CN215361591U

CN215361591U - High-performance three-degree-of-freedom robot walking mechanism

Info

Publication number: CN215361591U
Application number: CN202120770431.1U
Authority: CN
Inventors: 郑荣富
Original assignee: Shenzhen Yijiashun Hardware Products Co ltd
Current assignee: Shenzhen Yijiashun Hardware Products Co ltd
Priority date: 2021-04-15
Filing date: 2021-04-15
Publication date: 2021-12-31
Anticipated expiration: 2031-04-15

Abstract

The utility model discloses a high-performance three-degree-of-freedom robot walking mechanism, which belongs to the technical field of robot walking and comprises an intelligent robot, wherein the intelligent robot is formed by combining a shell assembly and a walking mechanism assembly, the shell assembly is assembled above the walking mechanism assembly, and the middle part of the shell assembly is assembled inside the shell assembly; the first motor of both sides rotates and drives the driving gear and rotate and drive driven gear and rotate, second linkage shaft and driven gear that can make one side through the chain rotate simultaneously, again through first linkage shaft and fifth linkage shaft, the rotation of second linkage shaft and fourth linkage shaft is connected, thereby can make the track at both ends remove the effect that realizes turning around to the opposite direction, again through the shrink of cylinder, can upwards lift the first linkage shaft at both ends, and connect through the rotation at gag lever post both ends, can make both ends lift and rotate, thereby reach the angle of adjustment both ends track, thereby through the topography of more complicacy.

Description

High-performance three-degree-of-freedom robot walking mechanism

Technical Field

The utility model belongs to the technical field of robot walking, and particularly relates to a high-performance three-degree-of-freedom robot walking mechanism.

Background

With the development of science and technology, robots are increasingly used in various fields. For example, the engineering robot can play a great role in disaster search and rescue, patrol and reconnaissance, anti-terrorism maintenance, battlefield rescue, logistics support and the like. In the current market, the travelling mechanism of the engineering robot mostly adopts a wheel type or a crawler type. The crawler type travelling mechanism has strong obstacle crossing capability, but has the defects of heavy body, low travelling speed, difficulty in turning, poor maneuverability and the like. The other type is a wheel type walking mechanism which is generally mainly composed of four walking wheels, has the characteristics of light weight, high speed and flexibility, and in order to enable the walking mechanism of the robot to have the advantages of wheel type walking mechanisms and crawler type walking mechanisms simultaneously so as to improve the application range of the walking mechanism of the robot, the walking mechanism of the robot with various novel structures appears in the prior art.

However, when the existing robot walking mechanism faces complex terrains such as steps, stairs, gullies, steep slopes and the like, the obstacle crossing performance and the stability of the existing robot walking mechanism are poor, and the existing robot walking mechanism cannot adapt to various terrains.

SUMMERY OF THE UTILITY MODEL

The utility model provides a high-performance three-degree-of-freedom robot walking mechanism, which comprises an intelligent robot, wherein the intelligent robot is formed by combining a shell assembly and a walking mechanism assembly, and the components are matched for use, so that the problems of poor obstacle crossing performance, poor stability and incapability of adapting to various terrains when the robot walking mechanism faces complex terrains such as steps, stairs, gullies, steep slopes and the like can be effectively solved.

In order to solve the above problems, the present invention adopts the following technical solutions.

A high-performance three-degree-of-freedom robot walking mechanism comprises an intelligent robot, wherein the intelligent robot is formed by combining a shell assembly and a walking mechanism assembly, the shell assembly is assembled above the walking mechanism assembly, and the middle part of the shell assembly is assembled inside the shell assembly; the shell assembly include the casing, the casing up end be provided with the filtration mesh, and the front of casing is provided with the camera, the left and right sides of casing is close to the symmetry on the position at both ends and is provided with the mounting groove, and the inboard that is close to both sides mounting groove is provided with two mounting holes about and about the symmetry, is provided with the through-hole of symmetry in the middle of the mounting groove of both sides. Can shoot the place ahead highway section through the camera for the controller can observe the place ahead highway section, can dispel the heat and prevent that outside dust from getting into the casing inside through filtering the mesh hole, again through mounting groove, through-hole and through-hole, be used for assembling running gear assembly.

