CN108145689A - A kind of robot walking device and multi-function robot - Google Patents
A kind of robot walking device and multi-function robot Download PDFInfo
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- CN108145689A CN108145689A CN201810127231.7A CN201810127231A CN108145689A CN 108145689 A CN108145689 A CN 108145689A CN 201810127231 A CN201810127231 A CN 201810127231A CN 108145689 A CN108145689 A CN 108145689A
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- 238000003860 storage Methods 0.000 claims description 95
- 239000011229 interlayer Substances 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 22
- 230000014759 maintenance of location Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000004888 barrier function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot walking device and multi-function robots, are related to robotic technology field.The robot walking device is used to that robot body to be driven to walk, including the first positive transport wheel, the first driven traveling wheel, second positive transport wheel, the second driven traveling wheel, the first travel driving motor, the second travel driving motor and four swing arm units, the second positive transport wheel is driven to rotate by the second travel driving motor, and then drive the second driven traveling wheel rotation；Four traveling wheels correspond to a first swing arm wheel respectively and a size is less than the second swing arm wheel of the first swing arm wheel, and swing arm unit increases the ability of leaping over obstacles in the process of walking.The multi-function robot includes above-mentioned robot walking device, equally can adapt to bumpy sections, additionally it is possible to carry out secrecy transport.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of robot walking device and multi-purpose machine
People.
Background technology
Robot refers to the man-made machine device that can perform task automatically, to replace or assist human work.In ideal
Highly emulated robot is advanced integral traffic control opinion, mechano-electronic, computer and artificial intelligence, materialogy and bionic product,
Scientific circles research and develop to this direction at present.
But requirements at the higher level are proposed to the operation of robot in many application environments, it such as may be in many dangerous operations
Environment in need execution task, and road often compares and jolts, this all proposes the various aspects of performance of robot higher will
It asks, the requirement higher especially to the robot walking device of robot.
Invention content
The purpose of the present invention is to provide a kind of robot walking devices, it is intended to promote running gear and condition of road surface is fitted
It should be able to power.
Another object of the present invention is to provide a kind of multi-function robot, it can adapt to bumpy sections and can carry out
Secrecy transport.
The invention is realized in this way：
A kind of robot walking device, for robot body to be driven to walk, including the first positive transport wheel, first driven
Traveling wheel, the second positive transport wheel, the second driven traveling wheel, the first travel driving motor, the second travel driving motor and four
Swing arm unit, the first positive transport wheel and the first driven traveling wheel are located at the side of robot body, the second positive transport wheel and
Second positive transport wheel is located at the opposite opposite side of robot body；
First positive transport wheel and the output terminal of the first travel driving motor are connected, the first positive transport wheel to be driven to turn
It is dynamic, the first positive transport wheel and the first driven traction drive connection；Second positive transport wheel and the second travel driving motor
Output terminal is connected, to drive the rotation of the second positive transport wheel, the second positive transport wheel and the second driven traction drive connection；
Each swing arm unit includes the first swing arm wheel and size is less than the second swing arm wheel of the first swing arm wheel, the first swing arm
Wheel and the second swing arm wheel are sequentially connected, and four the first swing arm wheels correspond to the first positive transport wheel, the first driven traveling wheel respectively, the
Two positive transport wheels and the second positive transport wheel, and each first swing arm wheel is connected with corresponding traction drive.
Further, in preferred embodiments of the present invention, robot walking device includes the first transmission belt, the second transmission
Band and third transmission belt, the first positive transport wheel and the first driven traveling wheel are sequentially connected by the first transmission belt, and second actively
Traveling wheel and the second driven traveling wheel are sequentially connected by the second transmission belt, and the first swing arm wheel and the second swing arm wheel are passed by third
Dynamic V belt translation connection.
Further, in preferred embodiments of the present invention, each swing arm unit includes a linking arm, linking arm
One end is connected with the central shaft of the first swing arm wheel, and the other end of linking arm is connected, and linking arm with the central shaft of the second swing arm wheel
On be provided with multiple lightening holes.
