WO2021056619A1 - Transport robot - Google Patents
Transport robot Download PDFInfo
- Publication number
- WO2021056619A1 WO2021056619A1 PCT/CN2019/111118 CN2019111118W WO2021056619A1 WO 2021056619 A1 WO2021056619 A1 WO 2021056619A1 CN 2019111118 W CN2019111118 W CN 2019111118W WO 2021056619 A1 WO2021056619 A1 WO 2021056619A1
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- WIPO (PCT)
- Prior art keywords
- link
- eccentric
- plate body
- eccentric member
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Definitions
- the invention relates to a robot, in particular to a transportation robot used for toys or teaching.
- toy robots of various styles are not only favored by young people in the high-end teaching aids and toy market, but also can enhance young people’s innovative thinking and practical ability, and early thinking of children Development has also greatly improved and helped.
- problems such as walking coordination and production cost in biped robots.
- the invention provides a transportation robot, which can better solve the problems of robots in the prior art.
- a transportation robot and a motor, a transmission system and a walking mechanism arranged on the body, the robot is provided with a carrying device connected to the body;
- the transmission system includes a motor output shaft connected The output shaft gear, the main gear connected with the output shaft gear, the rotating shaft provided on the main gear, and two eccentric members passing through the rotating shaft are respectively provided at both ends of the rotating shaft, two The eccentric members are symmetrical around the intersection center O of the main gear and the rotating shaft;
- the walking mechanism includes a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod and The eccentric member is connected, the other end is rotatably connected with the upper end of the second link, one end of the third link is rotatably connected to the body, and the other end is rotatably connected with the upper end of the second link Connection; wherein when the eccentric member rotates, the first connecting rod, the second connecting rod, and the third connecting rod are driven to produce linkage; wherein the body is displaced by the walking
- the machine body includes a first plate body and a second plate body
- the main gear is installed between the first plate body and the second plate body
- the rotating shafts are respectively inserted through On the first board and the second board.
- the transportation robot includes a power supply, and the power supply is fixedly installed on the first board and the second board.
- first plate body and the second plate body are respectively provided with arm plates, and the arm plates are mounted on the first plate body and the second plate body in a plug-in manner on.
- the carrying device is a two-wheeled vehicle with a seat, the two-wheeled vehicle is provided with a rod, and the rod is connected with the arm plate.
- the transportation robot includes a battery arranged on the two-wheeled vehicle, and a wire is provided on the rod and the arm plate to connect the power source and the motor.
- the two eccentrics are symmetrical around the center O of the intersection of the main gear and the rotating shaft.
- the eccentric member includes a first eccentric member and a second eccentric member, and the first connecting rod is installed between the first eccentric member and the second eccentric member.
- the first link is in the shape of a thigh frame
- the second link is in the shape of a calf frame
- the lower end of the second link is hinged with a supporting foot.
- the transportation robot in the present invention imitates the movement structure of the human body, and can be used for teaching and research of young robots, and can also be used for children's play, with simple structure and low manufacturing cost.
- Figure 1 is a schematic diagram of the robot (1)
- Figure 2 is a schematic diagram of the robot (two);
- Figure 3 is a schematic diagram of the robot (three);
- Figure 4 is a schematic diagram of the structure of the transmission system and the walking mechanism (1);
- Figure 5 is a schematic diagram of the structure of the transmission system and the walking mechanism (2);
- Figure 6 is a schematic diagram of the structure of the transmission system and the walking mechanism (3);
- Fig. 7 is an enlarged schematic diagram of area A in Fig. 6;
- Figure 8 is a schematic diagram of the transmission system structure (1)
- Figure 9 is a schematic diagram of the transmission system structure (2).
- Figure 10 is a schematic diagram of the controller
- 100 is the body, 200 is the battery, 300 is the carrier, 400 is the smart terminal, 1 is the body, 2 is the motor, 3 is the transmission system, 4 is the traveling mechanism, 5 is the output shaft gear, and 6 is the main gear , 7 is the shaft, 8 is the eccentric part, 9 is the arm plate, 10 is the limit device, 11 is the first plate body, 12 is the second plate body, 13 is the power supply, 14 is the control system, 15 is the controller, 16 It is a communication module, 17 is a speed measurement module, 18 is a magnetic block, and 19 is a Hall sensor.
- Figure 1 is a schematic diagram of the robot (1)
- Figure 2 is a schematic diagram of the robot (2)
- Figure 3 is a schematic diagram of the robot (3)
- Figure 4 is a schematic diagram of the transmission system and walking mechanism (1)
- Figure 5 is the transmission system
- Figure 6 is a schematic diagram of the transmission system and walking mechanism (3)
- Figure 7 is an enlarged schematic diagram of area A in Figure 6
- Figure 8 is a schematic diagram of the transmission system (1)
- Figure 9 It is a schematic diagram of the transmission system structure (two), as shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5, Figure 6, Figure 7, Figure 8, and Figure 9:
- a robot 100 which has a body 1, and a motor 2, a transmission system 3, and a walking mechanism 4 provided on the body 1.
- the body 1 includes a first plate body 11 and a second plate body 12, the plate body is designed in the shape of an upper body of an adult, and the motor 2 is installed on the first plate body 11 or the second plate body 12.
- the power source 13 used by the motor 2 is a battery 200, the battery 200 is fixedly installed on the body 1, and the electromagnetic 200 is detachable.
- the transmission system 3 includes an output shaft gear 5 connected to the output shaft 20 of the motor 2, a main gear 6 connected to the output shaft gear 5, a rotating shaft 7 arranged on the main gear 6 and passing through the rotating shaft 7.
- the two eccentric pieces 8 are respectively arranged at the two ends 71 and 72 of the rotating shaft 7.
- the two eccentric pieces 8 are symmetrical around the center O of the intersection of the main gear 6 and the rotating shaft 7, with a phase difference of 180°.
- the main gear 6 is installed between the first plate body 11 and the second plate body 12, and the rotating shaft 7 passes through the first plate body 11 and the second plate body 12, respectively.
- the first plate body 11 and the second plate body 12 are respectively provided with arm plates 9, and the arm plates 9 are installed on the first plate body 11 and the second plate body 12 in a plug-in manner.
- the walking mechanism 4 includes a first link 41, a second link 42 and a third link 43.
- the first link 41 can be designed in the shape of a thigh frame
- the second link 42 is designed in the shape of a calf frame.
- the lower end 422 of the second link 42 can be hingedly connected to the supporting leg 44.