Preferably, mounting groove, mounting hole and through-hole all pierce through the outer wall of casing, just the inside position that is close to the top of casing on be provided with first motor, the lower driving gear that is equipped with of first motor, and one side of first motor still be provided with the second motor, just the second motor also be equipped with the driving gear. Through first linkage shaft and fifth linkage shaft, rotate between second linkage shaft and the fourth linkage shaft and be connected for make the track of both sides can move toward not equidirectional when first motor and the rotation of second motor, thereby realize the effect of turning around.

Preferably, the inside outside both sides that lean on of casing be provided with the cylinder, and the below of cylinder is equipped with the ring shape snap ring and is connected with the running gear assembly below.

Preferably, the running gear assembly include the track, running gear assembly both sides be equipped with the track of symmetry, and track inside assembly has four axis of rotation, be equipped with first universal driving shaft and fifth universal driving shaft between the axis of rotation of both sides in the outside, and first universal driving shaft and fifth universal driving shaft rotate to be connected, be equipped with second universal driving shaft and fourth universal driving shaft between the axis of rotation of both sides in the innermost, and second universal driving shaft and fourth universal driving shaft rotate to be connected, be equipped with two driven gears on every second universal driving shaft, and connect through the chain between the driven gear of assembling on every two second universal driving shafts, and be provided with the gag lever post of symmetry about the inboard of axis of rotation of both sides in the outside, and the gag lever post inserts in the circular snap ring of cylinder below. The round snap ring connected below the cylinder is inserted into the limiting rod, so that the rotation of the limiting rod and the crawler is not influenced when the limiting rod is lifted.

Preferably, the driving gear and the driven gear which are assembled on the first motor and the second motor are clamped, the first linkage shaft and the fifth linkage shaft penetrate through the mounting groove and are fixedly connected with the lower end of the cylinder in the shell, the second linkage shaft and the fifth linkage shaft penetrate through the through hole, and the limiting rod penetrates through the mounting hole.

Preferably, the gag lever post include the mobile jib, mobile jib one end be equipped with the loop bar, the one end of loop bar is equipped with the turning block, and the mobile jib both ends are equipped with the dwang, dwang one end is provided with rotates the hole, the loop bar inserts and rotates the hole.

Preferably, still including clearance roadblock subassembly, the positive position that is close to the below of casing on assemble the clearance board, clearance board bottom be close to the intermediate position and be equipped with the assembly plate of symmetry, and be equipped with the pivot between the assembly plate, be equipped with the connecting axle on the position that clearance board bottom is close to one side, and the connecting axle is connected with the positive bottom of casing.

Preferably, the telescopic rod is obliquely assembled at a position of the shell close to the bottom, and the upper end of the telescopic rod is connected with the rotating shaft.

Advantageous effects

Compared with the prior art, the utility model has the beneficial effects that:

(1) according to the utility model, the first motors on two sides rotate to drive the driving gear to rotate and drive the driven gear to rotate, the second linkage shaft and the driven gear on one side can simultaneously rotate through the chain, the second linkage shaft and the fourth linkage shaft are rotatably connected through the first linkage shaft and the fifth linkage shaft, the crawler belts on two ends can move in opposite directions, the effect of turning around can be realized, the first linkage shafts on two ends can be upwards lifted through the contraction of the cylinder, and the crawler belts cannot fall off when being lifted or falling through the limiting rod, so that the angle of the crawler belts on two ends can be adjusted, and more complex terrains can be passed through.

(2) According to the utility model, the angle of the cleaning plate can be adjusted by the telescopic rod, so that the cleaning plate can fall down when a front roadblock needs to be cleaned, the front roadblock is shoveled, and the cleaning plate is lifted when the front roadblock does not need to be cleaned.

