CN219312907U

CN219312907U - Walking robot

Info

Publication number: CN219312907U
Application number: CN202320453130.5U
Authority: CN
Inventors: 张坤广
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-03-11
Filing date: 2023-03-11
Publication date: 2023-07-07
Anticipated expiration: 2033-03-11

Abstract

The utility model discloses a walking robot, which comprises a wheel body, wherein the side surface of the wheel body is provided with a connecting side piece, 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 also arranged on the driving mechanism, a propeller is arranged at the outer end of the second connecting rod, the novel electric motor is characterized in that a first motor for driving the propeller to rotate is further arranged on the second connecting rod, an included angle between the connecting line from the integral center of gravity of the first connecting rod to the output shaft and the connecting line from the propeller to the output shaft, which is positioned in front, is A,135 degrees or more, and is not more than 315 degrees, and the novel electric motor further comprises a controller, a gyroscope sensor and a walking control system, wherein the battery provides electric quantity for the first motor, the driving mechanism, the controller and the gyroscope sensor. The utility model has the advantages of reasonable structural layout and good road passing performance.

Description

Walking robot

Technical Field

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

Background

With the progress of technology and the pursuit of people for high-quality life, more and more household devices or toys are invented, but still cannot meet the demands of people. For example, with the reduction of the birth population in China, the population gradually enters the negative growth age, and the 'solitary' becomes the living state of more and more people, so people need a robot which can run and walk along with the robot, and the existing walking robot has complex structure, high cost and poor road passing performance.

Therefore, there is a need for a walking robot with reasonable structural layout and good road passing performance.

Disclosure of Invention

In order to make up for the defects of the prior art, the utility model provides the walking robot which is reasonable in structural layout and good in road passing performance, so as to solve the problems in the prior art.

The utility model is realized by the following technical scheme:

the 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 the axis of the wheel body and points to 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 also 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 also arranged on the second connecting rod, an included angle between the connecting line of the integral center of gravity of the first connecting rod and the battery to the connecting line of the propeller to the output shaft is A, the included angle between the connecting line of the integral center of gravity of the battery and the connecting line of the propeller to the output shaft is not more than 135 degrees, the angle A is not more than 315 degrees, a controller is respectively arranged on the driving mechanism, a gyroscope sensor is arranged on the first connecting rod, the gyroscope sensor transmits inclination angle data of the first connecting rod to the controller, and a walking control system transmits an instruction signal to the walking control system; the battery provides electric quantity for the first motor, the driving mechanism, the controller and the gyroscope sensor; the total weight of the battery and 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 total weight of the second connecting rod, the first motor and the propeller is G2, and the distance between the gravity centers of the second connecting rod, the first motor and the propeller and the output shaft is L2, wherein G1×L1>1.3×G2×L2.

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

Further preferably, the driving mechanism comprises a speed reducer arranged 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 both fixed on the speed reducer.

Further preferably, the wheel body is a circular ring body, and the connecting side piece 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 patterns are arranged on the rubber layer.

Further preferably, the wheel body comprises a plurality of arc plates which are circumferentially distributed, the connecting side piece 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 plates, the leg units comprise a first supporting leg rod and a second supporting leg rod which are mutually hinged, the inner end of the first supporting leg rod is fixed on the output shaft, the outer end of the second supporting leg rod is hinged on the inner side surface of the arc plate, a first telescopic spring is connected in an included angle between the first supporting leg rod and the second supporting leg rod, a second telescopic spring is connected in an included angle between the second supporting leg rod and the arc plates, and the first telescopic spring and the second telescopic spring are positioned on two sides of the second supporting leg rod.

Further preferably, the number of the connecting side pieces is two, the two connecting side pieces 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 pieces on two sides respectively, and the outer ends of the second supporting leg rods which are oppositely arranged on two sides of the wheel body are hinged to the same arc plate.

Further 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 connected side pieces is one.

Further preferably, the walking control system comprises a handheld remote controller, and a remote control signal receiver is arranged on the first connecting rod and transmits a received command signal sent by the handheld remote controller to the controller.

The beneficial effects of the utility model are as follows:

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 the output shaft cannot jolt up and down when the wheel body rolls on a road surface. Since g1×l1>1.3×g2×l2, the battery is always located below by gravity, thereby avoiding the "idle" phenomenon of the driving mechanism.

2. Under the drive of the driving mechanism, when the lower end of the first connecting rod swings forwards, a forward moving thrust is provided for the robot, when the lower end of the first connecting rod swings backwards, a backward moving thrust (or deceleration) is provided for the robot, and in addition, the larger the swinging angle of the lower end of the first connecting rod is, the stronger the thrust is provided for the robot. The gyro 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-rear direction according to the inclination angle data of the first connecting rod. When the walking control system gives an acceleration or deceleration instruction, the controller can be realized by adjusting the inclination angle of the first connecting rod.