- One end 411 of the first link 41 is connected to the eccentric 8, the other end 412 is rotatably connected (such as riveting, hinged, etc.) to the upper end 421 of the second link 42, and one end 431 of the third link 43 is rotatably connected to the body 1, the other end 432 is rotatably connected with the upper end 421 of the second link 42; the eccentric member 8 drives the first link 41, the second link 42 and the third link 43 to generate linkage when the eccentric member 8 rotates.
- the body 1, the first connecting rod 41, the second connecting rod 42, and the third connecting rod 43 form a four-bar linkage structure, which is flexible in combination and firm in structure, and is used to imitate the knee-lifting movement of humans when walking.
- a simulated motion trajectory which is equivalent to a human leg.
- the robot 100 is equipped with two sets of the above-mentioned walking mechanisms respectively connected to the above-mentioned two eccentric members 8, corresponding to the left and right feet of a person, respectively.
- the left leg mechanism and the right leg mechanism are lifted or downward from the neutral position by the action of the eccentric member, always supported by one leg, and lifted by the other leg, moving forward alternately, so that the robot can walk.
- the above-mentioned first connecting rod 41 is installed between the first eccentric member 81 and the second eccentric member 82, the first connecting rod 41 is provided with a circular hole 410, and the second eccentric member 83 passes through the circular hole 410 and is assembled to the first eccentric member. 81 on.
- the eccentric member 8 includes a first eccentric member 81 and a second eccentric member 82.
- the first eccentric member 81 is fixed on the rotating shaft 7, and the second eccentric member 82 is assembled in a detachable manner.
- On the first eccentric member 81 such as clamping, gluing and so on.
- the first eccentric member 81 is provided with an insertion hole 810
- the second eccentric member 82 is provided with an insertion pin 821
- the second eccentric member 82 is inserted into the insertion hole 810 on the first eccentric member 81 through the insertion pin 821.
- the sockets 810 and the plug pins 820 are arranged in the inner circle formed by the annular groove 410. It can also be designed such that the first eccentric member 81 is provided with a plug pin, and the second eccentric member 82 is provided with a socket.
- a walking robot 100 which has a body 1, and a motor 2, a transmission system 3, and a walking mechanism 4 provided on the body 1.
- the body 1, the motor 2 and the transmission system 3 are the same as or partially the same as the solutions in the first embodiment, and are combined with each other, which will not be repeated here.
- the walking mechanism 4 includes a first link 41, a second link 42 and a third link 43.
- the first link 41 can be designed in the shape of a thigh frame
- the second link 42 is designed in the shape of a calf frame.
- the lower end 422 of the second link 42 can be hingedly connected to the supporting leg 44.
- One end 411 of the first link 41 is connected to the eccentric 8, and the other end 412 is rotatably connected (such as riveting, hinged, etc.) to the upper end 421 of the second link 42.
- One end 431 of the third link 43 is rotatably connected to the first link.
- the other end 432 is rotatably connected with the upper end 421 of the second connecting rod 42; wherein the eccentric member 8 rotates to drive the first connecting rod 41, the second connecting rod 42 and the third connecting rod 43 to produce Gearing.
- the first plate body 11, the first connecting rod 41, the second connecting rod 42 and the third connecting rod 43 constitute four connecting rods, which are flexible in combination and strong in structure. They are used to imitate the knee-lifting motion of human walking and form a simulated motion track. .
- the first connecting rod 41 is installed between the first eccentric member 81 and the second eccentric member 82.
- the first connecting rod 41 is provided with a circular hole 410, and the second eccentric member 83 passes through the circular hole 410. Assembled on the first eccentric 81.
- the robot 100 is equipped with two sets of the above-mentioned walking mechanisms 4, which are respectively connected to the above-mentioned two eccentric parts 8, corresponding to the left and right feet of the robot 100, respectively.
- the left-leg walking mechanism and the right-leg walking mechanism are lifted or down from the neutral position by the action of the eccentric member, always supporting one leg, and lifting the other leg, moving forward alternately, so that the robot can imitate human walking. .
- the robot 100 is further provided with a limiting device 10, and the limiting device 10 is provided on the body 1 and the walking mechanism 4 to raise the first link 41 to a set height.
- the limiting device 10 includes a limiting rod 101 provided on the first connecting rod 41 and a limiting member 102 provided on the first plate 11, and the limiting rod 101 moves under the restriction of the limiting member 102.
- the limit rod 101 is disposed on one end 411 of the first link 41 and is driven by the first link 41 to generate movement.
- the limit member 102 is provided with a groove 100 for accommodating and restricting the movement of the limit rod 101.
- the limit rod 101 moves under the restriction of the groove 100, and the limit member 102 rotates synchronously when the limit rod 101 rotates.
- the limit element 8 rotates to drive the first connecting rod 41 to move in conjunction with the limit rod 101, the limit element rotates adaptively, thereby restricting the movement and ensuring that the first connecting rod 41 can be effectively raised to the set point Height, to achieve a movement similar to the knee lift when a human walks.
- a transportable robot 100 is provided, as shown in Figs. 1, 2 and 3, having a body 1, and a motor 2, a transmission system 3, and a walking mechanism 4 arranged on the body 1. It also includes a carrier 300 connected to the body 1.
- the body 1, the motor 2, the transmission system 3, and the running mechanism 4 are the same or partially the same as the solutions in the first and second embodiments, and are combined with each other, which will not be repeated here.
- the body 1 includes a first plate body 11 and a second plate body 12, the plate body is designed in the shape of an upper body of an adult, and the motor 2 is installed on the first plate body 11 or the second plate body 12.
- the first plate body 11 and the second plate body 12 are respectively provided with an arm plate 9 which is installed on the first plate body 11 and the second plate body 12 in a plug-in manner, and the arm plate 9 is connected to the carrier 300 .
- the carrying device 300 is a two-wheeled vehicle with a seat.
- the two-wheeled vehicle is provided with a rod 301 connected to the arm plate 9 for connecting the two-wheeled vehicle 300 and the robot body 1.
- the walking mechanism 4 includes a first link 41, a second link 42 and a third link 43.
- the first link 41 can be designed in the shape of a thigh frame
- the second link 42 is designed in the shape of a calf frame.
- the lower end 422 of the second link 42 can be hingedly connected to the supporting leg 44.
- the walking robot 100 is equipped with two sets of the above-mentioned walking mechanisms 4, which are respectively connected to the above-mentioned two eccentric members 8 and correspond to the left and right feet of the robot 100 respectively.