Further, in preferred embodiments of the present invention, lightening hole includes multiple first lightening holes and size and is less than the
Multiple second lightening holes of one lightening hole, the first lightening hole are located at linking arm close to one end of the second swing arm wheel, the second lightening hole
Positioned at linking arm close to one end of the first swing arm wheel.
A kind of multi-function robot, including robot body and above-mentioned robot walking device, the top of robot body
It is additionally provided with storage device；
Storage device includes storage body, and storage assembly and controller, controller and the first row are provided on storage body
Walk driving motor and the communication connection of the second travel driving motor；
Storage assembly includes multiple storage compartments and is covered with the corresponding storage of multiple storage compartments, storage capping one end
It is rotatablely connected with the side wall of storage compartment, the other end for storing capping is connected by locking part with the side wall of storage compartment, and is locked
Firmware is communicated to connect with controller.
Further, in preferred embodiments of the present invention, be both provided with antitheft interlayer in each storage compartment, it is antitheft every
Layer extends to the opposite opposite side of storage compartment, and the bottom wall of the bottom of antitheft interlayer and storage compartment from the side of storage compartment
It is connected, the top of antitheft interlayer and the roof of storage compartment are arranged at intervals；
Fixed strip is provided on antitheft interlayer, mounting hole is provided on fixed strip, be provided on the inner wall of storage compartment with
The matched grab of mounting hole, multi-function robot further include the fixing lock that clamping portion matches with grab.
Further, in preferred embodiments of the present invention, between the top of antitheft interlayer and the roof of storage compartment
Distance is 8-15cm, and the height of storage compartment is 40-60cm；
The outer wall of storage compartment is 10-20cm with distance of the antitheft interlayer close to storage capping one end.
Further, control zone is provided in preferred embodiments of the present invention, on storage body and positioned at control zone two
The storage area of side, multiple storage compartments are respectively positioned on storage area, and controller is installed in the inner cavity of storage body；
Control zone includes display screen and multiple buttons, and display screen and multiple buttons are communicated to connect with controller.
Further, in preferred embodiments of the present invention, the robot body another end wall surface opposite with direction of advance
On be provided with pedal position.
Further, in preferred embodiments of the present invention, the robot body another end wall surface opposite with direction of advance
On be provided with the matched sliding slot of pedal position, the one end of pedal position far from direction of advance be provided with knob.
The beneficial effects of the invention are as follows：The robot walking device that the present invention is obtained by above-mentioned design, passes through first
Travel driving motor drives the rotation of the first positive transport wheel, and then drives the first driven traveling wheel rotation, is driven by the second walking
Dynamic motor drives the rotation of the second positive transport wheel, and then drives the second driven traveling wheel rotation, so that robot is into every trade
It walks；First positive transport wheel, the first driven traveling wheel, the second positive transport wheel and the second positive transport wheel correspond to one the respectively
One swing arm wheel and a size are less than the second swing arm wheel of the first swing arm wheel, and swing arm unit is increased in the process of walking across barrier
The ability hindered.The present invention also provides a kind of multi-function robots, equally can adapt to bumpy sections, additionally it is possible to maintain secrecy
Transport.
Description of the drawings
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of embodiment of the present invention
Attached drawing be briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not to be seen as
It is the restriction to range, it for those of ordinary skill in the art, without creative efforts, can be with root
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is the structure diagram for the multi-function robot that embodiment of the present invention provides；
Fig. 2 is the part-structure schematic diagram of robot walking device in Fig. 1；
Fig. 3 is the structure diagram of storage device in Fig. 1；
Fig. 4 is department's structural scheme of mechanism of storage assembly in Fig. 3；
Fig. 5 is the sectional view of storage assembly in Fig. 4；
Fig. 6 is the tail structure schematic diagram of robot body in Fig. 1.
Icon：100- multi-function robots；110- robot bodies；111- cameras；112- pedal positions；114- sliding slots；
116- shakes hands；120- robot walking devices；The first transmission belts of 1201-；The second transmission belts of 1202-；1203- third transmission belts；
The first travel driving motors of 121-；The first positive transport wheels of 122-；The first driven traveling wheels of 124-；126- second actively walks
Wheel；The second driven traveling wheels of 128-；129- swing arm units；1292- the first swing arm wheels；1294- the second swing arm wheels；1296- connections
Arm；1297- lightening holes；The first lightening holes of 1298-；The second lightening holes of 1299-；130- storage devices；132- storage bodies；
1322- control zones；1324- storage areas；1326- display screens；1328- buttons；134- storage assemblies；1342- storage compartments；
1343- locking parts；1344- storage cappings；The antitheft interlayers of 1345-；1346- fixed strips；1347- mounting holes；1348- grabs；
1349- fixing locks；136- controllers.