3. After the left-right inclination angle of the robot is obtained through the gyroscope sensor, the robot keeps balanced straight running or stable turning by virtue of the moment of inertia of the wheel body and the lateral force provided by the propeller, and can keep the vertical running state even if the wheel body is narrower, so that whether the wheel body can independently vertically run does not affect the function of the robot, but if the wheel body is narrower, an initial speed is needed when the robot starts to run; while the tire is wide, this problem does not exist 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 for the robot to tilt the wheel body sideways by a certain angle. In addition, since the robot is of a single-wheel structure, moment of inertia is necessarily generated when the wheel body rotates, and when the screw propeller is located at the front side of the wheel body (generally, a <180 ° but when the first connecting rod is inclined, the first connecting rod may slightly float), the lateral force generated by the moment of inertia is opposite to the lateral force generated by the screw propeller, particularly when the included angle a <135 °, the ability of turning and maintaining balance is very weak, so the present patent limits the included angle a to 135 ° or more. In contrast, when the propeller is located at the rear side of the wheel body (generally, a >180 ° is referred to, but when the first connecting rod is inclined, the first connecting rod may slightly float), the lateral force generated by the moment of inertia is the same as the lateral force generated by the propeller, so that the wheel body has better stability, and further normal turning of the wheel body is realized. But when a >315 °, the propeller is at an extremely low position, it is insufficient to generate enough lateral force to maintain balance and turning of the wheel body, and therefore, the angle of a is defined as: a is more than or equal to 135 degrees and less than or equal to 315 degrees, and can be specifically discussed by the following formula:

total lateral force= (R-lxcos θ) ×f-fsin θ×l=f× (R-lxcos θ -sinθ×l) =f× (R-lx (cos θ+sinθ))

Wherein: r is the radius of the wheel body, L is the distance from the axis 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 of the axis 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 of the total lateral force; when the angle theta is less than or equal to 135 degrees and less than 225 degrees, the total lateral force is continuously increased; when θ=225°, the total lateral force is maximum, and the cornering effect is the best; when 225 ° < θ <315 °, the total lateral force is continuously reduced; there is also a negative effect of total lateral force when 315 ° < θ <360 °.

5. The wheel body in the walking robot is arranged on the periphery, so that the radius specification is large, and the walking robot has better road trafficability.

In conclusion, the utility model has the advantages of reasonable structural layout and good road passing performance, and is suitable for wide popularization and application.

Drawings

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

FIG. 2 is a schematic view of a portion of a structure of a first embodiment of the present utility model;

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

fig. 4 is a schematic perspective view of a second embodiment of the present utility model;

fig. 5 is a schematic diagram of a part of the structure of a second embodiment of the present utility model.

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

Detailed Description

In order to clearly illustrate the technical characteristics of the technical scheme, the present utility model will be described in detail below by means of specific embodiments 1-2 in combination with the accompanying drawings.

Examples

Referring to fig. 1-3, the present embodiment provides a walking robot, including a wheel body 1, a connecting side part 2 is provided on a side surface of the wheel body 1, an output shaft 3 is fixed on the connecting side part 2, the output shaft 3 is located on an axis of the wheel body 1 and points to the wheel body 1, a driving mechanism 4 for driving the output shaft 3 to rotate is provided on the output shaft 3, a first connecting rod 5 downward is provided on the driving mechanism 4, a battery 6 is provided at a lower end of the first connecting rod 5, a second connecting rod 7 is further provided on the driving mechanism 4, a first motor 8 and a propeller 9 driven by the first motor 8 are provided at an outer end of the second connecting rod 7, an axis of the propeller 9 is parallel to an axis of the wheel body 1, an included angle a between the first connecting rod 5 and the second connecting rod 7 is a, a=180°, the controller 10 outputs control signals to the first motor 8 and the driving mechanism 4, a gyro sensor 11 is provided on the first connecting rod 5, and the gyro sensor 11 transmits the control signals to the gyro sensor 10, and the control system 12 transmits the control signals to the gyro sensor 10; the battery 6 provides electricity 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 first connecting rod 5 is G1, the distance between the gravity center of the battery 6 and 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, and the distance between the gravity center of the second connecting rod 7, the first motor 8 and the propeller 9 and the output shaft is L2, g1×l1=3×g2×l2. The driving mechanism 4 comprises a speed reducer 13 arranged on the output shaft 3, and a second motor 14 for driving the speed reducer 13 to rotate, and the first connecting rod 5 and the second connecting rod 7 are both fixed on the speed reducer 13. The wheel body 1 is a circular ring body, and the connecting side piece 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 patterns 16 are arranged on the rubber layer 15. The walking control system 12 includes a hand-held remote controller 23, and a control line 24 is connected between the hand-held remote controller 23 and the controller 10, and the number of the connection side members 2 is one.

Working principle: 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 receives the instruction signal and then sends a control signal to the second motor 14, and the lower end of the first connecting rod 5 swings forward under the driving of the second motor 14, so that the gravity center of the whole walking robot moves forward, and the walking robot accelerates forward. Conversely, when the deceleration is required, the lower end of the first connecting rod 5 can be controlled to swing backward, thereby realizing the deceleration. The gyro sensor 11 is arranged such that the controller 10 monitors the inclination angle of the first connecting rod 5 at all times. In the present embodiment, g1×l1 is equal to g2×l2, which is three times, 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, which can provide the present walking robot with a larger forward driving force.