- the left-leg walking mechanism and the right-leg walking mechanism are lifted or down from the neutral position by the action of the eccentric member, always supporting one leg, and lifting the other leg, moving forward alternately, so that the robot can imitate human walking.
- the walking of the robot drives the displacement of the vehicle, that is, the body 1 is displaced by the action of the walking mechanism 4 to drive the displacement of the vehicle 300.
- the power source 13 of the driving motor is a battery 200, which is arranged and fixedly mounted on the first plate body 11 and the second plate body 12. Since the first plate body and the second plate body form the trunk of the human body, the battery is installed on the back of the trunk.
- the power source 13, that is, the battery 200 may also be provided on the two-wheeled vehicle 300, and the rod 301 and the arm plate 9 are provided with wires 302 to connect the power source 200 and the motor 2. Since the battery 200 has a certain weight, compared with the two-wheeled vehicle, which increases a little friction for carrying, the battery 200 will consume extra power and the power of the robot when it is installed on the robot.
- an intelligent robot 100 which has a body 1, and a motor 2, a transmission system 3, and a walking mechanism 4 arranged on the body 1, and further includes a control system 14.
- the body 1, the motor 2, the transmission system 3, and the running mechanism 4 are the same or partially the same as the solutions in the first and second embodiments, and are combined with each other, which will not be repeated here.
- the control system 14 includes a controller 15, a motor 2 and a power source 13.
- FIG. 10 is a schematic diagram of the controller.
- a communication module 16 is provided on the controller 15 to communicate with the intelligent terminal 400.
- the communication module 16 is a Bluetooth device. After the Bluetooth device is paired with the smart terminal, the controller 15 sends information to the smart terminal or receives instructions from the smart terminal.
- the communication module 16 receives and converts the instructions issued by the smart terminal 400 into control parameters.
- the controller 15 controls the rotation speed of the motor 2 according to the control parameters to control the rotation speed of the main gear 6 connected to the output shaft gear 5, thereby controlling the rotation speed of the eccentric 8 .
- the robot 100 is equipped with two sets of the above-mentioned walking mechanisms 4, which are respectively connected to the above-mentioned two eccentric parts 8, corresponding to the left and right feet of the robot 100, respectively.
- the left-leg walking mechanism and the right-leg walking mechanism are lifted or down from the neutral position by the action of the eccentric member, always supporting one leg, and lifting the other leg, moving forward alternately, so that the robot can imitate human walking.
- the speed of the robot can be controlled, and the interaction between the user and the robot can be increased.
- the controller 15 also includes a speed measuring module 17.
- the speed measuring module 17 includes a magnetic block 18 arranged on the eccentric part 8 and a Hall sensor 19 correspondingly arranged on the body 1; the speed measuring module detects 17 the speed of the eccentric part 8 and generates the speed data Transfer to the controller 15. Every time the eccentric part 8 rotates, the Hall sensor 19 sends a pulse signal, which is output to the controller 15 by the Hall device circuit, and the controller 15 sends the speed data of the eccentric part 2 to the intelligent terminal through the communication module 16.
- controller 15 can also monitor the power information of the battery 200 and send the power information to the smart terminal through the communication module 16.
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Abstract
A transport robot (100), having a robot body (1), and an electric motor (2), a transmission system (3) and a travel mechanism (4) which are provided on the robot body (1). The robot (100) is provided with a carrying device (300) connected to the robot body (1); the transmission system (3) comprises an output shaft gear (5) connected to an output shaft (20) of the electric motor (2), a main gear (6) connected to the output shaft gear (5), a rotating shaft (7) provided on the main gear (6), and two eccentric members (8) passing through the rotating shaft (7) and provided at two ends (71, 72) of the rotating shaft (7) respectively; the travel mechanism (4) comprises a first connecting rod (41), a second connecting rod (42) and a third connecting rod (43), and when the eccentric members (8) rotate, the first connecting rod (41), the second connecting rod (42) and the third connecting rod (43) are driven to move in a linkage manner; the robot body (1) is displaced under the action of the travel mechanism (4) so as to drive the carrying device (300) to be displaced.
Description
本发明涉及机器人,具体涉及一种用于玩具或教学用的运输机器人。The invention relates to a robot, in particular to a transportation robot used for toys or teaching.
随时机器人技术的发展,结构优化也越来越多,如今各种款式不同的玩具机器人不仅在高端教具和玩具市场受到了青少年的青睐,能够提升青少年的创新思维和动手能力,对儿童的早期思维开发也有很大的提升和帮助。目前在双足机器人存在行走协调和制作成本等问题。With the development of robotics technology and more and more structural optimizations, toy robots of various styles are not only favored by young people in the high-end teaching aids and toy market, but also can enhance young people’s innovative thinking and practical ability, and early thinking of children Development has also greatly improved and helped. At present, there are problems such as walking coordination and production cost in biped robots.
【发明内容】[Summary of the invention]
本发明提供一种运输机器人,能更好地解决现有技术中机器人存在的问题。The invention provides a transportation robot, which can better solve the problems of robots in the prior art.
根据本发明提供的一种运输机器人,以及设置在所述机体上的电机、传动***和行走机构,所述机器人设有与所述机体连接的运载装置;所述传动***包括与电机输出轴连接的输出轴齿轮,与所述输出轴齿轮连接的主齿轮,设置在所述主齿轮上的转轴,穿设在所述转轴上的两个偏心件,分别设置在所述转轴的两端,两个所述偏心件绕着所述主齿轮和所述转轴的交点中心O对称;所述行走机构包括第一连杆、第二连杆和第三连杆,所述第一连杆的一端与所述偏心件连接,另一端与所述第二连杆的上端转动连接,所述第三连杆的一端可转动地连接在所述机体上,另一端与所述第二连杆的上端转动连接;其中所述偏心件转动时带动所述第一连杆、第二连杆和第三连杆产生连动;其中所述机体受到所述行走机构作用产生位移从而带动所述运载装置产生位移。According to the present invention, there is provided a transportation robot, and a motor, a transmission system and a walking mechanism arranged on the body, the robot is provided with a carrying device connected to the body; the transmission system includes a motor output shaft connected The output shaft gear, the main gear connected with the output shaft gear, the rotating shaft provided on the main gear, and two eccentric members passing through the rotating shaft are respectively provided at both ends of the rotating shaft, two The eccentric members are symmetrical around the intersection center O of the main gear and the rotating shaft; the walking mechanism includes a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod and The eccentric member is connected, the other end is rotatably connected with the upper end of the second link, one end of the third link is rotatably connected to the body, and the other end is rotatably connected with the upper end of the second link Connection; wherein when the eccentric member rotates, the first connecting rod, the second connecting rod, and the third connecting rod are driven to produce linkage; wherein the body is displaced by the walking mechanism, thereby driving the carrying device to generate displacement .
