A carrier robot device

Abstract

The utility model provides a kind of carrying bionic robot device, it is related to bionic robot technical field, the utility model drives driven gear by the rotation of two rotary motors independent drive two sides' driving gear, and then power is delivered to crank slider mechanism, finally drive crawling foot to be regularly alternated up and down and swing according to different phase and realize crawling movement by ground friction, it can also change the speed of two rotary rudders, to control the speed difference formed by the swing action of two sides crawling foot, realize turning, replace traditional multiple independent drive unit, to greatly simplify mechanical structure, reduce manufacturing cost while realizing the miniaturization and light weight of robot whole, and through bottom plate, side plate and tray can be quickly disassembled, can be conveniently assembled and carried, can be flexibly replaced carrying module according to different task requirements, can be widely applied in rescue and rescue, military reconnaissance and other aspects, significantly improve rescue efficiency and safety.

Description

Technical Field

[0001] This utility model relates to the field of biomimetic robot technology, and in particular to a device for transporting biomimetic robots. Background Technology

[0002] With the rapid development of artificial intelligence and bionic mechanical technology, bionic robots are playing an important role in dangerous or complex scenarios such as disaster relief and military reconnaissance. These robots can replace humans in entering the ruins of accidents such as earthquakes and mine collapses to perform life detection and material transportation tasks, thereby improving rescue efficiency and ensuring personnel safety.

[0003] However, in pursuit of flexible movement, some existing biomimetic multi-legged robots generally adopt a large number of independent drive units, which leads to high manufacturing costs, complex control and reduced reliability. In addition, the carrier platform and main structure of most robots are mostly integrated or fixedly connected, making it difficult to quickly replace the carrier module according to task requirements, thus limiting their functional diversity and deployment efficiency.

[0004] In view of this, the inventors specifically designed a device for transporting biomimetic robots, which led to this invention. Utility Model Content

[0005] To solve the above problems, the technical solution of this utility model is as follows: A biomimetic robot transport device includes two opposing side plates, a base plate connecting the bottoms of the two side plates, and a tray connecting the tops of the two side plates. Each side plate is detachably connected to a gear transmission assembly and four sets of crank-slider mechanisms distributed along its length. The base plate is provided with a rotary servo for driving the gear transmission assembly to rotate. The output shaft of the rotary servo is provided with a drive gear, which meshes with the gear transmission assembly. Each set of crank-slider mechanisms includes a connecting rod and a first threaded shaft. The gear transmission assembly includes four driven gears, all of which are rotatably supported on the side plates. The disks of the four driven gears are provided with a plurality of eccentric holes evenly distributed around the center at equal radius positions. One end of the connecting rod is hinged to the eccentric hole, and the other end is hinged to the first threaded shaft. The side plates are provided with vertical guide grooves for the first threaded shaft to slide up and down. The end of the first threaded shaft away from the connecting rod passes through the vertical guide groove and is equipped with a crawling foot. The base plate and the side plates, as well as the tray and the side plates, are detachably connected.

[0006] Preferably, the four driven gears of the gear transmission group are a first driven gear, a second driven gear, a third driven gear, and a fourth driven gear. The first driven gear and the second driven gear mesh with the driving gear, and the second driven gear meshes with the third driven gear and the third driven gear meshes with the fourth driven gear through idler gears.

[0007] Preferably, the side plate is provided with a plurality of positioning holes, and the four driven gears are each provided with a center hole. The gear transmission assembly further includes a second threaded shaft and a third threaded shaft. The four driven gears are rotatably mounted on the side plate through the second threaded shaft passing through the center hole and the positioning hole. The idler gear is rotatably mounted on the side plate through the third threaded shaft passing through the positioning hole.

[0008] Preferably, the base plate is provided with fixing buckles on both sides near the side plates, and the bottom of both side plates is provided with fixing grooves that are adapted to the fixing buckles.

