CN111232083B - Robot ground - Google Patents
Robot ground Download PDFInfo
- Publication number
- CN111232083B CN111232083B CN202010114787.XA CN202010114787A CN111232083B CN 111232083 B CN111232083 B CN 111232083B CN 202010114787 A CN202010114787 A CN 202010114787A CN 111232083 B CN111232083 B CN 111232083B
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- swing
- sliding
- fixedly connected
- transmission
- floor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot, in particular to a robot floor which comprises a floor I, a floor II, a steering mechanism, a compensation bracket, a swinging mechanism I, a transmission mechanism, a swinging mechanism II, a synchronous belt, moving feet and a tightening mechanism, wherein the transmission mechanism can be driven by the swinging mechanism I to swing, the transmission mechanism drives the swinging mechanism II to swing, the swinging speeds of the swinging mechanism I and the swinging mechanism II are the same, the swinging directions of the swinging mechanism I and the swinging mechanism II are opposite, the swinging mechanism I and the swinging mechanism II drive the corresponding moving feet to swing, a pushing device moves forwards in the swinging process of the four moving feet, eight compensation brackets respectively limit the four moving feet to slide in the corresponding swinging mechanism I and the swinging mechanism II in the swinging process, and the floor I and the floor II are ensured to keep uniform horizontal height to a certain degree in the advancing process, the steering mechanism may drive the device to turn to some extent.
Description
Technical Field
The invention relates to a robot, in particular to a robot ground plate.
Background
For example, publication No. CN106394725A discloses a micro-step robot, which includes a housing, a forward motor, a traveling mechanism, and a steering mechanism; the walking mechanism comprises a gear transmission mechanism, a Chebyshev link mechanism and a foot, the gear transmission mechanism comprises a front driving gear, a middle gear and a rear driving gear which are sequentially meshed from front to back, the forward motor is connected with the middle gear through a coupler, the front driving gear and the rear driving gear are respectively provided with a gear shaft, and the Chebyshev link mechanism is driven by the gear shafts; the steering mechanism comprises a driving gear, a steering gear, a thrust ball bearing, a base and a steering gear, wherein the driving gear and the steering gear are horizontally arranged and are meshed with each other; the invention has the defect that the four-legged robot cannot ensure the parallel advance of the ground plate during movement.
Disclosure of Invention
The invention aims to provide a robot floor which can ensure that a four-legged robot moves while the floor is parallel to advance.
The purpose of the invention is realized by the following technical scheme:
a robot floor comprises a floor I, a floor II, steering mechanisms, compensation supports, swing mechanisms I, transmission mechanisms, swing mechanisms II, synchronous belts, motion feet and tightening mechanisms, wherein the steering mechanism is arranged at the rear end of the floor I, the rear end of the steering mechanism is fixedly connected to the floor II, four compensation supports are fixedly connected to the outer sides of the lower ends of the floor I and the floor II, two swing mechanisms I are arranged on the floor I, the transmission mechanisms are rotatably connected to the floor I, the two swing mechanisms I are rotatably connected to the transmission mechanisms, the two swing mechanisms II are rotatably connected to the floor II, the two swing mechanisms II and the transmission mechanisms are respectively connected through the synchronous belts in a transmission manner, the motion feet are respectively slidably connected to the lower ends of the two swing mechanisms I and the two swing mechanisms II, and the four motion feet are respectively slidably connected to the corresponding four compensation supports, and four tightening mechanisms are arranged on the ground II.
As the technical scheme is further optimized, the robot ground disc comprises a base plate I, a connecting lug I, a bearing with a seat I and a bearing with a seat II, wherein the connecting lug I is fixedly connected to the rear end of the base plate I, the bearing with a seat II is fixedly connected to two sides of the front end of the base plate I, the bearing with a seat I is fixedly connected to the front end of the base plate I, and the two bearings with a seat I are located on the inner sides of the two bearings with a seat II.
As further optimization of the technical scheme, the robot floor provided by the invention comprises a floor II, connecting lugs II, sliding plates, base bearings III and sliding columns I, wherein the connecting lugs II are fixedly connected to the front end of the floor II, the four sliding plates are fixedly connected to the floor II, the four base bearings III are slidably connected to the rear end of the floor II, the sliding columns I are fixedly connected to the four base bearings III, and the four sliding columns I are respectively slidably connected to the four sliding plates.