在一个实施方案中,所述机体包括第一板体和第二板体,所述主齿轮安装在所述第一板体和所述第二板体之间,所述转轴分别穿设在所述第一板体和所述第二板体上。In one embodiment, the machine body includes a first plate body and a second plate body, the main gear is installed between the first plate body and the second plate body, and the rotating shafts are respectively inserted through On the first board and the second board.
在一个实施方案中,运输机器人包括电源,所述电源固定安装在所述第一板体和所述第二板体上。In one embodiment, the transportation robot includes a power supply, and the power supply is fixedly installed on the first board and the second board.
在一个实施方案中,所述第一板体与所述第二板体上分别设有手臂板,所述手臂板以插接的方式安装在所述第一板体和所述第二板体上。In one embodiment, the first plate body and the second plate body are respectively provided with arm plates, and the arm plates are mounted on the first plate body and the second plate body in a plug-in manner on.
在一个实施方案中,所述运载装置为具有座椅的双轮车,所述双轮车上设有车杆,所述车杆与所述手臂板相连接。In one embodiment, the carrying device is a two-wheeled vehicle with a seat, the two-wheeled vehicle is provided with a rod, and the rod is connected with the arm plate.
在一个实施方案中,运输机器人包括设置在所述双轮车上的电池,所述车杆和所述手臂板上设有导线连接所述电源和所述电机。In one embodiment, the transportation robot includes a battery arranged on the two-wheeled vehicle, and a wire is provided on the rod and the arm plate to connect the power source and the motor.
在一个实施方案中,两个所述偏心件绕着所述主齿轮和所述转轴的交点中心O对称。In one embodiment, the two eccentrics are symmetrical around the center O of the intersection of the main gear and the rotating shaft.
在一个实施方案中,所述偏心件包括第一偏心件和第二偏心件,所述第一连杆安装在所述第一偏心件和所述第二偏心件之间。In one embodiment, the eccentric member includes a first eccentric member and a second eccentric member, and the first connecting rod is installed between the first eccentric member and the second eccentric member.
在一个实施方案中,所述第一连杆为大腿骨架状,所述第二连杆为小腿骨架状,所述第二连杆的下端铰接有支撑脚。In one embodiment, the first link is in the shape of a thigh frame, the second link is in the shape of a calf frame, and the lower end of the second link is hinged with a supporting foot.
通过本发明中运输机器人,模仿人体的运动结构,能用于青少年机器人教学研究,也能用于儿童玩耍,结构简单,制造成本低。The transportation robot in the present invention imitates the movement structure of the human body, and can be used for teaching and research of young robots, and can also be used for children's play, with simple structure and low manufacturing cost.
此处所说明的附图用来提供对本发明的进一步理解,构成本申请的一部分,本发明的示意性实施例及其说明用于解释本发明,并不构成对本发明的不当限定。在附图中:The drawings described here are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:
图1是机器人的示意图(一);Figure 1 is a schematic diagram of the robot (1);
图2是机器人的示意图(二);Figure 2 is a schematic diagram of the robot (two);
图3是机器人的示意图(三);Figure 3 is a schematic diagram of the robot (three);
图4是传动***和行走机构的结构示意图(一);Figure 4 is a schematic diagram of the structure of the transmission system and the walking mechanism (1);
图5是传动***和行走机构的结构示意图(二);Figure 5 is a schematic diagram of the structure of the transmission system and the walking mechanism (2);
图6是传动***和行走机构的结构示意图(三);Figure 6 is a schematic diagram of the structure of the transmission system and the walking mechanism (3);
图7是图6中A区域的放大示意图;Fig. 7 is an enlarged schematic diagram of area A in Fig. 6;
图8是传动***结构示意图(一);Figure 8 is a schematic diagram of the transmission system structure (1);
图9是传动***结构示意图(二);Figure 9 is a schematic diagram of the transmission system structure (2);
图10是控制器的示意图;Figure 10 is a schematic diagram of the controller;
附图中:100为机体,200为电池,300为运载装置,400为智能终端,1为机体,2为电机,3为传动***,4为行走机构,5为输出轴齿轮,6为主齿轮,7为转轴,8为偏心件,9为手臂板,10为限位装置,11为第一板体,12为第二板体,13为电源,14为控制***,15为控制器,16为通信模块,17为测速模块,18为磁块,19为霍尔传感器。In the figure: 100 is the body, 200 is the battery, 300 is the carrier, 400 is the smart terminal, 1 is the body, 2 is the motor, 3 is the transmission system, 4 is the traveling mechanism, 5 is the output shaft gear, and 6 is the main gear , 7 is the shaft, 8 is the eccentric part, 9 is the arm plate, 10 is the limit device, 11 is the first plate body, 12 is the second plate body, 13 is the power supply, 14 is the control system, 15 is the controller, 16 It is a communication module, 17 is a speed measurement module, 18 is a magnetic block, and 19 is a Hall sensor.
下文中将参考附图并结合实施例来详细说明本发明。需要说明的是,在不冲突的情况下,本申请中的实施例及实施例中的特征可以相互组合。实施例中所有部件都可以拆卸成零部件,便于青少年通过自己安装机器人来学习机器人 的结构和工作原理。Hereinafter, the present invention will be described in detail with reference to the drawings and in conjunction with the embodiments. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other if there is no conflict. All parts in the embodiment can be disassembled into parts, which is convenient for young people to learn the structure and working principle of the robot by installing the robot by themselves.
图1是机器人的示意图(一),图2是机器人的示意图(二),图3是机器人的示意图(三),图4是传动***和行走机构的结构示意图(一),图5是传动***和行走机构的结构示意图(二),图6是传动***和行走机构的结构示意图(三),图7是图6中A区域的放大示意图,图8是传动***结构示意图(一),图9是传动***结构示意图(二),如图1、图2、图3、图4图5、图6、图7、图8和图9所示:Figure 1 is a schematic diagram of the robot (1), Figure 2 is a schematic diagram of the robot (2), Figure 3 is a schematic diagram of the robot (3), Figure 4 is a schematic diagram of the transmission system and walking mechanism (1), Figure 5 is the transmission system Figure 6 is a schematic diagram of the transmission system and walking mechanism (3), Figure 7 is an enlarged schematic diagram of area A in Figure 6, Figure 8 is a schematic diagram of the transmission system (1), Figure 9 It is a schematic diagram of the transmission system structure (two), as shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5, Figure 6, Figure 7, Figure 8, and Figure 9:
在第一实施例中,提供了一种机器人100,具有机体1,以及设置在机体1上的电机2、传动***3和行走机构4。In the first embodiment, a robot 100 is provided, which has a body 1, and a motor 2, a transmission system 3, and a walking mechanism 4 provided on the body 1.