[0009] Preferably, the connecting rod has connecting holes at both ends, and the crank-slider mechanism further includes a fourth threaded shaft, which passes through the connecting holes and the eccentric hole and is hinged to the end of the connecting rod away from the first threaded shaft.

[0010] Preferably, the base plate is provided with a support hole, and a bracket can be detachably installed in the support hole, with the rotating servo fixed above the bracket.

[0011] Preferably, a first graphite copper sleeve is fitted on the first threaded shaft, and the outer wall of the first graphite copper sleeve is slidably connected to the inner wall of the vertical guide groove.

[0012] Preferably, a second graphite copper sleeve is embedded in the center hole of the driven gear, the eccentric hole, and the connecting holes at both ends of the connecting rod.

[0013] Preferably, the side plate, the bottom plate, and the crawling feet are respectively provided with a first weight-reducing hole, a second weight-reducing hole, and a third weight-reducing hole.

[0014] The technical solution provided by this utility model has the following beneficial effects: This invention utilizes two independent rotary motors to drive the active gears on both sides, which in turn drive the driven gears, transmitting power to a crank-slider mechanism. This mechanism ultimately drives the crawling legs to swing up and down alternately in different phases, achieving crawling motion through ground friction. Furthermore, by changing the rotational speed of the two rotary servos, the speed difference created by the swinging motion of the crawling legs on both sides can be controlled, enabling turning. This design replaces the traditional multiple independent drive units, greatly simplifying the mechanical structure, reducing manufacturing costs, and achieving overall miniaturization and lightweighting of the robot. The robot can be quickly assembled and carried using the base plate, side plates, and tray. The transport module can be flexibly replaced according to different mission requirements, making it widely applicable in disaster relief, military reconnaissance, and other fields, significantly improving rescue efficiency and safety. Attached Figure Description

[0015] The accompanying drawings, which are provided to further illustrate the present invention and constitute a part of the present invention, illustrate exemplary embodiments of the present invention and are used to explain the present invention, but do not constitute an undue limitation of the present invention.

[0016] in: Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the base plate structure of this utility model; Figure 3 This is a schematic diagram of the gear transmission assembly structure in this utility model; Figure 4 This is a schematic diagram of the side plate structure in this utility model.

[0017] Label Explanation: 1. Side plate; 11. Vertical guide groove; 12. Positioning hole; 13. Fixing groove; 14. Fixing block; 15. First weight reduction hole; 2. Base plate; 21. Fixing buckle; 22. Support hole; 23. Bracket; 24. Second weight reduction hole; 3. Tray; 31. Fixing hole; 4. Gear transmission assembly; 41. First driven gear; 42. Second driven gear; 43. Third driven gear; 44. Fourth driven gear; 45. Eccentric hole; 46. Idler wheel; 5. Crank-slider mechanism; 51. Connecting rod; 52. First threaded shaft; 53. Second threaded shaft; 54. Third threaded shaft; 55. Fourth threaded shaft; 6. Rotary servo; 61. Drive gear; 7. Crawler leg; 71. Third weight reduction hole. Detailed Implementation

