CN220483445U

CN220483445U - Walking robot

Info

Publication number: CN220483445U
Application number: CN202321718011.4U
Authority: CN
Inventors: 张坤广
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-07-03
Filing date: 2023-07-03
Publication date: 2024-02-13
Anticipated expiration: 2033-07-03

Abstract

The utility model 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, the driving mechanism comprises a connecting body, a first connecting frame is arranged on the connecting body, a propeller is arranged at the outer end of the first connecting frame, and a first motor for driving the propeller to rotate is also arranged on the first connecting frame; the connecting body is also provided with a second connecting frame, the outer end of the second connecting frame is provided with a battery and a second motor, and a transmission part is arranged between the second motor and the output shaft; the included angle between the connecting line from the integral center of gravity of the second connecting frame, the battery, the second motor and the transmission part to the output shaft and the connecting line from the propeller to the output shaft at the front is A, and A is more than or equal to 135 degrees and less than or equal to 315 degrees. 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

The existing walking robot is generally of a multi-wheel structure and poor in passing performance. Even the walking robot with a single-wheel structure has a complex general structure and is excessively high in cost. 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, the driving mechanism comprises a connector, the output shaft is rotationally inserted on the connector, a first connecting frame is arranged on the connector, a propeller is arranged at the outer end of the first connecting frame, and a first motor for driving the propeller to rotate is further arranged on the first connecting frame; the connecting body is also provided with a second connecting frame, the outer end of the second connecting frame is provided with a battery and a second motor, and a transmission part is arranged between the second motor and the output shaft; the included angle between the connecting line from the integral center of gravity of the second connecting frame, the battery, the second motor and the transmission part to the output shaft and the connecting line from the propeller to the output shaft at the front is A, and A is more than or equal to 135 degrees and less than or equal to 315 degrees; the driving mechanism is also provided with a controller which outputs control signals for the first motor and the second motor respectively; the walking control system transmits the command signal to the controller; the battery provides electricity for the first motor, the second motor and the controller; the total gravity sum of the second connecting frame, the battery, the second motor and the transmission piece is G1, the distance between the whole gravity center of the second connecting frame, the battery, the second motor and the transmission piece and the output shaft is L1, the total gravity sum of the first connecting frame, the first motor and the propeller is G2, and the distance between the whole gravity center of the first connecting frame, the first motor and the propeller and the output shaft is L2, wherein G1×L1> 1.3XG2×L2.

Further preferably, the angle of inclination of the driving mechanism in the front-rear direction and the left-right direction is transmitted to the controller by a gyroscope sensor which is arranged on the driving mechanism, wherein the angle of inclination of the driving mechanism in the front-rear direction and the left-right direction is larger than or equal to 180 degrees and smaller than or equal to 270 degrees.

Further preferably, the transmission member includes a first bevel gear disposed on the output shaft, a first transmission rod driven by the second motor and extending upward, and a second bevel gear disposed at an upper end of the first transmission rod and meshed with the first bevel gear.

Further preferably, the radius of the first bevel gear is greater than the radius of the second bevel gear.

Further preferably, the transmission member comprises a worm wheel arranged on the output shaft, and a second transmission rod driven by the second motor and extending upwards, wherein a worm is arranged at the upper end of the second transmission rod, and the worm wheel is meshed with the worm.

Further preferably, the transmission member comprises a third transmission rod driven by the second motor and extending upwards, and a differential gear box is connected between the upper end of the third transmission rod and the output shaft.

Further preferably, the second connecting frame is a hollow pipe body, and the first transmission rod, the second transmission rod and the third transmission rod extend upwards in the hollow pipe body.

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; 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 number of the connecting side pieces is two, the two connecting side pieces are respectively positioned at two sides of the wheel body, and the output shaft penetrates through the driving mechanism; the walking control system comprises a handheld remote controller, a remote control signal receiver is arranged on the driving mechanism, and the remote control signal receiver transmits a received instruction signal sent by the handheld remote controller to the controller.

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 connecting side pieces is one; the blades of the propeller are straight-plate-shaped blades, and the included angle between the straight-plate-shaped blades and the rotating axis of the propeller is 45 degrees.

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 the gravity of the battery, the second connecting frame, the second motor, the transmission member and the like is large, and g1×l1>1.3×g2×l2, when the robot is in an upright state, the second connecting frame is always positioned below, so that the phenomenon of idle running of the driving mechanism is avoided.