机体1包括第一板体11和第二板体12,板体设计成人的上半身形状,电机2安装在第一板体11或第二板体12上。电机2使用的电源13为电池200,电池200固定安装在机体1上,电磁200可拆卸。The body 1 includes a first plate body 11 and a second plate body 12, the plate body is designed in the shape of an upper body of an adult, and the motor 2 is installed on the first plate body 11 or the second plate body 12. The power source 13 used by the motor 2 is a battery 200, the battery 200 is fixedly installed on the body 1, and the electromagnetic 200 is detachable.
如图6所示,传动***3包括与电机2输出轴20连接的输出轴齿轮5,与输出轴齿轮5连接的主齿轮6,设置在主齿轮6上的转轴7,穿设在转轴7上的两个偏心件8,分别设置在转轴7的两端71,72,两个偏心件8绕着主齿轮6和转轴7的交点中心O对称,相位上相差180°。As shown in Figure 6, the transmission system 3 includes an output shaft gear 5 connected to the output shaft 20 of the motor 2, a main gear 6 connected to the output shaft gear 5, a rotating shaft 7 arranged on the main gear 6 and passing through the rotating shaft 7. The two eccentric pieces 8 are respectively arranged at the two ends 71 and 72 of the rotating shaft 7. The two eccentric pieces 8 are symmetrical around the center O of the intersection of the main gear 6 and the rotating shaft 7, with a phase difference of 180°.
如图3和图4所示,主齿轮6安装在第一板体11和第二板体12之间,转轴7分别穿设在第一板体11和第二板体12上。第一板体11与第二板体12上分别设有手臂板9,手臂板9以插接的方式安装在第一板体11与第二板体12上。As shown in FIGS. 3 and 4, the main gear 6 is installed between the first plate body 11 and the second plate body 12, and the rotating shaft 7 passes through the first plate body 11 and the second plate body 12, respectively. The first plate body 11 and the second plate body 12 are respectively provided with arm plates 9, and the arm plates 9 are installed on the first plate body 11 and the second plate body 12 in a plug-in manner.
如图6所示,行走机构4包括第一连杆41、第二连杆42和第三连杆43,第一连杆41可设计为大腿骨架状,第二连杆42设计为小腿骨架状,第二连杆42下端422可铰接支撑脚44。As shown in Figure 6, the walking mechanism 4 includes a first link 41, a second link 42 and a third link 43. The first link 41 can be designed in the shape of a thigh frame, and the second link 42 is designed in the shape of a calf frame. , The lower end 422 of the second link 42 can be hingedly connected to the supporting leg 44.
第一连杆41的一端411与偏心件8连接,另一端412与第二连杆42的上 端421转动连接(如铆接,铰接等),第三连杆43的一端431可转动地连接在机体1上,另一端432与第二连杆42的上端421转动连接;其中偏心件8转动时带动第一连杆41、第二连杆42和第三连杆43产生连动。One end 411 of the first link 41 is connected to the eccentric 8, the other end 412 is rotatably connected (such as riveting, hinged, etc.) to the upper end 421 of the second link 42, and one end 431 of the third link 43 is rotatably connected to the body 1, the other end 432 is rotatably connected with the upper end 421 of the second link 42; the eccentric member 8 drives the first link 41, the second link 42 and the third link 43 to generate linkage when the eccentric member 8 rotates.
偏心件8转动时,机体1,第一连杆41、第二连杆42和第三连杆43构成了四连杆结构,组合灵活,结构牢固,用于模仿人类行走时的提膝运动,形成仿真运动轨迹,相当于人类的腿部。When the eccentric member 8 rotates, the body 1, the first connecting rod 41, the second connecting rod 42, and the third connecting rod 43 form a four-bar linkage structure, which is flexible in combination and firm in structure, and is used to imitate the knee-lifting movement of humans when walking. Form a simulated motion trajectory, which is equivalent to a human leg.
机器人100配有两套上述行走机构分别连接上述两个偏心件8,分别对应人的左右脚。在运动时,左腿机构和右腿机构受到偏心件作用从中立位置抬起或向下,总是一腿支撑,另一腿提步,相互交替的循环前进,使得机器人能够行走。The robot 100 is equipped with two sets of the above-mentioned walking mechanisms respectively connected to the above-mentioned two eccentric members 8, corresponding to the left and right feet of a person, respectively. During the movement, the left leg mechanism and the right leg mechanism are lifted or downward from the neutral position by the action of the eccentric member, always supported by one leg, and lifted by the other leg, moving forward alternately, so that the robot can walk.
上述第一连杆41安装在第一偏心件81和第二偏心件82之间,第一连杆41上设有圆孔410,第二偏心件83穿过圆孔410装配在第一偏心件81上。The above-mentioned first connecting rod 41 is installed between the first eccentric member 81 and the second eccentric member 82, the first connecting rod 41 is provided with a circular hole 410, and the second eccentric member 83 passes through the circular hole 410 and is assembled to the first eccentric member. 81 on.
作为优选,如图8和图9所示,偏心件8包括第一偏心件81和第二偏心件82,第一偏心件81固定在转轴7上,第二偏心件82以可拆卸的方式装配在第一偏心件81上,如卡接,胶粘等。Preferably, as shown in FIGS. 8 and 9, the eccentric member 8 includes a first eccentric member 81 and a second eccentric member 82. The first eccentric member 81 is fixed on the rotating shaft 7, and the second eccentric member 82 is assembled in a detachable manner. On the first eccentric member 81, such as clamping, gluing and so on.