As a further optimization of the technical scheme, the robot floor provided by the invention comprises a steering mechanism, wherein the steering mechanism comprises a swing motor and a swing column, the swing motor is fixedly connected to the connecting lug I, an output shaft of the swing motor is rotatably connected to the connecting lug I, the output shaft of the swing motor is fixedly connected with the swing column, and the swing column is fixedly connected to the connecting lug II.
As a further optimization of the technical scheme, the robot floor provided by the invention comprises eight compensation supports and a base plate, wherein each compensation support comprises an arc-shaped plate and an arc-shaped groove, the arc-shaped plates are provided with the arc-shaped grooves, and the upper ends of the eight arc-shaped plates are respectively and fixedly connected to two sides of the lower ends of the base plate I and the base plate II.
As a further optimization of the technical scheme, the robot ground disc comprises a swing mechanism I, a swing support I, a swing gear, a sliding cylinder I and a sliding waist hole I, wherein the swing support I is fixedly connected to an output shaft of the swing motor, the swing gear is fixedly connected to the output shaft of the swing motor, the sliding cylinder I is fixedly connected to the lower end of the swing support I, the sliding waist hole I is formed in the sliding cylinder I, the two swing motors are both fixedly connected to a base plate I, and output shafts of the two swing motors are respectively and rotatably connected to the corresponding seated bearing I and the corresponding seated bearing II.
As further optimization of the technical scheme, the robot floor provided by the invention comprises a transmission mechanism, wherein the transmission mechanism comprises a coupler, transmission shafts, transmission gears and a synchronous belt wheel I, the transmission shafts are rotatably connected to two ends of the coupler, the outer ends of the two transmission shafts are fixedly connected with the transmission gears, the synchronous belt wheel I is fixedly connected to the two transmission gears, the two transmission shafts are respectively rotatably connected to two belt seat bearings II, and the two transmission gears are respectively in meshing transmission with the two oscillating gears.
As a further optimization of the technical scheme, the robot ground disc comprises a swing mechanism II, a swing support II, two synchronous belt wheels II, two sliding cylinders II and a sliding waist hole II, wherein the swing shaft II is fixedly connected with the swing support II and the synchronous belt wheels II, the lower ends of the swing support II are fixedly connected with the sliding cylinders II, the sliding waist holes II are formed in the sliding cylinders II, the two swing shafts are arranged, two ends of the two swing shafts are respectively and rotatably connected to corresponding belt seat bearings III, the two synchronous belt wheels I and the two synchronous belt wheels II are respectively connected through synchronous belt transmission, the outer sides of the synchronous belt wheels I and the outer sides of the synchronous belt wheels II are respectively in arc arrangement, and the inner sides of the synchronous belts are in arc arrangement.
As a further optimization of the technical scheme, the robot floor provided by the invention comprises a moving foot, wherein the moving foot comprises a sliding column II, a limiting column, a rotating motor, a moving frame, a connecting column, a pawl and a ratchet wheel, the limiting column is fixedly connected to the sliding column II, the rotating motor is fixedly connected to the lower end of the sliding column II, the moving frame is fixedly connected to an output shaft of the rotating motor, the connecting column is fixedly connected to the inside of the moving frame, the pawl is rotatably connected to the connecting column, a torsion spring is arranged between the pawl and the moving frame, the ratchet wheel is rotatably connected to the lower end of the moving frame, the pawl and the ratchet wheel are mutually matched, the number of the sliding columns II is four, the four sliding columns II are respectively slidably connected to the two sliding cylinders I and the two sliding cylinders II, and two ends of the four limiting columns.
As a further optimization of the technical scheme, the robot floor provided by the invention comprises four tightening mechanisms and four spring baffles, wherein the four tightening screws are rotatably connected to the spring baffles, the four tightening mechanisms are respectively connected to the four sliding columns I in a sliding manner, the four tightening screws are respectively connected to the four sliding plates through threads, and compression springs are fixedly connected between the four seated bearings III and the four spring baffles.
