fixedly installed on the outer wall of one side of the bent rod 43. A protrusion 44 is fixedly installed at the bottom end of the pallet 1. One end of the tension rod 45 is fixedly installed inside the protrusion 44. The other end of the tension rod 45 is fixedly installed inside one side of the bent rod 43. Two sets of tension rods 45 are provided on a single set of protrusions 44. The other side of the bent rod 43 is attached to the side wall of the pallet 1. A inclined block 46 is fixedly installed at the top of the bent rod 43 near the pallet 1. Multiple sets of slide rail 41, slider 42, bent rod 43, protrusion 44 and inclined block 46 are provided.

[0036] In this embodiment, when it is necessary to fix the torso to the support plate 1, firstly, the slide rail 41 is fixedly installed inside the bottom end of the support plate 1, providing a sliding track for the slider 42. The outer wall of the slider 42 is fixedly connected to the outer wall of one side of the bent rod 43. Therefore, the sliding of the slider 42 in the slide rail 41 will drive the bent rod 43 to move closer to the torso along the direction of the slide rail 41. During the process of the bent rod 43 moving closer to the torso, the tension rod 45 installed inside the protrusion 44 plays a role. One end of the tension rod 45 is fixedly installed inside the protrusion 44, and the other end is fixedly installed inside one side of the bent rod 43. Two sets of tension rods 45 are provided on a single set of protrusions 44. When the bent rod 43 is subjected to external force and moves closer to the torso, the tension rod 45 will undergo elastic deformation. The tension generated by the elastic deformation will make the bent rod 43 tightly adhere to the side wall of the torso, ensuring that there is sufficient clamping force between the bent rod 43 and the torso, preventing... To prevent the torso from loosening during the fixing process, the inclined block 46 fixedly installed at the top of the curved rod 43 near the support plate 1 also plays a key role. The inclined structure of the inclined block 46 can guide the torso. When the torso is close to the support plate 1, the inclined surface of the inclined block 46 will guide the torso to enter the preset fixing position along a specific direction and angle, avoiding the torso from being unable to be effectively fixed due to inaccurate placement. Moreover, multiple sets of auxiliary mechanisms 4 composed of slide rail 41, slider 42, curved rod 43, protrusion 44 and inclined block 46 move synchronously to position and clamp the torso from multiple directions. In this way, the initial positioning and clamping of the torso can be achieved quickly, stably and accurately, laying a good foundation for the subsequent complete fixing of the torso by other fixing devices, ensuring that the torso will not shake or shift during the operation of the robot.

[0037] All electrical components mentioned in this application are electrically connected to the PLC controller and 220V AC mains power. The PLC controller is a conventional and known device capable of controlling the first stepper motor 32, the second stepper motor 34, and the third stepper motor 37. All standard parts used in this application can be purchased from the market. The specific connection methods of each part are all conventional methods such as riveting and welding, which are mature in the prior art. The standard parts are all conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art. It should be noted that the above electrical components are all prior art products. Those skilled in the art should select, install, and complete the circuit debugging work according to the needs of use to ensure that each electrical component can work normally. The components are all general standard parts or components known to those skilled in the art. Their structure and principle can be learned by those skilled in the art through technical manuals or conventional experimental methods. No specific restrictions are made here, and no specific description will be given here.

[0038] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A narrow-legged robot, comprising a support plate (1), wherein a baffle (2) is fixedly mounted on the top of the support plate (1), characterized in that: The pallet (1) is provided with a moving mechanism (3), the moving mechanism (3) includes: The first hinge block (31) is fixedly installed at the bottom end of the support plate (1). The first hinge block (31) is fixedly installed inside the side wall of the first hinge block (31) at the output end of the first stepping motor (32). The outer wall of the first stepping motor (32) is fixedly installed on the inner wall of the top of the connecting block (33). The second progressive motor (34) is fixedly installed on the outer wall of the bottom end of the connecting block (33), the output end of the second progressive motor (34) is fixedly installed on the inner wall of the second hinge block (35), and the outer wall of the second hinge block (35) is fixedly installed on the outer wall of the third hinge block (36). The third progressive motor (37) has its inner wall fixedly installed on the outer wall of the third progressive motor (37), and its output end is fixedly installed on the inner wall of the fourth hinge block (38). The outer wall of the fourth hinge block (38) is fixedly installed on the top of the support plate (39).

2. The narrow-legged robot according to claim 1, characterized in that: The baffle (2) is provided in two sets.

3. A narrow-legged robot according to claim 1, characterized in that: The first hinge block (31) is provided in two sets.

4. A narrow-legged robot according to claim 1, characterized in that: The first hinge block (31), the second hinge block (35), the third hinge block (36), and the fourth hinge block (38) are all U-shaped.

5. A narrow-legged robot according to claim 1, characterized in that: An auxiliary mechanism (4) is provided on the pallet (1). The auxiliary mechanism (4) includes a slide rail (41). The slide rail (41) is fixedly installed inside the bottom end of the pallet (1). A slider (42) is slidably installed inside the slide rail (41). The outer wall of the slider (42) is fixedly installed on the outer wall of one side of the bent rod (43). A protrusion (44) is fixedly installed at the bottom end of the pallet (1). The protrusion (44) is fixedly installed inside one end of the tension rod (45). The other end of the tension rod (45) is fixedly installed inside one side of the bent rod (43). The other side of the bent rod (43) is attached to the side wall of the pallet (1). A sloping block (46) is fixedly installed at the top of the bent rod (43) near the pallet (1).

6. A narrow-legged robot according to claim 5, characterized in that: The slide rail (41), slider (42), bent rod (43), protrusion (44) and inclined block (46) are provided in multiple sets.

7. A narrow-legged robot according to claim 5, characterized in that: Two sets of tension rods (45) are provided on the single set of protrusions (44).

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