在本实施例中,第一偏心件81上设有插孔810,第二偏心件82上设有插销821,第二偏心件82通过插销821***第一偏心件81上的插孔810上。上述插孔810设有三个,对应的插销820设有三个,插孔810和插销820设置在环形槽410所形成的内圈范围内。亦可设计成第一偏心件81上设有插销,第二偏心件82上设有插孔。In this embodiment, the first eccentric member 81 is provided with an insertion hole 810, the second eccentric member 82 is provided with an insertion pin 821, and the second eccentric member 82 is inserted into the insertion hole 810 on the first eccentric member 81 through the insertion pin 821. There are three sockets 810 and three corresponding plug pins 820. The sockets 810 and the plug pins 820 are arranged in the inner circle formed by the annular groove 410. It can also be designed such that the first eccentric member 81 is provided with a plug pin, and the second eccentric member 82 is provided with a socket.
在第二实施例中,提供了一种行走机器人100,具有机体1,以及设置在机体1上的电机2、传动***3和行走机构4。机体1、电机2和传动***3与第一实施例中的方案相同或部分相同,以及相互组合,在此不赘述。In the second embodiment, a walking robot 100 is provided, which has a body 1, and a motor 2, a transmission system 3, and a walking mechanism 4 provided on the body 1. The body 1, the motor 2 and the transmission system 3 are the same as or partially the same as the solutions in the first embodiment, and are combined with each other, which will not be repeated here.
如图7所示,行走机构4包括第一连杆41、第二连杆42和第三连杆43,第一连杆41可设计为大腿骨架状,第二连杆42设计为小腿骨架状,第二连杆42下端422可铰接支撑脚44。As shown in Figure 7, the walking mechanism 4 includes a first link 41, a second link 42 and a third link 43. The first link 41 can be designed in the shape of a thigh frame, and the second link 42 is designed in the shape of a calf frame. , The lower end 422 of the second link 42 can be hingedly connected to the supporting leg 44.
第一连杆41的一端411与偏心件8连接,另一端412与第二连杆42的上端421转动连接(如铆接,铰接等),第三连杆43的一端431可转动地连接在第一板体11的突起部111上,另一端432与第二连杆42的上端421转动连接;其中偏心件8转动时带动第一连杆41、第二连杆42和第三连杆43产生连动。One end 411 of the first link 41 is connected to the eccentric 8, and the other end 412 is rotatably connected (such as riveting, hinged, etc.) to the upper end 421 of the second link 42. One end 431 of the third link 43 is rotatably connected to the first link. On the protrusion 111 of a plate 11, the other end 432 is rotatably connected with the upper end 421 of the second connecting rod 42; wherein the eccentric member 8 rotates to drive the first connecting rod 41, the second connecting rod 42 and the third connecting rod 43 to produce Gearing.
第一板体11,第一连杆41、第二连杆42和第三连杆43构成了四连杆,组合灵活,结构牢固,用于模仿人类行走时的提膝运动,形成仿真运动轨迹。The first plate body 11, the first connecting rod 41, the second connecting rod 42 and the third connecting rod 43 constitute four connecting rods, which are flexible in combination and strong in structure. They are used to imitate the knee-lifting motion of human walking and form a simulated motion track. .
如图7所示,上述第一连杆41安装在第一偏心件81和第二偏心件82之间,第一连杆41上设有圆孔410,第二偏心件83穿过圆孔410装配在第一偏心件81上。As shown in FIG. 7, the first connecting rod 41 is installed between the first eccentric member 81 and the second eccentric member 82. The first connecting rod 41 is provided with a circular hole 410, and the second eccentric member 83 passes through the circular hole 410. Assembled on the first eccentric 81.
机器人100配有两套上述行走机构4,分别连接上述两个偏心件8,分别对应机器人100的左右脚。在运动时,左腿行走机构和右腿行走机构受到偏心件作用从中立位置抬起或向下,总是一腿支撑,另一腿提步,相互交替的循环前进,使得机器人能够模仿人类行走。The robot 100 is equipped with two sets of the above-mentioned walking mechanisms 4, which are respectively connected to the above-mentioned two eccentric parts 8, corresponding to the left and right feet of the robot 100, respectively. During movement, the left-leg walking mechanism and the right-leg walking mechanism are lifted or down from the neutral position by the action of the eccentric member, always supporting one leg, and lifting the other leg, moving forward alternately, so that the robot can imitate human walking. .
如图7所示,机器人100还设有限位装置10,限位装置10设置在机体1和行走机构4上以使第一连杆41提升至设定高度。限位装置10包括设置在第一连杆41上的限位杆101和设置在第一板体11的限位件102,限位杆101在限位件102的限制作用下运动。As shown in FIG. 7, the robot 100 is further provided with a limiting device 10, and the limiting device 10 is provided on the body 1 and the walking mechanism 4 to raise the first link 41 to a set height. The limiting device 10 includes a limiting rod 101 provided on the first connecting rod 41 and a limiting member 102 provided on the first plate 11, and the limiting rod 101 moves under the restriction of the limiting member 102.
具体地,限位杆101设置在第一连杆41的一端411上,受到第一连杆41的带动而产生运动。限位件102上设有容纳并限制限位杆101移动的槽100,限位杆101在槽100的限制作用下运动,限位件102在限位杆101转动时作同步 转动。在偏心件8转动而带动第一连杆41连动和限位杆101时,限位件做适应性的转动,从而能够对运动约束,保证第一连杆41能够有效的提升到设定的高度,实现类似人类行走时的提膝前进的动作。Specifically, the limit rod 101 is disposed on one end 411 of the first link 41 and is driven by the first link 41 to generate movement. The limit member 102 is provided with a groove 100 for accommodating and restricting the movement of the limit rod 101. The limit rod 101 moves under the restriction of the groove 100, and the limit member 102 rotates synchronously when the limit rod 101 rotates. When the eccentric element 8 rotates to drive the first connecting rod 41 to move in conjunction with the limit rod 101, the limit element rotates adaptively, thereby restricting the movement and ensuring that the first connecting rod 41 can be effectively raised to the set point Height, to achieve a movement similar to the knee lift when a human walks.
在第三实施例中,提供了一种可运载机器人100,如图1、图2和图3所示,具有机体1,以及设置在机体1上的电机2、传动***3和行走机构4,还包括与机体1连接的运载装置300。机体1、电机2、传动***3和行走机构4与第一实施例和第二实施例中的方案相同或部分相同,以及相互组合,在此不赘述。In the third embodiment, a transportable robot 100 is provided, as shown in Figs. 1, 2 and 3, having a body 1, and a motor 2, a transmission system 3, and a walking mechanism 4 arranged on the body 1. It also includes a carrier 300 connected to the body 1. The body 1, the motor 2, the transmission system 3, and the running mechanism 4 are the same or partially the same as the solutions in the first and second embodiments, and are combined with each other, which will not be repeated here.