Drawings

FIG. 1 is a schematic structural diagram of a high-performance three-degree-of-freedom robot walking mechanism in the present invention;

FIG. 2 is a schematic view of the housing assembly of the present invention;

FIG. 3 is a front internal view of the housing assembly of the present invention;

FIG. 4 is a schematic side view of the internal structure of the housing assembly of the present invention;

FIG. 5 is a schematic view of the structure of the traveling mechanism assembly according to the present invention;

FIG. 6 is a schematic view of a stop lever according to the present invention;

FIG. 7 is a schematic view of the roadblock cleaning assembly of the present invention;

FIG. 8 is a schematic diagram of a cleaning plate according to the present invention;

fig. 9 is a schematic view of the telescopic rod assembly structure of the present invention.

The corresponding relationship between the reference numbers of the figures and the names of the components in the figures is as follows:

1. an intelligent robot;

2. a housing assembly; 21. a housing; 22. a camera; 23. mounting grooves; 24. mounting holes; 25. a through hole;

26. filtering meshes; 27. a first motor; 28. a driving gear; 29. a cylinder; 210. a second motor;

3. a traveling mechanism assembly; 31. a crawler belt; 32. a rotating shaft; 33. a first linkage shaft; 34. a second linkage shaft;

35. a driven gear; 36. a chain; 37. a limiting rod; 371. rotating the rod; 372. rotating the hole; 373. rotating the block;

374. a loop bar; 375. a main rod; 38. a third coupling shaft; 39. a fourth linking shaft; 310. a fifth linking shaft;

4. clearing the roadblock assembly; 41. cleaning the plate; 42. assembling a plate; 43. a rotating shaft; 44. a connecting shaft; 45. a telescopic rod.

Detailed Description

The utility model is further described below in connection with specific embodiments.

Example 1

As shown in fig. 1, which is a schematic structural diagram of a high-performance three-degree-of-freedom robot walking mechanism according to a preferred embodiment of the present invention, the high-performance three-degree-of-freedom robot walking mechanism of the present embodiment includes an intelligent robot 1, where the intelligent robot 1 is formed by combining a housing assembly 2 and a walking mechanism assembly 3, the housing assembly 2 is assembled above the walking mechanism assembly 3, and a middle portion of the housing assembly 2 is assembled inside the housing assembly 2.

As shown in fig. 2-4, which are schematic structural diagrams of the housing assembly of the present invention, the housing assembly 2 includes a housing 21, a filter mesh 26 is disposed on an upper end surface of the housing 21, a camera 22 is disposed on a front surface of the housing 21, mounting grooves 23 are symmetrically disposed on positions of left and right sides of the housing 21 near two ends, two symmetrical upper and lower and left and right mounting holes 24 are disposed on inner sides of the mounting grooves 23 near two sides, and a symmetrical through hole 25 is disposed in a middle of the mounting grooves 23 at two sides. The inside can be dispelled the heat through filtering the mesh.

The mounting groove 23, the mounting hole 24 and the through hole 25 all penetrate through the outer wall of the housing 21, a first motor 27 is arranged in the housing 21 near the top, a driving gear 28 is arranged below the first motor 27, a second motor 210 is arranged on one side of the first motor 27, and the driving gear 28 is also arranged on the second motor 210. The intelligent robot 1 can move and turn freely through the rotation of the first motor 27 and the second motor 28 and the gear engagement of the driving gear 28 and the traveling mechanism assembly 3.

And cylinders 29 are arranged on two sides of the interior of the shell 21 close to the outside, and a circular ring-shaped snap ring is assembled below the cylinders 29 and is connected with the lower travelling mechanism assembly 3.