[0018] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer and more understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0019] Please see Figures 1-4 This is a preferred embodiment of the present invention, which is a bionic robot device for transport. It includes two side plates 1 arranged opposite each other, a base plate 2 connecting the bottom of the two side plates 1, and a tray 3 connecting the top of the two side plates 1. The side plates 1, the base plate 2, and the tray 3 are connected by interlocking. Each side plate 1 is detachably connected to a gear transmission group 4 and four sets of crank-slider mechanisms 5 distributed along its length. The base plate 2 is provided with a rotary servo motor 6 for driving the gear transmission group 4 to rotate. The rotary servo motor 6 can rotate 360°. The output shaft of the rotary servo motor 6 is provided with a drive gear 61. The drive gear 61 meshes with the gear transmission group 4. The rotary servo motor 6 drives the drive gear 61 to rotate, thereby driving the gear transmission group 4 to rotate. Each crank-slider mechanism 5 includes a connecting rod 51 and a first threaded shaft 52. The gear transmission group 4 includes four driven gears, all of which are rotatably supported on the side plate 1. The disks of the four driven gears are provided with several eccentric holes 45 evenly distributed around the center at equal radius positions. One end of each connecting rod 51 is hinged to the eccentric holes 45 of different phases, and the other end is hinged to the first threaded shaft 52. The side plate 1 is provided with a vertical guide groove 11 for the first threaded shaft 52 to slide up and down. The end of the first threaded shaft 52 away from the connecting rod 51 passes through the vertical guide groove 11 and is equipped with a crawling foot 7, enabling 360° rotation. Servo motor 6 drives the active gear 61 to rotate, which in turn drives the four driven gears to rotate synchronously. Due to the specific phase difference between the eccentric holes 45 on the four driven gears, when the gears rotate, they drive the four first threaded shafts 52 to make regular up-and-down reciprocating linear movements in the vertical guide grooves 11 of the side plate 1 through the four connecting rods 51, accompanied by small-angle oscillations. Finally, the eight crawling feet 7 fixed at the ends of the first threaded shafts 52 alternately lift and step on the ground in a specific sequence, and achieve stable crawling of the robot through friction with the ground. By independently controlling the speed difference of the servo motors 36 on both sides, the robot's turning function can be realized.

[0020] Please refer to Figure 1 The four driven gears of the gear transmission assembly 4 are a first driven gear 41, a second driven gear 42, a third driven gear 43, and a fourth driven gear 44. The first driven gear 41 and the second driven gear 42 mesh with the driving gear 61. The second driven gear 42 meshes with the third driven gear 43, and the third driven gear 43 meshes with the fourth driven gear 44 via idler gears 46. Through this asymmetrical arrangement, the four crawling legs 7 are set at different times of lifting and stepping. When one or two legs are at their dead points (such as the top or bottom dead points, where the speed is minimum), there are always other legs in the middle stage of motion (with higher speed), providing the driving force for forward movement. This avoids the problem of the robot getting stuck or its movement becoming discontinuous when all legs are at their dead points simultaneously.

[0021] Please refer to Figure 1 The side plate 1 is provided with several positioning holes 12. The four driven gears are all provided with center holes. The gear transmission group 4 also includes a second threaded shaft 53 and a third threaded shaft 54. The four driven gears are rotatably mounted on the side plate 1 through the second threaded shaft 53, passing through the center holes and positioning holes 12. The idler gear 46 is rotatably mounted on the side plate 1 through the third threaded shaft 54, passing through the positioning holes 12. The positioning holes 12 are used for the installation of driven gears and idler gear 46. The assembly worker only needs to align the second threaded shaft 53 with the positioning holes 12 on the side plate 1 and insert it to quickly and accurately complete the installation and positioning of the gears without the need for a complicated adjustment and alignment process. The precise constraint of the positioning holes 12 ensures the correctness of the meshing clearance of all gears.

[0022] For details, please refer to Figure 1 The base plate 2 is provided with fixing buckles 21 on both sides near the side plate 1. The bottom of both side plates 1 is provided with fixing grooves 13 that are adapted to the fixing buckles 21. During assembly, the operator only needs to align the ends of the fixing buckles 21 on both sides of the base plate 2 with the entrance of the fixing groove 13 at the bottom of the side plate 1. When the buckle is fully slid into the predetermined position of the fixing groove 13, it is then fixed with bolts. The protruding structure on it will form a mechanical interlock with the recess in the fixing groove 13 and the bolts.

[0023] For details, please refer to Figure 1 Each of the two side panels 1 has a fixing block 14 at its top, and the four corners of the tray 3 have fixing holes 31 that fit the fixing blocks 14. The fixing holes 31 at the four corners of the tray 3 are precisely matched in size and position with the fixing blocks 14 at the top of the side panels 1. During installation, simply align the fixing holes 31 of the tray with the fixing blocks 14 of the side panels 1, and place the tray downwards so that the fixing blocks 14 are fully embedded in the fixing holes 31. With this design, rescuers can prepare multiple trays 3 carrying different equipment in advance. After the robot returns, the task module can be switched within seconds.