2. Under the drive of the driving mechanism, when the lower end of the second connecting frame swings forwards, a forward moving thrust is provided for the robot, and when the lower end of the second connecting frame swings backwards, a backward moving thrust (or speed reduction) is provided for the robot, and in addition, the larger the swinging angle of the lower end of the second connecting frame is, the stronger the thrust is provided for the robot. Therefore, when the walking control system transmits a command signal to the controller, the controller can control the rotation direction and the rotation speed of the second motor, and the second motor drives the output shaft to rotate through the transmission piece, so that the swing of the lower end of the second connecting frame is realized.

3. 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. Under the promotion of screw, the wheel body is when the left side slope, and this walking robot can turn left, and when the wheel body is to the right side slope, this walking robot can turn right. 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 °.

4. In order to ensure the balance of the walking robot, under the control of a walking control system and a controller, the rotating speed and the rotating direction of the first motor can be controlled, so that the rotating speed and the rotating direction of the propeller are controlled. When the walking robot inclines leftwards, the screw propeller can be controlled to rotate so as to provide a rightward force, and if the screw propeller is controlled to provide a leftward force, the walking robot is balanced in the vertical direction.

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 perspective view 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 third embodiment of the present utility model;

FIG. 5 is an enlarged schematic view of the structure of the portion B in FIG. 4;

fig. 6 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 connecting body, 6 is a first connecting frame, 7 is a propeller, 8 is a first motor, 9 is a second connecting frame, 10 is a battery, 11 is a second motor, 12 is a transmission piece, 13 is a controller, 14 is a walking control system, 15 is a gyroscope sensor, 16 is a first bevel gear, 17 is a first transmission rod, 18 is a second bevel gear, 19 is a worm wheel, 20 is a second transmission rod, 21 is a worm, 22 is a rubber layer, 23 is an anti-skid thread, 24 is a hand-held remote controller, and 25 is a control line.

Detailed Description

In order to clearly illustrate the technical features of the present technical solution, the present utility model will be described in detail below with reference to embodiments 1 to 3 and the accompanying drawings.

Example 1: referring to fig. 1-5, the present embodiment provides a walking robot, including a wheel body 1, a connecting side member 2 is disposed on a side surface of the wheel body 1, an output shaft 3 is fixed on the connecting side member 2, the output shaft 3 is located on an axis line 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 disposed on the output shaft 3, the driving mechanism 4 includes a connector 5, the output shaft 3 is rotatably inserted on the connector 5, a first connecting frame 6 is disposed on the connector 5, a propeller 7 is disposed at an outer end of the first connecting frame 6, and a first motor 8 for driving the propeller 7 to rotate is further disposed on the first connecting frame 6; the connecting body 5 is also provided with a second connecting frame 9, the outer end of the second connecting frame 9 is provided with a battery 10 and a second motor 11, and a transmission member 12 is arranged between the second motor 11 and the output shaft 3; the included angle between the connecting line from the integral center of gravity of the second connecting frame 9, the battery 10, the second motor 11 and the transmission piece 12 to the output shaft 3 and the connecting line from the propeller 7 to the output shaft 3 at the front is a, wherein a=180 degrees; the driving mechanism 4 is also provided with a controller 13, and the controller 13 outputs control signals to the first motor 8 and the second motor 11 respectively; the walking control system 14 is also included, and the walking control system 14 transmits command signals to the controller 13; the battery 10 supplies electric power to the first motor 8, the second motor 11 and the controller 13; the sum of the gravities of the second connecting frame 9, the battery 10, the second motor 11 and the transmission member 12 is G1, the distance between the whole gravity centers of the second connecting frame 9, the battery 10, the second motor 11 and the transmission member 12 and the output shaft 3 is L1, the sum of the gravities of the first connecting frame 6, the first motor 8 and the propeller 7 is G2, and the distance between the whole gravity centers of the first connecting frame 6, the first motor 8 and the propeller 7 and the output shaft 3 is L2, g1×l1=2×g2×l2.

A gyro sensor 15 is further provided on the driving mechanism 4, and the gyro sensor 15 transmits inclination angle data of the driving mechanism 4 in the front-rear direction and the left-right direction to the controller 13. The transmission member 12 comprises a first bevel gear 16 arranged on the output shaft 3, and a first transmission rod 17 driven by the second motor 11 and extending upwards, wherein a second bevel gear 18 is arranged at the upper end of the first transmission rod 17, and the second bevel gear 18 is meshed with the first bevel gear 16. The radius of the first bevel gear 16 is greater than the radius of the second bevel gear 18. The second connecting frame 9 is a hollow pipe body, and the first transmission rod 17 extends upwards in the hollow pipe body.