The robot floor has the beneficial effects that:
the invention relates to a robot floor which can be swung by a swinging mechanism I driving a transmission mechanism to swing, the transmission mechanism driving a swinging mechanism II to swing, the swinging speeds of the swinging mechanism I and the swinging mechanism II are the same, the swinging directions of the swinging mechanism I and the swinging mechanism II are opposite, the swinging mechanism I and the swinging mechanism II driving corresponding moving feet to swing, four moving feet pushing devices move forwards in the swinging process, eight compensation supports respectively limit the four moving feet to slide in the corresponding swinging mechanism I and the swinging mechanism II in the swinging process, the floor I and the floor II are guaranteed to keep uniform horizontal height in the advancing process to a certain degree, and a steering mechanism can drive the devices to turn to a certain degree.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and "upright", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly or indirectly connected through an intermediate medium, and may be a communication between two members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present invention, the meaning of "a plurality", and "a plurality" is two or more unless otherwise specified.
FIG. 1 is a schematic view of the overall structure of a robot floor of the present invention;
FIG. 2 is a schematic view of the structure of a ground plate I of the present invention;
FIG. 3 is a schematic view of the structure of the ground II of the present invention;
FIG. 4 is a schematic view of the swing mechanism of the present invention;
FIG. 5 is a schematic view of the compensating support structure of the present invention;
FIG. 6 is a schematic structural diagram of a swing mechanism I of the present invention;
FIG. 7 is a schematic view of the transmission mechanism of the present invention;
FIG. 8 is a schematic structural diagram of a swing mechanism II of the present invention;
FIG. 9 is a schematic diagram of the timing belt structure of the present invention;
FIG. 10 is a schematic view of the athletic foot configuration of the present invention;
FIG. 11 is a cross-sectional structural view of the motion foot of the present invention;
fig. 12 is a schematic view of the tightening mechanism of the present invention.
In the figure: a ground plate I1; a soleplate I101; a connecting lug I102; a bearing with a seat I103; a bearing II with a seat 104; a ground II 2; a bottom plate II 201; a connecting lug II 202; a sliding plate 203; a pedestal bearing III 204; a sliding column I205; a steering mechanism 3; a swing motor 301; a swing post 302; a compensating support 4; an arc-shaped plate 401; an arcuate slot 402; a swing mechanism I5; a swing motor 501; a swing bracket I502; a swing gear 503; a sliding cylinder I504; a sliding waist hole I505; a transmission mechanism 6; a coupling 601; a drive shaft 602; a transmission gear 603; a synchronous pulley I604; a swing mechanism II 7; a swing shaft 701; a swing bracket II 702; a synchronous pulley II 703; a sliding cylinder II 704; a sliding waist hole II 705; a synchronous belt 8; a motion foot 9; a sliding column II 901; a spacing post 902; a rotating motor 903; a kinematic mount 904; connecting a post 905; a pawl 906; a ratchet 907; a tightening mechanism 10; a spring stop 1001; the screws 1002 are tightened.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
the embodiment is described below by combining fig. 1-12, a robot floor comprises a floor i 1, a floor ii 2, a steering mechanism 3, a compensation bracket 4, a swing mechanism i 5, a transmission mechanism 6, a swing mechanism ii 7, two synchronous belts 8, a motion foot 9 and a tightening mechanism 10, wherein the steering mechanism 3 is arranged at the rear end of the floor i 1, the rear end of the steering mechanism 3 is fixedly connected to the floor ii 2, the outer sides of the lower ends of the floor i 1 and the floor ii 2 are fixedly connected with four compensation brackets 4, the swing mechanism i 5 is provided with two, the two swing mechanisms i 5 are both arranged on the floor i 1, the transmission mechanism 6 is rotatably connected to the floor i 1, the two swing mechanisms i 5 are both in transmission connection with the transmission mechanism 6, the two swing mechanisms ii 7 are rotatably connected to the floor ii 2, and the two swing mechanisms ii 7 and the transmission mechanism 6 are both in transmission connection through the synchronous belts 8, the lower ends of the two swing mechanisms I5 and the two swing mechanisms II 7 are respectively connected with moving feet 9 in a sliding manner, the four moving feet 9 are respectively connected onto the corresponding four compensation brackets 4 in a sliding manner, and four tightening mechanisms 10 are arranged on the ground plate II 2; can drive mechanism 6 through swing mechanism I5 and swing, drive mechanism 6 drives swing mechanism II 7 and swings, swing mechanism I5 is the same with swing speed of swing mechanism II 7, swing mechanism I5 is opposite with swing mechanism II 7's swing direction, swing mechanism I5 and swing mechanism II 7 drive corresponding motion foot 9 and swing, four motion foot 9 move forward at wobbling in-process thrust unit, eight compensation support 4 restrict respectively four motion foot 9 and slide in swing mechanism I5 and swing mechanism II 7 that correspond at the wobbling in-process, guarantee that I1 of ground pan and II 2 of ground pan keep unified level to a certain extent at the advancing in-process, steering mechanism 3 can be in the certain drive arrangement that goes on turning.
