CN115973302A

CN115973302A - Walking robot

Info

Publication number: CN115973302A
Application number: CN202310230530.4A
Authority: CN
Inventors: 张坤广
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-03-11
Filing date: 2023-03-11
Publication date: 2023-04-18

Abstract

The invention discloses a walking robot, which comprises a wheel body, wherein a connecting side piece is arranged on the side surface of the wheel body, an output shaft is fixed on the connecting side piece, a driving mechanism for driving the output shaft to rotate is arranged on the output shaft, a first connecting rod is arranged on the driving mechanism, a battery is arranged at the outer end of the first connecting rod, a second connecting rod is further arranged on the driving mechanism, a propeller is arranged at the outer end of the second connecting rod, a first motor for driving the propeller to rotate is further arranged on the second connecting rod, a forward included angle between a connecting line from the integral gravity center of the first connecting rod and the battery to the output shaft and a connecting line from the propeller to the output shaft is A, the A is more than or equal to 135 degrees and less than or equal to 315 degrees, the walking robot further comprises a controller, a gyroscope sensor and a walking control system, and the battery provides electricity for the first motor, the driving mechanism, the controller and the gyroscope sensor. The invention has the advantages of reasonable structural layout and good road trafficability.

Description

Walking robot

Technical Field

The invention relates to a walking robot, and belongs to the technical field of robot manufacturing.

Background

With the progress of science and technology and the pursuit of high-quality life of people, more and more household equipment or toys are invented, but the requirements of people cannot be met. For example, with the reduction of the population at birth in China, the population number gradually enters a negative growth age, and the solitary population becomes the living state of more and more people, so that people need a robot capable of running and walking along with the robot, and the existing walking robot has a complex structure, high cost and poor road trafficability.

Therefore, a walking robot with a reasonable layout and good road trafficability is needed.

Disclosure of Invention

In order to make up for the defects of the prior art, the invention provides the walking robot with reasonable structural layout and good road trafficability so as to solve the problems in the prior art.

The invention is realized by the following technical scheme:

a walking robot comprises a wheel body, a connecting side piece is arranged on the side surface of the wheel body, an output shaft is fixed on the connecting side piece, the output shaft is positioned on an axis of the wheel body and points to the inside of the wheel body, a driving mechanism for driving the output shaft to rotate is arranged on the output shaft, a first connecting rod is arranged on the driving mechanism, a battery is arranged at the outer end of the first connecting rod, a second connecting rod is further arranged on the driving mechanism, a propeller is arranged at the outer end of the second connecting rod, a first motor for driving the propeller to rotate is further arranged on the second connecting rod, an included angle between the connecting line of the integral gravity center of the first connecting rod and the battery to the output shaft and the connecting line of the propeller to the output shaft in front is A, A is not less than 135 degrees and not more than 315 degrees, the walking robot further comprises a controller, the controller respectively outputs control signals for the first motor and the driving mechanism, a gyroscope sensor is arranged on the first connecting rod, and transmits inclination angle data of the connecting rod of the first connecting rod to the controller, and a walking control system transmits command signals to the controller; the battery provides electric quantity for the first motor, the driving mechanism, the controller and the gyroscope sensor; the sum of the gravity of the battery and the gravity of the first connecting rod is G1, the distance between the gravity centers of the battery and the first connecting rod and the output shaft is L1, the sum of the gravity centers of the second connecting rod, the first motor and the propeller is G2, the distance between the gravity centers of the second connecting rod, the first motor and the propeller and the output shaft is L2, and G1 xL 1 is greater than 1.3 xG 2 xL 2.

Further optimized, A is more than or equal to 180 degrees and less than or equal to 270 degrees.

Preferably, the driving mechanism includes a speed reducer disposed on the output shaft, and a second motor driving the speed reducer to rotate, and the first connecting rod and the second connecting rod are both fixed to the speed reducer.

Preferably, the wheel body is a circular ring body, and the connecting side part is a connecting plate extending inwards from the edge of the wheel body.

Further preferably, the wheel body is made of aluminum alloy, a rubber layer is arranged on the periphery of the wheel body, and anti-skid grains are arranged on the rubber layer.