机体1包括第一板体11和第二板体12,板体设计成人的上半身形状,电机2安装在第一板体11或第二板体12上。第一板体11与第二板体12上分别设有手臂板9,手臂板9以插接的方式安装在第一板体11与第二板体12上,手臂板9与运载装置300连接。The body 1 includes a first plate body 11 and a second plate body 12, the plate body is designed in the shape of an upper body of an adult, and the motor 2 is installed on the first plate body 11 or the second plate body 12. The first plate body 11 and the second plate body 12 are respectively provided with an arm plate 9 which is installed on the first plate body 11 and the second plate body 12 in a plug-in manner, and the arm plate 9 is connected to the carrier 300 .
具体地,运载装置300为具有座椅的双轮车,双轮车上设有车杆301,车杆301与手臂板9相连接,用于双轮车300与机器人机体1的连接。Specifically, the carrying device 300 is a two-wheeled vehicle with a seat. The two-wheeled vehicle is provided with a rod 301 connected to the arm plate 9 for connecting the two-wheeled vehicle 300 and the robot body 1.
如图7所示,行走机构4包括第一连杆41、第二连杆42和第三连杆43,第一连杆41可设计为大腿骨架状,第二连杆42设计为小腿骨架状,第二连杆42下端422可铰接支撑脚44。As shown in Figure 7, the walking mechanism 4 includes a first link 41, a second link 42 and a third link 43. The first link 41 can be designed in the shape of a thigh frame, and the second link 42 is designed in the shape of a calf frame. , The lower end 422 of the second link 42 can be hingedly connected to the supporting leg 44.
行走机器人100配有两套上述行走机构4,分别连接上述两个偏心件8,分别对应机器人100的左右脚。在运动时,左腿行走机构和右腿行走机构受到偏心件作用从中立位置抬起或向下,总是一腿支撑,另一腿提步,相互交替的循环前进,使得机器人能够模仿人类行走,而机器人行走带动了运载工具的位移,即机体1受到行走机构4作用产生位移从而带动运载装置300产生位移。The walking robot 100 is equipped with two sets of the above-mentioned walking mechanisms 4, which are respectively connected to the above-mentioned two eccentric members 8 and correspond to the left and right feet of the robot 100 respectively. During movement, the left-leg walking mechanism and the right-leg walking mechanism are lifted or down from the neutral position by the action of the eccentric member, always supporting one leg, and lifting the other leg, moving forward alternately, so that the robot can imitate human walking. , And the walking of the robot drives the displacement of the vehicle, that is, the body 1 is displaced by the action of the walking mechanism 4 to drive the displacement of the vehicle 300.
本实施例中驱动电机的电源13为电池200,设置固定安装在第一板体11和第二板体12上。由于第一板体和第二板体形成人体的躯干,电池安装在躯干的 背部。In this embodiment, the power source 13 of the driving motor is a battery 200, which is arranged and fixedly mounted on the first plate body 11 and the second plate body 12. Since the first plate body and the second plate body form the trunk of the human body, the battery is installed on the back of the trunk.
作为优选,如图3所示,电源13即电池200亦可设置在双轮车300上,车杆301和手臂板9上设有导线302连接电源200和电机2。由于电池200具有一定的重量,相比设置在双轮车上对运载增加一点摩擦力而言,设置在机器人身上会额外消耗及机器人的电量。Preferably, as shown in FIG. 3, the power source 13, that is, the battery 200 may also be provided on the two-wheeled vehicle 300, and the rod 301 and the arm plate 9 are provided with wires 302 to connect the power source 200 and the motor 2. Since the battery 200 has a certain weight, compared with the two-wheeled vehicle, which increases a little friction for carrying, the battery 200 will consume extra power and the power of the robot when it is installed on the robot.
在第四实施例中,提供了一种智能机器人100,具有机体1,以及设置在机体1上的电机2、传动***3和行走机构4,还包括控制***14。机体1、电机2、传动***3和行走机构4与第一实施例和第二实施例中的方案相同或部分相同,以及相互组合,在此不赘述。In the fourth embodiment, an intelligent robot 100 is provided, which has a body 1, and a motor 2, a transmission system 3, and a walking mechanism 4 arranged on the body 1, and further includes a control system 14. The body 1, the motor 2, the transmission system 3, and the running mechanism 4 are the same or partially the same as the solutions in the first and second embodiments, and are combined with each other, which will not be repeated here.
控制***14包括控制器15、电机2和电源13。图10是控制器的示意图,如图10所示,控制器15上设有通信模块16,与智能终端400通信连接。优选地,通信模块16为蓝牙装置,蓝牙装置与智能终端配对后,控制器15发送信息给智能终端或接收智能终端的指令。The control system 14 includes a controller 15, a motor 2 and a power source 13. FIG. 10 is a schematic diagram of the controller. As shown in FIG. 10, a communication module 16 is provided on the controller 15 to communicate with the intelligent terminal 400. Preferably, the communication module 16 is a Bluetooth device. After the Bluetooth device is paired with the smart terminal, the controller 15 sends information to the smart terminal or receives instructions from the smart terminal.
通信模块16接收并将智能终端400发出的指令转化为控制参数,控制器15根据控制参数控制电机2转速以控制与输出轴齿轮5连接的主齿轮6的转速,从而控制偏心件8的转动速度。The communication module 16 receives and converts the instructions issued by the smart terminal 400 into control parameters. The controller 15 controls the rotation speed of the motor 2 according to the control parameters to control the rotation speed of the main gear 6 connected to the output shaft gear 5, thereby controlling the rotation speed of the eccentric 8 .
机器人100配有两套上述行走机构4,分别连接上述两个偏心件8,分别对应机器人100的左右脚。在运动时,左腿行走机构和右腿行走机构受到偏心件作用从中立位置抬起或向下,总是一腿支撑,另一腿提步,相互交替的循环前进,使得机器人能够模仿人类行走。通过智能终端与机器人之间的通信,能够控制机器人移动的速度,能够增加使用者与机器人之间的互动。The robot 100 is equipped with two sets of the above-mentioned walking mechanisms 4, which are respectively connected to the above-mentioned two eccentric parts 8, corresponding to the left and right feet of the robot 100, respectively. During movement, the left-leg walking mechanism and the right-leg walking mechanism are lifted or down from the neutral position by the action of the eccentric member, always supporting one leg, and lifting the other leg, moving forward alternately, so that the robot can imitate human walking. . Through the communication between the intelligent terminal and the robot, the speed of the robot can be controlled, and the interaction between the user and the robot can be increased.