The second embodiment is as follows:
the embodiment is described below with reference to fig. 1 to 12, and the embodiment further describes the first embodiment, the floor i 1 includes a bottom plate i 101, a connecting lug i 102, a first seated bearing i 103 and a second seated bearing ii 104, the connecting lug i 102 is fixedly connected to the rear end of the bottom plate i 101, the second seated bearings ii 104 are fixedly connected to both sides of the front end of the bottom plate i 101, the first seated bearing i 103 is fixedly connected to the front end of the bottom plate i 101, and the two first seated bearings i 103 are both located at the inner sides of the two second seated bearings ii 104.
The third concrete implementation mode:
the present embodiment is described below with reference to fig. 1 to 12, and the second embodiment is further described in the present embodiment, the floor ii 2 includes a bottom plate ii 201, a coupling lug ii 202, a sliding plate 203, a base bearing iii 204, and a sliding column i 205, the front end of the bottom plate ii 201 is fixedly connected with the coupling lug ii 202, the bottom plate ii 201 is fixedly connected with four sliding plates 203, the rear end of the bottom plate ii 201 is slidably connected with four base bearings iii 204, the four base bearings iii 204 are fixedly connected with the sliding column i 205, and the four sliding columns i 205 are respectively slidably connected to the four sliding plates 203.
The fourth concrete implementation mode:
the present embodiment is described below with reference to fig. 1 to 12, and the third embodiment is further described in the present embodiment, where the steering mechanism 3 includes a swing motor 301 and a swing post 302, the swing motor 301 is fixedly connected to the first connecting lug 102, an output shaft of the swing motor 301 is rotatably connected to the first connecting lug 102, the swing post 302 is fixedly connected to an output shaft of the swing motor 301, and the swing post 302 is fixedly connected to the second connecting lug 202.
The fifth concrete implementation mode:
the embodiment is described below with reference to fig. 1 to 12, and the fourth embodiment is further described in the present embodiment, where the compensation bracket 4 includes an arc plate 401 and an arc groove 402, the arc plate 401 is provided with the arc groove 402, the compensation bracket 4 is provided with eight, and the upper ends of the eight arc plates 401 are respectively and fixedly connected to two sides of the lower ends of the base plates i 101 and ii 201.
The sixth specific implementation mode:
the embodiment is described below with reference to fig. 1 to 12, and the fifth embodiment is further described in the present embodiment, the swing mechanism i 5 includes a swing motor 501, a swing support i 502, a swing gear 503, a sliding cylinder i 504 and a sliding waist hole i 505, the swing support i 502 is fixedly connected to an output shaft of the swing motor 501, the swing gear 503 is fixedly connected to an output shaft of the swing motor 501, the sliding cylinder i 504 is fixedly connected to a lower end of the swing support i 502, the sliding waist hole i 505 is arranged on the sliding cylinder i 504, both swing motors 501 are fixedly connected to the base plate i 101, and output shafts of both swing motors 501 are respectively and rotatably connected to the corresponding seated bearing i 103 and the seated bearing ii 104.
The seventh embodiment:
the sixth embodiment is further described with reference to fig. 1 to 12, where the transmission mechanism 6 includes a coupler 601, transmission shafts 602, transmission gears 603 and a synchronous pulley i 604, two ends of the coupler 601 are both rotatably connected with the transmission shafts 602, outer ends of the two transmission shafts 602 are both fixedly connected with the transmission gears 603, the two transmission gears 603 are both fixedly connected with the synchronous pulley i 604, the two transmission shafts 602 are respectively rotatably connected to the two belt bearing ii 104, and the two transmission gears 603 are respectively in meshing transmission with the two oscillating gears 503.