Specific embodiment
Purpose, technical scheme and advantage to make embodiment of the present invention are clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is the embodiment of a part of embodiment of the present invention rather than whole.Based on the embodiment in the present invention, ability
The every other embodiment that domain those of ordinary skill is obtained without creative efforts, belongs to the present invention
The range of protection.Therefore, below the detailed description of the embodiments of the present invention to providing in the accompanying drawings be not intended to limit will
The scope of the present invention of protection is sought, but is merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention,
The every other embodiment that those of ordinary skill in the art are obtained without creative efforts belongs to this
Invent the range of protection.
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " up time
The orientation or position relationship of the instructions such as needle ", " counterclockwise " are based on orientation shown in the drawings or position relationship, are for only for ease of
The description present invention and simplified description rather than instruction imply that signified equipment or element must be with specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature it " on " or it " under "
It can be in direct contact including the first and second features, it is not to be in direct contact but pass through it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " including first spy
Sign is right over second feature and oblique upper or is merely representative of fisrt feature level height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " immediately below second feature and obliquely downward or be merely representative of including fisrt feature
Fisrt feature level height is less than second feature.
Fig. 1 is please referred to, an embodiment of the present invention provides a kind of multi-function robot 100, including robot body 110, machine
Device people running gear 120 and the storage device 130 positioned at 110 top of robot body.Robot walking device 120 is installed on machine
For adapting to the road conditions of different road conditions on device human body 110, more steadily advance.Storage device 130 is installed on machine
The top of human body 110 is used to hold article to be transmitted.
Specifically, incorporated by reference to Fig. 1 and Fig. 2, it is driven that robot walking device 120 includes the first positive transport wheel 122, first
Traveling wheel 124, the second positive transport wheel 126 and the second driven traveling wheel 128, the first travel driving motor 121 and the second walking
Driving motor, the first positive transport wheel 122 and the first driven traveling wheel 124 are located at the side of robot body 110, and second actively
126 and second positive transport wheel 126 of traveling wheel is located at the opposite opposite side of robot body 110；First positive transport wheel, 122 He
The output terminal of first travel driving motor 121 is connected, the first positive transport wheel 122 to be driven to rotate, the first positive transport wheel 122
It is sequentially connected with the first driven traveling wheel 124；Second positive transport wheel 126 is connected with the output terminal of the second travel driving motor,
The second positive transport wheel 126 to be driven to rotate, the second positive transport wheel 126 and the second driven traveling wheel 128 are sequentially connected.
It should be noted that multi-function robot 100 drives the first positive transport wheel by the first travel driving motor 121
122 rotations, and then the first driven traveling wheel 124 is driven to rotate, the second positive transport wheel is driven by the second travel driving motor
126 rotations, and then the second driven traveling wheel 128 is driven to rotate, so that robot walks, in the process of walking steady
It is qualitative relatively strong.The first positive transport wheel 122 and the opposite second driven traveling wheel 128 can wherein be connected by rotation axis,
Rotate coaxially the two.