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 22 is arranged on the periphery of the wheel body 1, and anti-skid grains 23 are arranged on the rubber layer 22. The walking control system 14 comprises a hand-held remote controller 24, a control wire 25 is connected between the hand-held remote controller 24 and the controller 13, and the number of the connecting side pieces 2 is one; the blades of the propeller 7 are straight-plate blades, and the included angle between the straight-plate blades and the rotation axis of the propeller 7 is 45 degrees.

Working principle: when the walking robot needs to accelerate, the hand-held remote controller 24 is adjusted, the hand-held remote controller 24 transmits an instruction signal to the controller 13 through the control line 25, the controller 13 receives the instruction signal and then sends a control signal to the second motor 11, and under the driving of the second motor 11, the first transmission rod 17 rotates along with the second motor, so as to drive the second bevel gear 18 to rotate, and as the second bevel gear 18 is meshed with the first bevel gear 16, the output shaft 3 is driven to rotate, so that the acceleration is realized. The principle is the same when deceleration is required.

When the lower end of the second connecting frame 9 swings forward, the center of gravity of the whole walking robot moves forward, a forward thrust is provided for the walking robot, the walking robot can accelerate to move forward when the thrust is larger than the walking resistance, the walking robot can walk at a constant speed when the thrust is equal to the walking resistance, and the walking robot can decelerate gradually when the thrust is smaller than the walking resistance. Conversely, when the lower end of the second connecting frame 9 swings backwards, the center of gravity of the whole walking robot moves backwards, and a backward thrust is provided for the walking robot, and the thrust can slow down or backward when the walking robot moves forwards. When the walking control system gives an acceleration or deceleration instruction, the controller can be realized by adjusting the inclination angle of the second connecting frame 9.

In the present embodiment, g1×l1 is equal to two 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, which can provide the present walking robot with a larger forward driving force.

The gyro sensor 15 transmits the inclination angle data of the driving mechanism 4 to the controller 13, and the controller 13 calculates the stress state of the robot in the front-rear direction according to the inclination angle data, so that the automatic driving of the walking robot is better realized. In addition, the gyro sensor 15 can also detect the left-right inclination angle of the walking robot, the controller 13 can control the rotation of the propeller 7 according to the left-right inclination angle, and the robot can maintain balanced straight running or stable turning by means of the moment of inertia of the wheel body 1 and the lateral force provided by the propeller 7 after obtaining the left-right inclination angle through the gyro sensor 15, and can maintain the vertical walking state even if the wheel body 1 is narrower.

When the walking robot needs to turn to the left, the walking control system 14, the control line 25 and the controller 13 can control the first motor 8 to rotate and further drive the propeller 7 to rotate, so that 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 is walking normally (i.e. not accelerating and not decelerating), the second connecting frame 9 is inclined forward by a certain angle to overcome wind resistance, and in general, the faster the speed, the larger the wind resistance, and the larger the angle of inclination.

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 22 can enable the walking robot to have better damping effect. The grip of the skid-proof patterns 23 can be improved. The number of the connection side members 2 is one, and the control wire 25 is prevented from being wound therein.

The transmission member 12 makes it possible for the second motor 11 to be arranged at the outer end of the second coupling frame 9. Because the battery 10 and the second motor 11 are both arranged at the outer end, the gravity on one side of the second connecting frame 9 can be increased, the phenomenon of idle running of the driving mechanism 4 is avoided, and a larger driving force is provided for the walking robot. Meanwhile, the overall gravity center height of the walking robot can be reduced, so that the stability of the walking robot is improved.

The radius of the first bevel gear 16 is greater than the radius of the second bevel gear 18, which may act as a speed change, or torque force increase. The second connecting frame 9 is a hollow tube, so that the first transmission rod 17 is buried therein, thereby improving safety and aesthetic property. The blades of the propeller 7 are straight-plate blades, the included angle between the straight-plate blades and the rotation axis of the propeller 7 is 45 degrees, and the structural design enables the propeller 7 to provide thrust with the same strength when rotating in the forward and reverse directions.