The specific implementation mode is eight:
the embodiment is described below with reference to fig. 1 to 12, and the seventh embodiment is further described in the present embodiment, where the swing mechanism ii 7 includes a swing shaft 701, a swing bracket ii 702, a synchronous pulley ii 703, a sliding cylinder ii 704 and a sliding waist hole ii 705, the swing shaft 701 is fixedly connected with the swing bracket ii 702 and the synchronous pulley ii 703, the lower end of the swing bracket ii 702 is fixedly connected with the sliding cylinder ii 704, the sliding cylinder ii 704 is provided with the sliding waist hole ii 705, the swing shaft 701 is provided with two swing shafts 701, two ends of the two swing shafts 701 are respectively rotatably connected to corresponding belt seat bearings iii 204, the two synchronous pulleys i 604 and the two synchronous pulleys ii 703 are in transmission connection through a synchronous belt 8, outer sides of the synchronous pulleys i 604 and the synchronous pulleys ii are both arranged in an arc shape, and an inner side arc shape of the synchronous belt 8 is arranged 703.
The specific implementation method nine:
this embodiment will be described with reference to fig. 1 to 12, and this embodiment will further describe embodiment eight, the moving foot 9 comprises a sliding column II 901, a limiting column 902, a rotating motor 903, a moving frame 904, a connecting column 905, a pawl 906 and a ratchet wheel 907, the limiting column 902 is fixedly connected to the sliding column II 901, the rotating motor 903 is fixedly connected to the lower end of the sliding column II 901, the moving frame 904 is fixedly connected to an output shaft of the rotating motor 903, the connecting column 905 is fixedly connected to the inside of the moving frame 904, the pawl 906 is rotatably connected to the connecting column 905, a torsion spring is arranged between the pawl 906 and the moving frame 904, the ratchet wheel 907 is rotatably connected to the lower end of the moving frame 904, the pawl 906 and the ratchet wheel 907 are mutually matched, the four sliding columns II 901 are arranged, the four sliding columns II 901 are respectively and slidably connected to the two sliding cylinders I504 and the two sliding cylinders II 704, and two ends of the four limiting columns 902 are respectively and slidably connected.
The detailed implementation mode is ten:
the following describes the present embodiment with reference to fig. 1 to 12, and the present embodiment further describes an embodiment nine, where the tightening mechanism 10 includes a spring baffle 1001 and tightening screws 1002, the spring baffle 1001 is rotatably connected with the tightening screws 1002, the tightening mechanism 10 is provided with four spring baffles 1001, the four spring baffles 1001 are respectively slidably connected to the four sliding columns i 205, the four tightening screws 1002 are respectively connected to the four sliding plates 203 through threads, and compression springs are fixedly connected between the four seated bearings iii 204 and the four spring baffles 1001.
The invention relates to a robot floor, which has the working principle that:
when the device is used, the two swing motors 501 are started, the output shafts of the two swing motors 501 swing in a reciprocating manner, the output shafts of the two swing motors 501 respectively drive the corresponding swing supports I502 and swing gears 503 to swing in a reciprocating manner, the swing supports I502 drive the corresponding sliding cylinders I504 to swing in a reciprocating manner around the axis of the output shaft of the swing motor 501, the swing gears 503 drive the corresponding transmission gears 603 to swing in a reciprocating manner, the transmission gears 603 drive the corresponding transmission shafts 602 to swing in a reciprocating manner, the transmission shafts 602 drive the corresponding synchronous pulleys I604 to swing in a reciprocating manner, the synchronous pulleys I604 drive the corresponding synchronous pulleys II 703 to swing in a reciprocating manner, the synchronous pulleys II 703 drive the corresponding swing shafts 701 to swing in a reciprocating manner, the swing shafts 701 drive the corresponding swing supports II 702 to swing in a reciprocating manner, and the swing supports II 702 drive the corresponding sliding cylinders II 704 to, the swinging speeds of the sliding cylinders II 704 and the sliding cylinders I504 are the same, the swinging directions of the sliding cylinders II 704 and the sliding cylinders I504 are opposite, when the two sliding cylinders I504 swing clockwise, the two sliding cylinders I504 drive the two corresponding sliding columns II 901 to swing clockwise, when the two sliding cylinders