Further, robot walking device 120 further includes four swing arm units 129, and each swing arm unit 129 includes
First swing arm wheel 1292 and size are less than the second swing arm wheel 1294 of the first swing arm wheel 1292, the first swing arm wheel 1292 and the second pendulum
Arm wheel 1294 is sequentially connected, and four the first swing arm wheels 1292 correspond to the first positive transport wheel 122, the first driven traveling wheel respectively
124, the second positive transport wheel 126 and the second positive transport wheel 126, and each first swing arm wheel 1292 with corresponding traveling wheel
It is sequentially connected.First positive transport wheel 122, the first driven traveling wheel 124, the second positive transport wheel 126 and second are actively walked
Wheel 126 drives corresponding first swing arm wheel 1292 to rotate by transmission shaft, and then the second swing arm wheel 1294 is driven to rotate, increase pair
The adaptability for road conditions of jolting, swing arm unit 129 is played a supporting role when such as encountering low-lying road conditions, can be quickly across low-lying
Road conditions.Specifically, the first swing arm wheel 1292 and the second swing arm wheel 1294 can be fixed by linking arm 1296, linking arm
1296 one end is connected with the central shaft of the first swing arm wheel 1292, in the other end of linking arm 1296 and the second swing arm wheel 1294
Mandrel is connected, and multiple lightening holes 1297 are provided on linking arm 1296.
Specifically, lightening hole 1297 includes multiple first lightening holes 1298 and size is less than the multiple of the first lightening hole 1298
Second lightening hole 1299, the first lightening hole 1298 are located at linking arm 1296 close to one end of the second swing arm wheel 1294, the second loss of weight
Hole 1299 is located at linking arm 1296 close to one end of the first swing arm wheel 1292.Wherein, subtracting close to 1294 one end of the second swing arm wheel
The size of repeated hole 1297 is larger so that and it behaves and more stablizes, it is easily operated.
Further, robot walking device 120 includes the first transmission belt 1201, the second transmission belt 1202 and third transmission
Band 1203, the first positive transport wheel 122 and the first driven traveling wheel 124 are sequentially connected by the first transmission belt 1201, the second master
Dynamic 126 and second driven traveling wheel 128 of traveling wheel is sequentially connected by the second transmission belt 1202, the first swing arm wheel 1292 and second
Swing arm wheel 1294 is sequentially connected by third transmission belt 1203.It is driven by transmission belt, stability is high, is conducive to adapt to top
It winnows with a dustpan section.
In other embodiments, can set swing arm motor for drive the first swing arm wheel 1292, be allowed to and corresponding biography
Driving wheel independently rotates.
Incorporated by reference to Fig. 1 and Fig. 3, the storage device 130 on robot body 110 includes storage body 132, storage body
Storage assembly 134 and controller 136 are provided on 132,136 and first travel driving motor 121 of controller and the second walking are driven
Dynamic communications connection.
Specifically, controller 136 can be a kind of IC chip, have the processing capacity of signal.Above-mentioned control
Device 136 can be general purpose controller 136, including central controller 136 (Central Processing Unit, CPU), network
Controller 136 (Network Processor, NP) etc.；It can also be (the Digital Signal of digital signal controller 136
Processing, DSP), it is application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing
Into programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, discrete
Door or transistor logic, discrete hardware components.General purpose controller 136 can be microcontroller 136 or the controller
13613 can also be any conventional controller 136 etc..In this present embodiment, it is preferable that the controller 13613 can be
The controller 136 of STM32 series, such as the models such as STM32F103C8T6, STM32F103VET6.
Specifically, can also be set on robot body 110 camera 111 for observe in front of road conditions, and will image
First 111 communicate to connect with controller 136, and pass through general wireless device and signal is fed back to control zone, and operating personnel are led to
Cross the adjustment that control controller 136 is run.
Fig. 3-Fig. 5 is please referred to, storage assembly 134 is opposite including multiple storage compartments 1342 and with multiple storage compartments 1342
The storage capping 1344 answered, storage 1344 one end of capping and the side wall of storage compartment 1342 are rotatablely connected, storage capping 1344
The other end is connected by locking part 1343 with the side wall of storage compartment 1342, and locking part 1343 is communicated to connect with controller 136.
Locking part 1343 can be the existing locking part 1343 in express delivery holding structure, can pass through the side such as input validation code
Formula carries out authentication, if the controller 136 that meets the requirements just controls locking part 1343 to open, so as to take out article.