As shown in fig. 5, which is a schematic structural view of the running gear assembly of the present invention, the running gear assembly 3 includes tracks 31, symmetrical tracks 31 are mounted on both sides of the running gear assembly 3, and four rotating shafts 32 are assembled inside the caterpillar 31, a first linkage shaft 33 and a fifth linkage shaft 310 are assembled between the rotating shafts 32 on the two outermost sides, and the first linkage shaft 33 is rotatably connected with the fifth linkage shaft 310, the second linkage shaft 34 and the fourth linkage shaft 39 are assembled between the rotation shafts 32 at the innermost two sides, and the second linking shafts 34 and the fourth linking shafts 39 are rotatably connected, each second linking shaft 34 is provided with two driven gears 35, and the driven gears 35 mounted on each of the two second coupling shafts 34 are connected by a chain 36, and the inner sides of the two rotating shafts 32 at the outermost sides are provided with symmetrical limiting rods 37 up and down, and the limiting rods 37 are inserted into the circular snap rings below the cylinder 29. Through the first linkage shaft 33 and the fifth linkage shaft 310, the second linkage shaft 34 and the fourth linkage shaft 39 are rotatably connected, so that the tracks 31 on two sides can move in different directions when the first motor 27 and the second motor 28 rotate, and the turning function is realized.

The driving gear 28 assembled on the first motor 27 and the second motor 210 is clamped with the driven gear 35, the first linkage shaft 33 and the fifth linkage shaft 310 pass through the mounting groove 23 and are fixedly connected with the lower end of the cylinder 29 in the shell 21, the second linkage shaft 34 and the fifth linkage shaft 310 pass through the through hole 25, and the limiting rod 37 passes through the mounting hole 24.

As shown in fig. 6, which is a schematic diagram of the structure of the stop lever according to the present invention, the stop lever 37 includes a main lever 375, a sleeve lever 374 is assembled at one end of the main lever 375, a rotating block 373 is assembled at one end of the sleeve lever 374, rotating levers 371 are assembled at two ends of the main lever 375, a rotating hole 372 is formed at one end of the rotating lever 371, and the sleeve lever 374 is inserted into the rotating hole 372.

The working principle is as follows: the first motors 27 on the two sides rotate to drive the driving gear 28 to rotate and drive the driven gear 35 to rotate, the second linkage shaft 34 and the driven gear 35 on one side can rotate simultaneously through the chain 36, the second linkage shaft 34 and the fourth linkage shaft 39 are connected in a rotating mode through the first linkage shaft 33 and the fifth linkage shaft 310, the crawler belts 31 on the two ends can move in the opposite direction, the effect of turning around can be achieved, the first linkage shafts 33 on the two ends can be lifted upwards through the contraction of the cylinders 29, the crawler belts 31 cannot fall off when being lifted or falling through the limiting rods 37, the angle of the crawler belts 31 on the two ends can be adjusted, and the more complex terrain can be obtained.

Example 2

As shown in fig. 7-9, which are schematic structural diagrams of a high performance three-degree-of-freedom robot walking mechanism according to another preferred embodiment of the present invention, a cleaning obstacle assembly 4 is added to the high performance three-degree-of-freedom robot walking mechanism according to the embodiment of the present invention, a cleaning plate 41 is assembled at a position close to a lower portion of a front surface of a housing 21, symmetrical assembly plates 42 are assembled at a position close to a middle portion of a bottom portion of the cleaning plate 41, a rotating shaft 43 is assembled between the assembly plates 42, a connecting shaft 44 is assembled at a position close to one side of a bottom portion of the cleaning plate 41, and the connecting shaft 44 is connected to a bottom portion of the front surface of the housing 21.

The casing 21 is provided with a telescopic rod 45 at a position close to the bottom in an inclined manner, and the upper end of the telescopic rod 45 is connected with the rotating shaft 43.

The working principle is as follows: the angle of the cleaning plate 41 can be adjusted by extending and retracting the telescopic rod 45. The front roadblock can fall down when the front roadblock needs to be cleared, the front roadblock is shoveled, and the front roadblock rises when the front roadblock does not need to be cleared.

While the utility model has been described in further detail in connection with specific embodiments thereof, it will be understood that the utility model is not limited thereto, and that various other modifications and substitutions may be made by those skilled in the art without departing from the spirit of the utility model, which should be considered to be within the scope of the utility model as defined by the appended claims.