II 704 swing anticlockwise, the two corresponding sliding columns II 901 are driven to swing anticlockwise, as shown in figure 1, when the two moving feet 9 on the two sliding cylinders I504 swing clockwise, the ratchet wheels 907 on the two moving feet 9 can rotate, when the two moving feet 9 on the two sliding cylinders II 704 swing anticlockwise, the ratchet wheels 907 on the two moving feet 9 can not rotate, the ratchet wheels 907 and the ground perform friction pushing device to move forwards, when the two moving feet 9 on the two sliding cylinders I504 swing anticlockwise, the ratchet wheels 907 on the two moving feet 9 can not rotate, the ratchet wheel 907 and the ground perform friction to push the device to move forwards, when the two moving feet 9 on the two sliding cylinders II 704 swing anticlockwise, the ratchet wheel 907 on the two moving feet 9 can rotate, and the four moving feet 9 push the device to move forwards in the swinging process; the four moving feet 9 slide in the corresponding arc-shaped grooves 402 in the swinging process, the shape of the arc-shaped grooves 402 is set according to the swinging diameter of the moving feet 9, the arc-shaped grooves 402 are used for compensating the distance of the moving feet 9 pushing the floor I1 and the floor II 2 to reciprocate up and down in the swinging procedure, so that the floor I1 is ensured to keep a uniform horizontal height to a certain extent in the advancing process, and the floor II 2 is ensured to keep a uniform horizontal height to a certain extent in the advancing process, as shown in FIG. 1; an output shaft of the swing motor 301 can drive the swing post 302 to swing, the swing post 302 drives the ground disc II 2 to swing, when the device turns, the synchronous belt 8 is pushed by a compression spring to be in a tight state, as shown in FIGS. 6 and 9, the outer sides of the synchronous belt wheel I604 and the synchronous belt wheel II 703 are both arranged in an arc shape, the inner side of the synchronous belt 8 is arranged in an arc shape, transmission can be further performed when the synchronous belt 8 deflects, synchronous belt teeth of the synchronous belt 8 are not shown in the figure, but the device belongs to common knowledge in the field and is not described in detail; when the device needs to move reversely, the rotating motor 903 is started, the output shaft of the rotating motor 903 rotates, and the rotatable direction of the ratchet 907 is changed, so that the rotatable direction of the ratchet 907 is changed; the pretightening force of the compression spring can be adjusted by rotating the tightening screw 1002, so that different use requirements are met.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (10)
1. The utility model provides a ground of robot, includes ground I (1), ground II (2), steering mechanism (3), compensation support (4), swing mechanism I (5), drive mechanism (6), swing mechanism II (7), hold-in range (8), motion foot (9) and tightening mechanism (10), its characterized in that: the rear end of the floor pan I (1) is provided with a steering mechanism (3), the rear end of the steering mechanism (3) is fixedly connected to the floor pan II (2), the outer sides of the lower ends of the floor pan I (1) and the floor pan II (2) are fixedly connected with four compensating supports (4), two swinging mechanisms I (5) are arranged, the two swinging mechanisms I (5) are arranged on the floor pan I (1), the floor pan I (1) is rotatably connected with a transmission mechanism (6), the two swinging mechanisms I (5) are in transmission connection with the transmission mechanism (6), the floor pan II (2) is rotatably connected with two swinging mechanisms II (7), the two swinging mechanisms II (7) are in transmission connection with the transmission mechanism (6) through synchronous belts (8), the lower ends of the two swinging mechanisms I (5) and the two swinging mechanisms II (7) are in sliding connection with moving feet (9), and each of the four moving feet (9) is in sliding connection with the corresponding two compensating supports (4), four tightening mechanisms (10) are arranged on the ground II (2).
2. A robotic floor as claimed in claim 1, wherein: the ground plate I (1) comprises a bottom plate I (101), a connecting lug I (102), a seated bearing I (103) and a seated bearing II (104), the rear end of the bottom plate I (101) is fixedly connected with the connecting lug I (102), the two sides of the front end of the bottom plate I (101) are fixedly connected with the seated bearing II (104), the front end of the bottom plate I (101) is fixedly connected with the seated bearing I (103), and the two seated bearings I (103) are located on the inner sides of the two seated bearings II (104).