Further, be both provided with antitheft interlayer 1345 in each storage compartment 1342, antitheft interlayer 1345 from storage every
The side of room 1342 extends to the opposite opposite side of storage compartment 1342, and the bottom of antitheft interlayer 1345 and storage compartment 1342
Bottom wall be connected, the top of antitheft interlayer 1345 and the roof of storage compartment 1342 are arranged at intervals；It is set on antitheft interlayer 1345
There is fixed strip 1346, mounting hole 1347 is provided on fixed strip 1346, be provided on the inner wall of storage compartment 1342 and mounting hole
1347 matched grabs 1348, multi-function robot 100 further include the fixing lock 1349 that clamping portion matches with grab 1348.It is logical
It crosses and sets antitheft interlayer 1345 that can be once again set up barrier, increase the safety coefficient of article conveying, antitheft interlayer 1345 and storage
The fixation for depositing compartment 1342 is the structure of common lock, can be coded lock, convenient for people's memory cipher of same department
Opening anti-theft interlayer 1345.
It should be pointed out that the roof of the top of antitheft interlayer 1345 and storage compartment 1342 is arranged at intervals and is convenient for cargo
It is placed into storage compartment 1342 by spacing, does not need to open fixing lock 1349 repeatedly, it is easy to operate, while do not influence also to prevent
Steal the barrier action of interlayer 1345.
Further, the distance between the top of antitheft interlayer 1345 and the roof of storage compartment 1342 are 8-15cm, are stored up
The height for depositing compartment 1342 is 40-60cm.The outer wall of storage compartment 1342 is with antitheft interlayer 1345 close to storage capping 1,344 1
The distance at end is 10-20cm.Under above-mentioned size condition, antitheft interlayer 1345 can not only influence to be put into article, but also can
Play barrier action.
Referring once again to Fig. 3, control zone 1322 and the storage positioned at 1322 both sides of control zone are provided on storage body 132
Area 1324, multiple storage compartments 1342 are respectively positioned on storage area 1324, and controller 136 is installed in the inner cavity of storage body 132；Control
Area 1322 processed includes display screen 1326 and multiple buttons 1328, and display screen 1326 and multiple buttons 1328 are logical with controller 136
Letter connection.
Further, it incorporated by reference to Fig. 1 and Fig. 6, is set in another end wall surface opposite with direction of advance of robot body 110
There is pedal position 112, i.e., pedal position 112 is set in the tail portion of robot body 110, personnel easy to operation pass through on pedal position 112
To the top of robot body 110, picking and placeing for article is carried out.
Further, it is provided with and 112 phase of pedal position in another end wall surface opposite with direction of advance of robot body 110
The sliding slot 114 of cooperation, the one end of pedal position 112 far from direction of advance are provided with knob 116.It can be drawn by arc knob 116
Dynamic pedal position 112 is skidded off or is slipped into sliding slot 114, can be stored when not in use.
In conclusion the present invention provides a kind of robot walking device, pass through the first travel driving motor driving the
One positive transport wheel rotates, and then drives the first driven traveling wheel rotation, by the second travel driving motor driving second actively
Traveling wheel rotates, and then drives the second driven traveling wheel rotation, so that robot walks；First positive transport wheel,
First driven traveling wheel, the second positive transport wheel and the second positive transport wheel correspond to a first swing arm wheel and a size respectively
Less than the second swing arm wheel of the first swing arm wheel, swing arm unit increases the ability of leaping over obstacles in the process of walking.
The present invention also provides a kind of multi-function robots, equally can adapt to bumpy sections, additionally it is possible to maintain secrecy
Transport.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made is any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of robot walking device, for robot body to be driven to walk, which is characterized in that actively walk including first
Wheel, the first driven traveling wheel, the second positive transport wheel, the second driven traveling wheel, the first travel driving motor, the second hoofing part
Motor and four swing arm units, first positive transport wheel and the first driven traveling wheel are located at the robot body
Side, second positive transport wheel and second positive transport wheel are located at the opposite opposite side of the robot body；
First positive transport wheel is connected with the output terminal of first travel driving motor, to drive described first actively to go
Wheel rotation is walked, first positive transport wheel is connected with the described first driven traction drive；Second positive transport wheel and
The output terminal of second travel driving motor is connected, and second positive transport wheel to be driven to rotate, described second actively goes
Wheel is walked to connect with the described second driven traction drive；
Each swing arm unit includes the first swing arm wheel and size is less than the second swing arm wheel of the first swing arm wheel, described
First swing arm wheel and the second swing arm wheel are sequentially connected, and four the first swing arm wheels correspond to described first and actively walk respectively
Wheel, the first driven traveling wheel, second positive transport wheel and second positive transport wheel, and each first pendulum
Arm wheel is connected with corresponding traction drive.