Further preferably, the wheel body comprises a plurality of arc-shaped plates which are circumferentially arranged, the connecting side part comprises a plurality of leg units which are arranged in a spoke shape, the number of the leg units is equal to that of the arc-shaped plates, each leg unit comprises a first leg rod and a second leg rod which are hinged to each other, the inner end of each first leg rod is fixed on the output shaft, the outer end of each second leg rod is hinged to the inner side face of each arc-shaped plate, a first expansion spring is connected in an included angle between each first leg rod and each second leg rod, a second expansion spring is connected in an included angle between each second leg rod and each arc-shaped plate, and the first expansion springs and the second expansion springs are located on two sides of each second leg rod.

Preferably, the number of the connecting side members is two, the two connecting side members are symmetrically distributed on two sides of the wheel body respectively, the output shaft penetrates through the driving mechanism, two ends of the output shaft are fixed with the connecting side members on two sides respectively, and outer ends of the second leg rods arranged on two sides of the wheel body oppositely are hinged to the same arc-shaped plate.

Preferably, the walking control system comprises a handheld remote controller, a control line is connected between the handheld remote controller and the controller, and the number of the connecting side pieces is one.

Preferably, the walking control system comprises a handheld remote controller, the first connecting rod is provided with a remote control signal receiver, and the remote control signal receiver transmits a received instruction signal sent by the handheld remote controller to the controller.

The invention has the beneficial effects that:

the output shaft is rotatably arranged in the driving mechanism, and the outer end of the output shaft is fixedly connected to the connecting side piece, so that the driving force of the driving mechanism can be transmitted to the wheel body through the output shaft and the connecting side piece. The output shaft is positioned on the axis of the wheel body, and when the wheel body rolls on the road surface, the output shaft cannot bump up and down. Because G1 xL 1>1.3 xG 2 xL 2, the battery is always positioned below under the action of gravity, so that the driving mechanism is prevented from idling.

2. Under the drive of the driving mechanism, when the lower end of the first connecting rod swings forwards, the robot is provided with a forward moving thrust, and when the lower end of the first connecting rod swings backwards, the robot is provided with a backward moving thrust (or is decelerated), and in addition, the larger the swing angle of the lower end of the first connecting rod is, the stronger the thrust is provided. The gyroscope sensor transmits the inclination angle data of the first connecting rod to the controller, and the controller calculates the running state of the robot in the front and rear directions according to the inclination angle data of the first connecting rod. When the walking control system gives an instruction of acceleration or deceleration, the controller can be realized by adjusting the inclination angle of the first connecting rod.

3. After the robot acquires the left and right inclination angles through the gyroscope sensor, the robot maintains balanced straight movement or stable turning by means of the rotational inertia of the wheel body and the lateral force provided by the propeller, and the vertical walking state of the robot can be maintained even if the wheel body is narrow, so that the function of the robot is not influenced by whether the wheel body can independently walk vertically or not, but if the wheel body is narrow, the robot needs to have an initial speed when the robot starts to walk; when the tire is wide, this problem does not occur because it stands upright on the road surface even when it is stopped.

4. When the robot needs to turn, the lateral force provided by the propeller provides the possibility of inclining the wheel body at a certain angle. Furthermore, since the present machine is of a single wheel construction, when the wheel body rotates, a moment of inertia is necessarily generated, when the propeller is located at the front side of the wheel body (generally, a <180 °, but may float slightly when the first connecting rod is tilted), the lateral force generated by the moment of inertia is opposite to the lateral force generated by the propeller, and particularly, when the included angle a <135 °, the ability to turn and maintain balance is weak, so the present patent limits the included angle a to 135 ° or more. Conversely, when the propeller is located at the rear side of the wheel body (typically, a >180 °, but may float slightly when the first connecting rod is tilted), the side force generated by the moment of inertia is in the same direction as the side force generated by the propeller, so that the wheel body has better stability, and thus normal turning of the wheel body is achieved. However, when a >315 °, the angle of a is defined by the patent as being insufficient to generate enough lateral force to maintain the balance and turning of the wheels, since the propeller is in an extremely low position: 135 DEG.ltoreq.A.ltoreq.315 DEG, which can be discussed in particular by the following formula:

total lateral force = (R-L × cos θ) × F-F × sin θ × L = F × (R-L × cos θ -sin θ × L) = F × (R-L × (cos θ + sin θ))

Wherein: r is the radius of the wheel body, L is the distance from the axle center of the propeller to the output shaft, F is the thrust generated by the propeller, and theta is the included angle between the connecting line from the axle center of the propeller to the output shaft in the advancing direction and the axis of the wheel body vertical to the ground.