Example 2: referring to fig. 6, the present embodiment provides a walking robot having substantially the same structure as the robot of the first embodiment, but the driving medium 12 of the walking robot includes a worm wheel 19 provided on the output shaft 3, a second driving rod 20 driven by the second motor 11 and protruding upward, and a worm 21 provided at an upper end of the second driving rod 20, the worm wheel 19 being engaged with the worm 21. The second connecting frame 9 is a hollow tube body, and the second transmission rod 20 extends upwards in the hollow tube body. The number of the connecting side pieces 2 is two, the two connecting side pieces 2 are respectively positioned at two sides of the wheel body 1, and the output shaft 3 penetrates through the driving mechanism 4; the walking control system 14 includes a hand-held remote controller 24, and a remote control signal receiver (not shown) is provided on the driving mechanism 4, and transmits a received command signal from the hand-held remote controller 24 to the controller 13.

The structural design of the worm wheel 19 and the worm 21 realizes the effects of reducing speed and increasing torque force. Compared with the arrangement of the control line 25, the remote control signal receiver enables an operator to control more conveniently without following the robot.

Example 3: the present embodiment provides a walking robot, which has a structure substantially the same as that of the robot of the second embodiment, but the transmission member 12 of the second embodiment includes a third transmission rod driven by the second motor 11 and extending upward, and a differential gear box is connected between the upper end of the third transmission rod and the output shaft 3. The second connecting frame 9 is a hollow tube body, and the third transmission rod extends upwards in the hollow tube body.

The differential gear box belongs to a conventional device in the field, and has the advantages of convenience in purchase and good stability.

In conclusion, the embodiment 1-3 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, 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 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, the driving mechanism comprises a connecting body, the output shaft is rotationally inserted on the connecting body, a first connecting frame is arranged on the connecting body, a screw is arranged at the outer end of the first connecting frame, and a first motor for driving the screw to rotate is further arranged on the first connecting frame; the connecting body is also provided with a second connecting frame, the outer end of the second connecting frame is provided with a battery and a second motor, and a transmission part is arranged between the second motor and the output shaft; the included angle between the connecting line from the integral center of gravity of the second connecting frame, the battery, the second motor and the transmission part to the output shaft and the connecting line from the propeller to the output shaft at the front is A, and A is more than or equal to 135 degrees and less than or equal to 315 degrees; the driving mechanism is also provided with a controller which outputs control signals for the first motor and the second motor respectively; the walking control system transmits the command signal to the controller; the battery provides electricity for the first motor, the second motor and the controller; the total gravity sum of the second connecting frame, the battery, the second motor and the transmission piece is G1, the distance between the whole gravity center of the second connecting frame, the battery, the second motor and the transmission piece and the output shaft is L1, the total gravity sum of the first connecting frame, the first motor and the propeller is G2, and the distance between the whole gravity center of the first connecting frame, the first motor and the propeller and the output shaft is L2, wherein G1×L1> 1.3XG2×L2.

2. The walking robot of claim 1, wherein 180 ° or more a or less 270 °, and a gyro sensor is further provided on the driving mechanism, and transmits inclination angle data of the driving mechanism in the front-rear direction and the left-right direction to the controller.

3. The walking robot as claimed in claim 1, wherein the transmission member comprises a first bevel gear provided on the output shaft, a first transmission rod driven by the second motor and protruding upward, and a second bevel gear provided at an upper end of the first transmission rod, the second bevel gear being engaged with the first bevel gear.

4. A walking robot as claimed in claim 3, wherein the radius of the first bevel gear is greater than the radius of the second bevel gear.

5. The walking robot as claimed in claim 1, wherein the transmission member comprises a worm wheel provided on the output shaft, a second transmission rod driven by the second motor and extending upward, and a worm screw provided at an upper end of the second transmission rod, the worm wheel being engaged with the worm screw.

6. The walking robot of claim 1, wherein the transmission member comprises a third transmission rod driven by the second motor and protruding upward, and a differential gear box is connected between an upper end of the third transmission rod and the output shaft.

7. The walking robot of any of claims 3-6, wherein the second connecting frame is a hollow tube, and the first transmission rod, the second transmission rod, and the third transmission rod extend upward in the hollow tube.

8. 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; 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.

9. The walking robot as claimed in claim 1, wherein the number of the connecting side members is two, the two connecting side members are respectively located at two sides of the wheel body, and the output shaft is disposed through the driving mechanism; the walking control system comprises a handheld remote controller, a remote control signal receiver is arranged on the driving mechanism, and the remote control signal receiver transmits a received instruction signal sent by the handheld remote controller to the controller.

10. 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 pieces is one; the blades of the propeller are straight-plate-shaped blades, and the included angle between the straight-plate-shaped blades and the rotating axis of the propeller is 45 degrees.