3. A robotic floor as claimed in claim 2, wherein: the ground plate II (2) comprises a bottom plate II (201), a connecting lug II (202), a sliding plate (203), a bearing with a seat III (204) and a sliding column I (205), the front end of the bottom plate II (201) is fixedly connected with the connecting lug II (202), the bottom plate II (201) is fixedly connected with four sliding plates (203), the rear end of the bottom plate II (201) is slidably connected with four bearings with a seat III (204), the four bearings with a seat III (204) are fixedly connected with the sliding column I (205), and the four sliding columns I (205) are respectively slidably connected onto the four sliding plates (203).
4. A robotic floor as claimed in claim 3, wherein: steering mechanism (3) are including swing motor (301) and swing post (302), swing motor (301) fixed connection on engaging lug I (102), and the output shaft of swing motor (301) rotates and connects on engaging lug I (102), fixedly connected with swing post (302) on the output shaft of swing motor (301), and swing post (302) fixed connection is on engaging lug II (202).
5. A robotic floor according to claim 4, wherein: the compensation support (4) comprises arc plates (401) and arc grooves (402), the arc grooves (402) are formed in the arc plates (401), the number of the compensation support (4) is eight, the upper ends of the eight arc plates (401) are fixedly connected to the two sides of the lower ends of the bottom plates I (101) and II (201) respectively, and the two sides of the lower ends of the bottom plates I (101) and II (201) are respectively provided with the two arc plates (401).
6. A robotic floor according to claim 5, wherein: swing mechanism I (5) are including swing motor (501), swing support I (502), swing gear (503), a slip section of thick bamboo I (504) and slip waist hole I (505), fixedly connected with swing support I (502) on the output shaft of swing motor (501), fixedly connected with swing gear (503) on the output shaft of swing motor (501), the lower extreme fixedly connected with slip section of thick bamboo I (504) of swing support I (502), be provided with slip waist hole I (505) on slip section of thick bamboo I (504), the equal fixed connection of two swing motors (501) is on bottom plate I (101), the output shaft of two swing motors (501) rotates respectively and connects on corresponding area seat bearing I (103) and area seat bearing II (104).
7. A robotic floor according to claim 6, wherein: the transmission mechanism (6) comprises a coupler (601), transmission shafts (602), transmission gears (603) and synchronous pulleys I (604), the two ends of the coupler (601) are connected with the transmission shafts (602) in a rotating mode, the outer ends of the two transmission shafts (602) are fixedly connected with the transmission gears (603), the two transmission gears (603) are connected with the synchronous pulleys I (604) in a fixed mode, the two transmission shafts (602) are connected to the two belt seat bearings II (104) in a rotating mode respectively, and the two transmission gears (603) are in meshing transmission with the two swing gears (503) respectively.
8. A robotic floor according to claim 7, wherein: the swing mechanism II (7) comprises a swing shaft (701), a swing support II (702), synchronous pulleys II (703), a sliding cylinder II (704) and a sliding waist hole II (705), the swing shaft (701) is fixedly connected with the swing support II (702) and the synchronous pulleys II (703), the lower end of the swing support II (702) is fixedly connected with the sliding cylinder II (704), the sliding cylinder II (704) is provided with the sliding waist hole II (705), the swing shaft (701) is provided with two swing shafts (701), two ends of the two swing shafts (701) are respectively connected to corresponding belt seat bearings III (204) in a rotating mode, the two synchronous pulleys I (604) and the two synchronous pulleys II (703) are connected through synchronous belts (8) in a transmission mode, the outer sides of the synchronous pulleys I (604) and the synchronous pulleys II (703) are respectively arranged in an arc mode, and the inner sides of the synchronous belts (8) are arranged in an arc mode.