When θ <135 °, there is a negative effect on the total lateral force; when theta is more than or equal to 135 degrees and less than 225 degrees, the total lateral force is continuously increased; when theta =225 degrees, the total lateral force is maximum, and the turning effect is best; when 225 ° < θ <315 °, the total lateral force is decreasing; there is also a negative effect of the total lateral force when 315 < theta <360 deg..

5. Because the wheel body in the walking robot is positioned at the periphery, the radius specification of the wheel body is larger, and therefore the walking robot has better road trafficability.

In conclusion, the invention has the advantages of reasonable structural layout and good road trafficability, and is suitable for wide popularization and application.

Drawings

Fig. 1 is a schematic perspective view of a first embodiment of the present invention;

FIG. 2 is a schematic partial structural diagram according to a first embodiment of the present invention;

FIG. 3 is an enlarged view of the portion A in FIG. 2;

FIG. 4 is a schematic perspective view of a second embodiment of the present invention;

fig. 5 is a partial structural schematic diagram of a second embodiment of the present invention.

In the figure: the device comprises a wheel body 1, a connecting side part 2, an output shaft 3, a driving mechanism 4, a first connecting rod 5, a battery 6, a second connecting rod 7, a first motor 8, a propeller 9, a controller 10, a gyroscope sensor 11, a walking control system 12, a speed reducer 13, a second motor 14, a rubber layer 15, an anti-skid pattern 16, an arc-shaped plate 17, a leg unit 18, a first leg rod 19, a second leg rod 20, a first expansion spring 21, a second expansion spring 22, a handheld remote controller 23, a control line 24 and a remote control signal receiver 25.

Detailed description of the preferred embodiments

In order to clearly illustrate the technical features of the present technical solution, the present invention is explained in detail by the following embodiments 1-2 in combination with the accompanying drawings.

Examples

Referring to fig. 1 to 3, the present embodiment provides a walking robot, including a wheel body 1, a connecting side member 2 provided on a side surface of the wheel body 1, an output shaft 3 fixed to the connecting side member 2, the output shaft 3 being located on an axis of the wheel body 1 and pointing into the wheel body 1, a driving mechanism 4 provided on the output shaft 3 for driving the output shaft to rotate, a downward first connecting rod 5 provided on the driving mechanism 4, a battery 6 provided at a lower end of the first connecting rod 5, a second connecting rod 7 provided on the driving mechanism 4, a first motor 8 provided at an outer end of the second connecting rod 7, and a propeller 9 driven by the first motor 8, an axis of the propeller 9 being parallel to the axis of the wheel body 1, an included angle a between the first connecting rod 5 and the second connecting rod 7 at the front, a =180 °, a controller 10 provided on the first connecting rod 5, the controller 10 outputting control signals for the first motor 8 and the driving mechanism 4, respectively, a gyroscope sensor 11 provided on the first connecting rod 5 for transmitting a sensor signal to a walking sensor 11, and a gyroscope 12 for controlling a walking system, and a control system 12 for controlling a walking system; the battery 6 provides electric quantity for the first motor 8, the driving mechanism 4, the controller 10 and the gyroscope sensor 11; the sum of the gravity of the battery 6 and the gravity of the first connecting rod 5 is G1, the distance between the gravity center of the battery 6 and the gravity center of the first connecting rod 5 and the output shaft 3 is L1, the sum of the gravity of the second connecting rod 7, the first motor 8 and the propeller 9 is G2, the distance between the gravity center of the second connecting rod 7, the gravity center of the first motor 8 and the propeller 9 and the output shaft is L2, and G1 × L1=3 × G2 × L2. The driving mechanism 4 includes a speed reducer 13 disposed on the output shaft 3, and a second motor 14 driving the speed reducer 13 to rotate, and the first connecting rod 5 and the second connecting rod 7 are both fixed to the speed reducer 13. The wheel body 1 is a circular ring body, and the connecting side part 2 is a connecting plate extending inwards from the edge of the wheel body 1. The wheel body 1 is made of aluminum alloy, a rubber layer 15 is arranged on the periphery of the wheel body 1, and anti-skid grains 16 are arranged on the rubber layer 15. The walking control system 12 comprises a hand-held remote controller 23, a control line 24 is connected between the hand-held remote controller 23 and the controller 10, and the number of the connecting side members 2 is one.