[0024] For details, please refer to Figure 1 The connecting rod has connecting holes at both ends. The crank-slider mechanism 5 also includes a fourth threaded shaft 55. The fourth threaded shaft 55 passes through the connecting hole and the eccentric hole 45 and is hinged to the end of the connecting rod away from the first threaded shaft 52. The center hole of the driven gear, the eccentric hole 45 and the connecting holes at both ends of the connecting rod 51 are all inlaid with second graphite copper sleeves. The length of the second graphite copper sleeve is less than that of the first graphite copper sleeve. The fourth threaded shaft 55 passes through the second graphite copper sleeve inlaid in the eccentric hole 45 of the driven gear, and then passes through another second graphite copper sleeve in the connecting hole at the end of the connecting rod 51. Then, the fourth threaded shaft 55 is locked from both sides with nuts so that it is firmly fixed on the eccentric hole 45 of the driven gear. In this way, the distance between the axis of the fourth threaded shaft 55 and the central axis of the driven gear is fixed as an eccentricity. The second graphite copper sleeve in the middle acts as a sliding bearing, ensuring that the connecting rod 51 can rotate smoothly and with low friction around the fixed fourth threaded shaft 55 (i.e., around the center of the eccentric hole 45). When the driven gear rotates, the eccentric hole 45 drives the fourth threaded shaft 55 to make a circular motion. Since one end of the connecting rod 51 is hinged here and the other end is hinged to the slider which can only move linearly, this circular motion is forced into the reciprocating oscillation of the connecting rod 51, thereby driving the slider to move linearly.

[0025] For details, please refer to Figure 1The base plate 2 has support holes 22, and a bracket 23 is detachably installed in the support holes 22. The servo motor 6 is fixed above the bracket 23. The lower part of the bracket 23 has a plug or threaded post, which can be inserted into or screwed into the pre-set support holes 22 on the base plate 2 and fixed with a nut. The bracket 23 provides a solid support point to ensure that the servo motor will not shake when starting, stopping and when the load changes, thus ensuring the stability of power transmission. At the same time, this rigid fixing method helps to reduce vibration and noise.

[0026] For details, please refer to Figure 1 A first graphite copper sleeve is fitted on the first threaded shaft 52. The outer wall of the first graphite copper sleeve is slidably connected to the inner wall of the vertical guide groove 11. The first graphite copper sleeve is loosely fitted on the first threaded shaft 52, and the two can rotate relative to each other. The outer wall of the first graphite copper sleeve forms a sliding fit with the inner wall of the vertical guide groove 11 on the side plate 1.

[0027] For details, please refer to Figure 1 The side plate 1, the bottom plate 2, and the crawling foot 7 are respectively provided with a first weight reduction hole 15, a second weight reduction hole 24, and a third weight reduction hole 71, which can reduce the overall weight.

[0028] In summary, this utility model provides a transportable bionic robot device. Two 360° rotating servo motors 6 independently drive the rotation of the two side active gears 61, which in turn transmit power to each crank-slider mechanism 5 via a gear transmission group 4. Eight crawling legs 7 are threaded through threaded pins and copper sleeves in the vertical guide grooves 11 of the side plates 1. The eight crank-slider mechanisms 5 drive the eight crawling legs 7 to alternately move up and down and swing in different phases, achieving crawling motion through ground friction. By changing the rotation speed of the two 360° servo motors, the speed difference formed by the swinging motion of the two crawling legs 7 can be controlled, enabling turning. The main structure adopts a quick-release snap-fit ​​design, facilitating assembly and carrying. This utility model is simple to manufacture and install, small in size, and highly adaptable to terrain, making it widely applicable in disaster relief, military reconnaissance, and other fields. In the event of earthquakes, mine collapses, or engineering accidents, it can carry life detectors and rescue supplies to quickly reach the scene to assist rescue personnel in precise rescue operations.