When the walking robot needs to turn to the left, the walking control system 12, the control line 24 and the controller 10 can control the first motor 8 to rotate so as to drive the propeller 9 to rotate, a left lateral force is provided for the wheel body 1, the wheel body 1 can incline to the left by a certain angle under the pushing of the lateral force, and besides the lateral force, the moment of inertia of the wheel body 1 can also generate a lateral force under the action of the two lateral forces, so that the left turning is realized. If the user needs to turn right, the reason is the same. When the walking robot normally walks (i.e. does not accelerate and does not decelerate), the first connecting rod 5 can incline to the front side by a certain angle in order to overcome wind resistance, generally speaking, the faster the speed is, the larger the wind resistance is, and the larger the inclined angle is, the more hollow structure is arranged on the wheel body 1, so that the wind resistance is reduced.

The wheel body 1 is of a structural design made of aluminum alloy, so that the wheel body is guaranteed to have certain structural strength, certain weight and stable running moment of inertia are also guaranteed, and the running stability of the running robot is guaranteed. The rubber layer 15 can enable the walking robot to have a better damping effect. The anti-skid pattern 16 may improve grip. The number of the connection side members 2 is one, and the control wire 24 is prevented from being wound therein.

Examples

Referring to fig. 4-5, the present embodiment also provides a walking robot, the wheel body 1 includes a plurality of arc plates 17 that are circumferentially arranged, the connecting side member 2 includes a plurality of leg units 18 that are spoke-shaped and arranged, the number of the leg units 18 is equal to that of the arc plates 17, the leg units 18 include a first leg rod 19 and a second leg rod 20 that are hinged to each other, an inner end of the first leg rod 19 is fixed on the output shaft 3, an outer end of the second leg rod 20 is hinged on an inner side surface of the arc plate 17, a first expansion spring 21 is connected in an included angle between the first leg rod 19 and the second leg rod 20, a second expansion spring 22 is connected in an included angle between the second leg rod 20 and the arc plates 17, and the first expansion spring 21 and the second expansion 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 symmetrically distributed on two sides of the wheel body 1 respectively, the output shaft 3 penetrates through the driving mechanism 4, two ends of the output shaft 3 are fixed with the connecting side pieces 2 on two sides respectively, 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 to the same arc-shaped plate 17. The walking control system 12 comprises a hand-held 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 command signal sent by the hand-held remote controller 23 to the controller 10. Other structures are identical to those of the first embodiment, and will not be described again.

Working principle: the combined structure design of the first leg bar 19, the second leg bar 20, the arc plate 17, the first telescopic spring 21 and the second telescopic spring 22 enables the walking robot to have a certain elasticity in the front-back direction and a certain telescopic elasticity in the radius direction. Therefore, the walking robot has a strong damping function and road trafficability. The number of the connecting side members 2 in the second embodiment is two, and may be one (if one is used, weight balance in the left-right direction should be ensured during design). The wind resistance of the embodiment is reduced by the structural design. The other aspects operate in the same manner as in the first embodiment.

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

The present utility model is not described in detail in the present application, and is well known to those skilled in the art. Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present utility model, which is intended to be covered by the scope of the claims of the present utility model.

Claims

1. The walking robot is characterized by comprising 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 the axis of the wheel body and points to 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 center of gravity of the first connecting rod and the battery from the output shaft to the connecting line of the propeller from the output shaft is A, an included angle between the connecting line of the first connecting rod and the connecting line of the propeller from the output shaft is 135 degrees A and is less than or equal to 315 degrees, the controller outputs control signals to the first motor and the driving mechanism respectively, a gyroscope sensor is arranged on the first connecting rod, the gyroscope sensor transmits the inclination angle of the first connecting rod to the controller, and the walking system transmits the walking signals to the controller; the battery provides electric quantity for the first motor, the driving mechanism, the controller and the gyroscope sensor; the total weight of the battery and 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 total weight of the second connecting rod, the first motor and the propeller is G2, and the distance between the gravity centers of the second connecting rod, the first motor and the propeller and the output shaft is L2, wherein G1×L1>1.3×G2×L2.

2. The walking robot of claim 1, wherein 180 ° or more a or less 270 °.

3. The walking robot of claim 1, wherein the driving mechanism comprises a speed reducer arranged 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 both fixed on 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 plates which are circumferentially arranged, the connecting side piece 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 plates, the leg units comprise a first leg rod and a second leg rod which are mutually hinged, the inner end of the first leg rod is fixed on the output shaft, the outer end of the second leg rod is hinged on the inner side surface of the arc plates, a first telescopic spring is connected in an included angle between the first leg rod and the second leg rod, a second telescopic spring is connected in an included angle between the second leg rod and the arc plates, and the first telescopic spring and the second telescopic spring are positioned on two sides of the second leg rod.

7. The walking robot of claim 6, wherein the number of the connecting side pieces is two, the two connecting side pieces 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 pieces on two sides respectively, and outer ends of the second support leg rods which are oppositely arranged on two sides of the wheel body are hinged on 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 connection 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 sent by the hand-held remote controller to the controller.