The working principle is as follows: when the walking robot needs to accelerate, the hand-held remote controller 23 is adjusted, the hand-held remote controller 23 transmits the instruction signal to the controller 10 through the control line 24, the controller 10 sends a control signal to the second motor 14 after receiving the instruction signal, and the lower end of the first connecting rod 5 swings forward under the driving of the second motor 14, so that the center of gravity of the whole walking robot moves forward, and the walking robot moves forward in acceleration. On the contrary, when the deceleration is required, the lower end of the first connecting rod 5 may be controlled to swing backward, thereby achieving the deceleration. The gyro sensor 11 is provided so that the controller 10 constantly supervises the inclination angle of the first connecting rod 5. In the present embodiment, G1 × L1 is equal to three times G2 × L2, and a larger forward driving force can be provided to the present walking robot. The larger the product of the actual G1 × L1 is than the product of G2 × L2, it can provide the larger forward driving force to the present walking robot.

When the walking robot needs to turn to the left side, the first motor 8 is controlled to rotate by the walking control system 12, the control line 24 and the controller 10, so that the propeller 9 is driven to rotate, a leftward lateral force is provided for the wheel body 1, the wheel body 1 can incline to a certain angle to the left under the pushing of the lateral force, besides the lateral force, the rotational inertia of the wheel body 1 can generate the lateral force, and the turning to the left is realized under the action of the two lateral forces. If the user needs to turn right, the same principle is applied. When this walking robot normally walks (i.e. not accelerate and do not slow down), for overcoming the windage, the first connecting rod 5 can incline certain angle to the front side, generally speaking, the faster the speed, the windage is the bigger, and the angle of slope is also bigger, and this patent also can be through setting up wheel body 1 into hollow out construction to reduce the windage.

Wheel body 1 has guaranteed promptly that the wheel body possesses certain structural strength for aluminum alloy's structural design, has also made it possess certain weight, maintains the inertia of stable walking to guarantee this walking robot's walking stability. The rubber layer 15 can make the walking robot have better damping function. The non-slip threads 16 improve grip. The number of the connection side member 2 is one, and the control wire 24 can be prevented from being wound therein.

Examples

Referring to fig. 4 to 5, the present embodiment also provides a walking robot, wherein the wheel body 1 includes a plurality of arc-shaped plates 17 arranged circumferentially, the connecting side member 2 includes a plurality of spoke-shaped leg units 18, the number of the leg units 18 is equal to the number of the arc-shaped plates 17, the leg units 18 include a first leg rod 19 and a second leg rod 20 hinged to each other, an inner end of the first leg rod 19 is fixed to the output shaft 3, an outer end of the second leg rod 20 is hinged to an inner side surface of the arc-shaped plate 17, a first telescopic spring 21 is connected to an included angle between the first leg rod 19 and the second leg rod 20, a second telescopic spring 22 is connected to an included angle between the second leg rod 20 and the arc-shaped plates 17, and the first telescopic spring 21 and the second telescopic spring 22 are located on two sides of the second leg rod 20. The number of the connecting side pieces 2 is two, the two connecting side pieces 2 are respectively and symmetrically distributed on two sides of the wheel body 1, the output shaft 3 penetrates through the driving mechanism 4, two ends of the output shaft 3 are respectively fixed with the connecting side pieces 2 on two sides, and the outer ends of the second supporting leg rods 20 which are oppositely arranged on two sides of the wheel body 1 are hinged on the same arc-shaped plate 17. The walking control system 12 comprises a handheld remote controller 23, a remote control signal receiver 25 is arranged on the first connecting rod 5, and the remote control signal receiver 25 transmits a received instruction signal sent by the handheld remote controller 23 to the controller 10. Other structures are completely the same as those of the first embodiment, and are not described herein again.