[0029] The present invention has been described above with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A carrier robot device, characterized by The device includes two opposing side plates (1), a base plate (2) connecting the bottoms of the two side plates (1), and a tray (3) connecting the tops of the two side plates (1). Each side plate (1) is detachably connected to a gear transmission assembly (4) and four sets of crank-slider mechanisms (5) distributed along its length. The base plate (2) is provided with a rotary servo motor (6) for driving the gear transmission assembly (4) to rotate. The output shaft of the rotary servo motor (6) is provided with a drive gear (61), which meshes with the gear transmission assembly (4). Each set of crank-slider mechanisms (5) includes a connecting rod (51) and a first threaded shaft (52). The gear transmission assembly (4) includes four... The four driven gears are rotatably supported on the side plate (1). The disks of the four driven gears are provided with a number of eccentric holes (45) evenly distributed around the center at equal radius positions. One end of each connecting rod (51) is hinged to the eccentric hole (45) of different phases, and the other end is hinged to the first threaded shaft (52). The side plate (1) is provided with a vertical guide groove (11) for the first threaded shaft (52) to slide up and down. The end of the first threaded shaft (52) away from the connecting rod (51) passes through the vertical guide groove (11) and is equipped with a crawling foot (7). The bottom plate (2) and the side plate (1) and the tray (3) and the side plate (1) are detachably connected.

2. A carrier robot device according to claim 1, characterized in that The four driven gears of the gear transmission group (4) are the first driven gear (41), the second driven gear (42), the third driven gear (43), and the fourth driven gear (44). The first driven gear (41) and the second driven gear (42) mesh with the driving gear (61). The second driven gear (42) meshes with the third driven gear (43) and the third driven gear (43) meshes with the fourth driven gear (44) through idler gears (46).

3. The biomimetic robot transport device according to claim 2, characterized in that, The side plate (1) is provided with a number of positioning holes (12), and the four driven gears are provided with a center hole. The gear transmission group (4) also includes a second threaded shaft (53) and a third threaded shaft (54). The four driven gears are rotatably mounted on the side plate (1) through the second threaded shaft (53) passing through the center hole and the positioning hole (12). The idler wheel (46) is rotatably mounted on the side plate (1) through the third threaded shaft (54) passing through the positioning hole (12).

4. The carrier robot device of claim 1, wherein, The base plate (2) is provided with fixing buckles (21) on both sides near the side plate (1), and the two side plates (1) are provided with fixing grooves (13) that are adapted to the fixing buckles (21) at the bottom.

5. The carrier robot device of claim 1, wherein, The top of both side plates (1) is provided with a fixing block (14), and the four corners of the tray (3) are provided with fixing holes (31) that are compatible with the fixing block (14).

6. The carrier robot device of claim 3, wherein, The connecting rod has connecting holes at both ends. The crank-slider mechanism (5) also includes a fourth threaded shaft (55). The fourth threaded shaft (55) passes through the connecting holes and the eccentric hole (45) and is hinged to the end of the connecting rod away from the first threaded shaft (52).

7. The carrier robot device of claim 1, wherein, The base plate (2) is provided with a support hole (22), and a bracket (23) is detachably installed in the support hole (22). The rotating servo (6) is fixed above the bracket (23).

8. The carrier robot device of claim 1, wherein, A first graphite copper sleeve is fitted on the first threaded shaft (52), and the outer wall of the first graphite copper sleeve is slidably connected to the inner wall of the vertical guide groove (11).

9. The carrier robot device of claim 6, wherein, The center hole of the driven gear, the eccentric hole (45), and the connecting holes at both ends of the connecting rod (51) are all inlaid with second graphite copper sleeves.

10. The carrier robot device of claim 1, wherein, The side plate (1), the bottom plate (2), and the crawling foot (7) are respectively provided with a first weight reduction hole (15), a second weight reduction hole (24), and a third weight reduction hole (71).

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