9. A robotic floor as claimed in claim 8, wherein: the motion foot (9) comprises a sliding column II (901), a limiting column (902), a rotating motor (903), a motion frame (904), a connecting column (905), a pawl (906) and a ratchet wheel (907), wherein the limiting column (902) is fixedly connected to the sliding column II (901), the rotating motor (903) is fixedly connected to the lower end of the sliding column II (901), the motion frame (904) is fixedly connected to an output shaft of the rotating motor (903), the connecting column (905) is fixedly connected to the interior of the motion frame (904), the pawl (906) is rotatably connected to the upper end of the connecting column (905), a torsion spring is arranged between the pawl (906) and the motion frame (904), the ratchet wheel (907) is rotatably connected to the lower end of the motion frame (904), the pawl (906) and the ratchet wheel (907) are matched with each other, the sliding columns II (901) are four, two sliding columns II (901) are respectively and slidably connected to the two sliding cylinders I, the other two sliding columns II (901) are respectively connected in the two sliding cylinders II (704) in a sliding mode, and two ends of the four limiting columns (902) are respectively connected in the corresponding two arc-shaped grooves (402) in a sliding mode.
10. A robotic floor as claimed in claim 9, wherein: tightening mechanism (10) include spring baffle (1001) and tightening screw (1002), rotate on spring baffle (1001) and be connected with tightening screw (1002), tightening mechanism (10) are provided with four, four spring baffle (1001) sliding connection respectively on four slip post I (205), four tightening screw (1002) are respectively through threaded connection on four sliding plates (203), equal fixedly connected with compression spring between four seated bearing III (204) and four spring baffle (1001).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114787.XA CN111232083B (en) | 2020-02-25 | 2020-02-25 | Robot ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010114787.XA CN111232083B (en) | 2020-02-25 | 2020-02-25 | Robot ground |
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| Publication Number | Publication Date |
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| CN111232083A CN111232083A (en) | 2020-06-05 |
| CN111232083B true CN111232083B (en) | 2020-09-22 |
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| CN202010114787.XA Expired - Fee Related CN111232083B (en) | 2020-02-25 | 2020-02-25 | Robot ground |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113460183B (en) * | 2021-07-05 | 2022-10-21 | 哈尔滨学院 | Robot chassis capable of crossing obstacles in large range |
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|---|---|---|---|---|
| JPS4829341B1 (en) * | 1970-06-03 | 1973-09-10 | ||
| JPS5425055A (en) * | 1977-07-26 | 1979-02-24 | Agency Of Ind Science & Technol | Leg driving mechanism for walking machine |
| CA1289600C (en) * | 1987-02-09 | 1991-09-24 | John Clark | Mechanical walking vehicle |
| CN103144694A (en) * | 2013-03-26 | 2013-06-12 | 上海大学 | Pivot-steering mechanism of quadruped bio-robot |
| CN105711677A (en) * | 2016-03-16 | 2016-06-29 | 平湖西技双臂智能机器人有限公司 | Obstacle-crossing robot |
| CN106741281A (en) * | 2016-12-13 | 2017-05-31 | 齐鲁工业大学 | A kind of quadruped robot walking mechanism containing linear joint |
| CN107117225A (en) * | 2017-05-07 | 2017-09-01 | 钟建筑 | A kind of four-footed wheeled mobile robot |
| CN207311651U (en) * | 2017-08-24 | 2018-05-04 | 宜春学院 | A kind of four-leg bionic robot with sliding slot |
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2020
- 2020-02-25 CN CN202010114787.XA patent/CN111232083B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4829341B1 (en) * | 1970-06-03 | 1973-09-10 | ||
| JPS5425055A (en) * | 1977-07-26 | 1979-02-24 | Agency Of Ind Science & Technol | Leg driving mechanism for walking machine |
| CA1289600C (en) * | 1987-02-09 | 1991-09-24 | John Clark | Mechanical walking vehicle |
| CN103144694A (en) * | 2013-03-26 | 2013-06-12 | 上海大学 | Pivot-steering mechanism of quadruped bio-robot |
| CN105711677A (en) * | 2016-03-16 | 2016-06-29 | 平湖西技双臂智能机器人有限公司 | Obstacle-crossing robot |
| CN106741281A (en) * | 2016-12-13 | 2017-05-31 | 齐鲁工业大学 | A kind of quadruped robot walking mechanism containing linear joint |
| CN107117225A (en) * | 2017-05-07 | 2017-09-01 | 钟建筑 | A kind of four-footed wheeled mobile robot |
| CN207311651U (en) * | 2017-08-24 | 2018-05-04 | 宜春学院 | A kind of four-leg bionic robot with sliding slot |
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| CN111232083A (en) | 2020-06-05 |
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