2. robot walking device according to claim 1, which is characterized in that the robot walking device includes first
Transmission belt, the second transmission belt and third transmission belt, first positive transport wheel and the first driven traveling wheel pass through described
First transmission belt is sequentially connected, and second positive transport wheel and the second driven traveling wheel are passed by second transmission belt
Dynamic connection, the first swing arm wheel and the second swing arm wheel are sequentially connected by the third transmission belt.
3. robot walking device according to claim 1, which is characterized in that each swing arm unit includes one
Linking arm, one end of the linking arm are connected with the central shaft of the first swing arm wheel, the other end of the linking arm with it is described
The central shaft of second swing arm wheel is connected, and multiple lightening holes are provided on the linking arm.
4. robot walking device according to claim 3, which is characterized in that the lightening hole includes multiple first losss of weight
Hole and size are less than multiple second lightening holes of first lightening hole, and first lightening hole is located at the linking arm close to institute
One end of the second swing arm wheel is stated, second lightening hole is located at the linking arm close to one end of the first swing arm wheel.
5. a kind of multi-function robot, which is characterized in that including the machine described in any one of robot body and claim 1-4
Device people's running gear is additionally provided with storage device at the top of the robot body；
The storage device includes storage body, and storage assembly and controller, the controller are provided on the storage body
It is communicated to connect with first travel driving motor and second travel driving motor；
The storage assembly includes multiple storage compartments and is covered with multiple corresponding storages of storage compartment, the storage
It covers one end and the side wall of the storage compartment is rotatablely connected, the other end of the storage capping passes through locking part and the storage
The side wall of compartment is connected, and the locking part is communicated to connect with the controller.
6. multi-function robot according to claim 5, which is characterized in that be both provided in each storage compartment anti-
Interlayer is stolen, the antitheft interlayer extends to the opposite opposite side of the storage compartment, and described from the side of the storage compartment
The bottom of antitheft interlayer is connected with the bottom wall of the storage compartment, the top of the antitheft interlayer and the roof of the storage compartment
It is arranged at intervals；
Fixed strip is provided on the antitheft interlayer, is provided with mounting hole on the fixed strip, on the inner wall of the storage compartment
It is provided with and further includes clamping portion with the matched grab of the mounting hole, the multi-function robot and consolidate with what the grab matched
Lock.
7. multi-function robot according to claim 6, which is characterized in that the top of the antitheft interlayer and the storage
The distance between roof of compartment is 8-15cm, and the height of the storage compartment is 40-60cm；
The outer wall of the storage compartment is 10-20cm with distance of the antitheft interlayer close to described storage capping one end.
8. multi-function robot according to claim 5, which is characterized in that be provided on the storage body control zone and
Positioned at the storage area of the control zone both sides, multiple storage compartments are respectively positioned on the storage area, and the controller is installed on
In the inner cavity of the storage body；
The control zone includes display screen and multiple buttons, and the display screen and multiple buttons communicate with the controller
Connection.
9. multi-function robot according to claim 8, which is characterized in that the robot body is opposite with direction of advance
Another end wall surface on be provided with pedal position.
10. multi-function robot according to claim 9, which is characterized in that the robot body and direction of advance phase
To another end wall surface on be provided with the matched sliding slot of the pedal position, the pedal position far from the direction of advance one
End is provided with knob.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810127231.7A CN108145689A (en) | 2018-02-08 | 2018-02-08 | A kind of robot walking device and multi-function robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810127231.7A CN108145689A (en) | 2018-02-08 | 2018-02-08 | A kind of robot walking device and multi-function robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108145689A true CN108145689A (en) | 2018-06-12 |
Family
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| CN111055937A (en) * | 2019-12-30 | 2020-04-24 | 合肥工业大学 | Novel crawler robot |
| CN111452086A (en) * | 2020-05-11 | 2020-07-28 | 机器时代(北京)科技有限公司 | Swing arm for robot |
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