The working principle is as follows: the combined structure of the first leg bar 19, the second leg bar 20, the arc plate 17, the first expansion spring 21 and the second expansion spring 22 is designed to provide the walking robot with a certain elasticity in the front-rear direction and a certain expansion elasticity in the radial direction. Thereby make this walking robot possess stronger shock-absorbing function and road trafficability characteristic. In the second embodiment, the number of the connecting side members 2 is two, but may be one (if there is one, the weight balance in the left-right direction needs to be ensured in the design). This structural design reduces the wind resistance of this embodiment. The working principle of other aspects is the same as that of the first embodiment.

To sum up, this embodiment has that structural configuration is reasonable, the road trafficability characteristic is good advantage, is suitable for extensive popularization and application.

The present invention is not described in detail, but is known to those skilled in the art. Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims

1. A walking robot is characterized by comprising a wheel body, wherein a connecting side piece is arranged on the side surface of the wheel body, an output shaft is fixed on the connecting side piece, the output shaft is positioned on an axis of the wheel body and points to the interior of the wheel body, a driving mechanism for driving the output shaft to rotate is arranged on the output shaft, a first connecting rod is arranged on the driving mechanism, a battery is arranged at the outer end of the first connecting rod, a second connecting rod is further arranged on the driving mechanism, a propeller is arranged at the outer end of the second connecting rod, a first motor for driving the propeller to rotate is further arranged on the second connecting rod, an included angle between a connecting line from the center of gravity of the whole of the first connecting rod and the battery to the output shaft and a connecting line from the propeller to the output shaft in front is A, A is not less than 135 degrees and not more than 315 degrees, the walking robot further comprises a controller, the controller respectively outputs control signals for the first motor and the driving mechanism, a gyroscope sensor is arranged on the first connecting rod, and transmits inclination angle data of the first connecting rod to the controller, and a walking control system transmits command signals to the controller; the battery provides electric quantity for the first motor, the driving mechanism, the controller and the gyroscope sensor; the sum of the gravity of the battery and the gravity of the first connecting rod is G1, the distance between the gravity centers of the battery and the first connecting rod and the output shaft is L1, the sum of the gravity centers of the second connecting rod, the first motor and the propeller is G2, the distance between the gravity centers of the second connecting rod, the first motor and the propeller and the output shaft is L2, and G1 xL 1 is greater than 1.3 xG 2 xL 2.

2. The walking robot of claim 1, wherein A is 180 ° ≦ 270 °.

3. The walking robot of claim 1, wherein the driving mechanism comprises a speed reducer provided on the output shaft, and a second motor for driving the speed reducer to rotate, and the first connecting rod and the second connecting rod are fixed to the speed reducer.

4. The walking robot of claim 1, wherein the wheel body is a circular ring body, and the connecting side member is a connecting plate extending inward from an edge of the wheel body.

5. The walking robot of claim 4, wherein the wheel body is made of aluminum alloy, a rubber layer is arranged on the periphery of the wheel body, and anti-skid patterns are arranged on the rubber layer.

6. The walking robot of claim 1, wherein the wheel body comprises a plurality of arc-shaped plates arranged circumferentially, the connecting side member comprises a plurality of leg units arranged in a spoke shape, the number of the leg units is equal to the number of the arc-shaped plates, the leg units comprise a first leg rod and a second leg rod hinged to each other, the inner end of the first leg rod is fixed on the output shaft, the outer end of the second leg rod is hinged to the inner side surface of the arc-shaped plate, a first expansion spring is connected in an included angle between the first leg rod and the second leg rod, a second expansion spring is connected in an included angle between the second leg rod and the arc-shaped plate, and the first expansion spring and the second expansion spring are located on two sides of the second leg rod.

7. The walking robot of claim 6, wherein the number of the connecting side members is two, the two connecting side members are symmetrically distributed on two sides of the wheel body, the output shaft penetrates through the driving mechanism, two ends of the output shaft are fixed with the connecting side members on two sides, and outer ends of the second leg levers oppositely arranged on two sides of the wheel body are hinged to the same arc-shaped plate.

8. The walking robot of claim 1, wherein the walking control system comprises a hand-held remote controller, a control line is connected between the hand-held remote controller and the controller, and the number of the connecting side members is one.

9. The walking robot of claim 1, wherein the walking control system comprises a hand-held remote controller, and a remote control signal receiver is provided on the first connecting rod, and transmits the received command signal from the hand-held remote controller to the controller.