Claims

1. A high-performance three-degree-of-freedom robot walking mechanism comprises an intelligent robot (1), wherein the intelligent robot (1) is formed by combining a shell assembly (2) and a walking mechanism assembly (3), the shell assembly (2) is assembled above the walking mechanism assembly (3), and the middle part of the shell assembly (2) is assembled in the shell assembly (2);

the method is characterized in that:

shell assembly (2) including casing (21), casing (21) up end be provided with filter mesh hole (26), and the front of casing (21) is provided with camera (22), the left and right sides of casing (21) is close to the position at both ends and goes up the symmetry and be provided with mounting groove (23), and the inboard that is close to both sides mounting groove (23) is provided with two mounting holes (24) about and about the upper and lower of symmetry, is provided with symmetrical through-hole (25) in the middle of both sides mounting groove (23).

2. The high-performance three-degree-of-freedom robot traveling mechanism according to claim 1, characterized in that: mounting groove (23), mounting hole (24) and through-hole (25) all pierce through the outer wall of casing (21), just casing (21) inside be provided with first motor (27) on being close to the position at top, be equipped with driving gear (28) down of first motor (27), and one side of first motor (27) still be provided with second motor (210), just second motor (210) also be equipped with driving gear (28).

3. The high-performance three-degree-of-freedom robot traveling mechanism according to claim 1, characterized in that: the inside both sides outside by of casing (21) be provided with cylinder (29), and the below of cylinder (29) is equipped with the ring shape snap ring and is connected with running gear assembly (3) of below.

4. The high-performance three-degree-of-freedom robot traveling mechanism according to claim 1, characterized in that: the walking mechanism assembly (3) comprises a crawler belt (31), the two sides of the walking mechanism assembly (3) are provided with symmetrical crawler belts (31), the crawler belts (31) are internally provided with four rotating shafts (32), a first linkage shaft (33) and a fifth linkage shaft (310) are arranged between the rotating shafts (32) on the two sides of the outermost side, the first linkage shaft (33) is rotatably connected with the fifth linkage shaft (310), a second linkage shaft (34) and a fourth linkage shaft (39) are arranged between the rotating shafts (32) on the two sides of the innermost side, the second linkage shaft (34) is rotatably connected with the fourth linkage shaft (39), each second linkage shaft (34) is provided with two driven gears (35), the driven gears (35) arranged on each two second linkage shafts (34) are connected through a chain (36), and the inner sides of the rotating shafts (32) on the two sides of the outermost side are provided with symmetrical limiting rods (37) up and down, and the limit rod (37) is inserted into the circular snap ring below the cylinder (29).

5. The high-performance three-degree-of-freedom robot traveling mechanism according to claim 2, characterized in that: the driving gear (28) and the driven gear (35) assembled on the first motor (27) and the second motor (210) are clamped, the first linkage shaft (33) and the fifth linkage shaft (310) penetrate through the mounting groove (23) and are fixedly connected with the lower end of the cylinder (29) in the shell (21), the second linkage shaft (34) and the fifth linkage shaft (310) penetrate through the through hole (25), and the limiting rod (37) penetrates through the mounting hole (24).

6. The high-performance three-degree-of-freedom robot traveling mechanism according to claim 4, characterized in that: gag lever post (37) include mobile jib (375), mobile jib (375) one end be equipped with loop bar (374), the one end of loop bar (374) is equipped with turning block (373), and mobile jib (375) both ends are equipped with dwang (371), dwang (371) one end is provided with rotates hole (372), loop bar (374) insert and rotate hole (372).

7. The high-performance three-degree-of-freedom robot traveling mechanism according to claim 1, characterized in that: still including clearance roadblock subassembly (4), casing (21) openly be close to and be equipped with clearance board (41) on the position of below, clearance board (41) bottom be close to intermediate position and be equipped with assembly plate (42) of symmetry, and be equipped with pivot (43) between assembly plate (42), be equipped with connecting axle (44) on the position that clearance board (41) bottom is close to one side, and connecting axle (44) are connected with the positive bottom of casing (21).

8. The high-performance three-degree-of-freedom robot traveling mechanism according to claim 7, characterized in that: the casing (21) be close to the position of bottom on the slope be equipped with telescopic link (45), and the upper end and the pivot (43) of telescopic link (45) are connected.