控制器15还包括测速模块17,测速模块17包括设置在偏心件8上的磁块18和对应设置在机体1上的霍尔传感器19;测速模块检17测偏心件8的转速并将转速数据传送至控制器15。偏心件8每转一周,霍尔传感器19便发出一个脉冲信号,由霍尔器件电路输出给控制器15,控制器15将偏心件2的转速数据通过通信模块16发送给智能终端。The controller 15 also includes a speed measuring module 17. The speed measuring module 17 includes a magnetic block 18 arranged on the eccentric part 8 and a Hall sensor 19 correspondingly arranged on the body 1; the speed measuring module detects 17 the speed of the eccentric part 8 and generates the speed data Transfer to the controller 15. Every time the eccentric part 8 rotates, the Hall sensor 19 sends a pulse signal, which is output to the controller 15 by the Hall device circuit, and the controller 15 sends the speed data of the eccentric part 2 to the intelligent terminal through the communication module 16.
另外,控制器15还能监测所述电池200的电量信息,并将电量信息通过通信模块16发送给智能终端。In addition, the controller 15 can also monitor the power information of the battery 200 and send the power information to the smart terminal through the communication module 16.
上文所描述以及附图所示的各种具体实施方式仅用于说明本发明,并非本发明的全部。在本发明的基本技术思想的范畴内,相关技术领域的普通技术人员针对本发明所进行的任何形式的变更均在本发明的保护范围之内。The various specific implementations described above and shown in the drawings are only used to illustrate the present invention, and are not all of the present invention. Within the scope of the basic technical idea of the present invention, any form of modification made to the present invention by a person of ordinary skill in the relevant technical field shall fall within the protection scope of the present invention.
Claims (9)
- 一种运输机器人,具有机体(1),以及设置在所述机体(1)上的电机(2)、传动***(3)和行走机构(4),其特征在于:A transportation robot has a body (1), a motor (2), a transmission system (3) and a walking mechanism (4) arranged on the body (1), and is characterized in that:所述机器人设有与所述机体(1)连接的运载装置(300);The robot is provided with a carrier device (300) connected to the body (1);所述传动***(3)包括与电机(2)输出轴连接的输出轴齿轮(5),与所述输出轴齿轮(5)连接的主齿轮(6),设置在所述主齿轮(6)上的转轴(7),穿设在所述转轴(7)上的两个偏心件(8),分别设置在所述转轴(7)的两端;The transmission system (3) includes an output shaft gear (5) connected with the output shaft of the motor (2), and a main gear (6) connected with the output shaft gear (5), arranged on the main gear (6) The upper rotating shaft (7) passes through two eccentric pieces (8) on the rotating shaft (7), which are respectively arranged at both ends of the rotating shaft (7);所述行走机构(4)包括第一连杆(41)、第二连杆(42)和第三连杆(43),所述第一连杆(41)的一端(411)与所述偏心件(8)连接,另一端(412)与所述第二连杆(42)的上端(421)转动连接,所述第三连杆(43)的一端(431)可转动地连接在所述机体(1)上,另一端(432)与所述第二连杆(42)的上端(421)转动连接;其中所述偏心件(8)转动时带动所述第一连杆(41)、第二连杆(42)和第三连杆(43)产生连动;The walking mechanism (4) includes a first link (41), a second link (42), and a third link (43). One end (411) of the first link (41) is eccentric The other end (412) is rotatably connected with the upper end (421) of the second link (42), and one end (431) of the third link (43) is rotatably connected to the On the body (1), the other end (432) is rotatably connected with the upper end (421) of the second link (42); wherein the eccentric member (8) drives the first link (41), The second link (42) and the third link (43) are linked;其中所述机体(1)受到所述行走机构(4)作用产生位移从而带动所述运载装置(300)产生位移。Wherein, the body (1) is displaced by the walking mechanism (4), thereby driving the carrying device (300) to produce displacement.
- 如权利要求1所述的运输机器人,其特征在于:The transportation robot according to claim 1, wherein:所述机体(1)包括第一板体(11)和第二板体(12),所述主齿轮(6)安装在所述第一板体(11)和所述第二板体(12)之间,所述转轴(7)分别穿设在所述第一板体(11)和所述第二板体(12)上。The body (1) includes a first plate body (11) and a second plate body (12), and the main gear (6) is mounted on the first plate body (11) and the second plate body (12). ), the rotating shaft (7) is respectively penetrated on the first plate body (11) and the second plate body (12).
- 如权利要求2所述的运输机器人,其特征在于,包括:The transportation robot according to claim 2, characterized in that it comprises:电源(13),所述电源(13)固定安装在所述第一板体(11)和所述第二板体(12)上。A power supply (13), the power supply (13) is fixedly installed on the first board (11) and the second board (12).
- 如权利要求2所述的运输机器人,其特征在于:The transportation robot according to claim 2, characterized in that:所述第一板体(11)与所述第二板体(12)上分别设有手臂板(9),所述手臂板(9)以插接的方式安装在所述第一板体(11)和所述第二板体(12)上。The first board body (11) and the second board body (12) are respectively provided with arm boards (9), and the arm boards (9) are installed on the first board body ( 11) and the second board (12).
- 如权利要求4所述的运载机器人,其特征在于:The delivery robot according to claim 4, characterized in that:所述运载装置(300)为具有座椅的双轮车,所述双轮车上设有车杆(301),所述车杆(301)与所述手臂板(9)相连接。The carrying device (300) is a two-wheeled vehicle with a seat. The two-wheeled vehicle is provided with a rod (301), and the rod (301) is connected with the arm plate (9).
- 如权利要求5所述的行走机器人,其特征在于,包括:The walking robot according to claim 5, characterized by comprising:设置在所述双轮车上的电池(200),所述车杆(301)和所述手臂板(9)上设有导线(302)连接所述电源(13)和所述电机(2)。A battery (200) arranged on the two-wheeled vehicle, a wire (302) is provided on the rod (301) and the arm plate (9) to connect the power source (13) and the motor (2) .
- 如权利要求1所述的运输机器人,其特征在于:The transportation robot according to claim 1, wherein:两个所述偏心件(8)绕着所述主齿轮(6)和所述转轴(7)的交点中心O对称。The two eccentric members (8) are symmetrical around the intersection center O of the main gear (6) and the rotating shaft (7).
- 如权利要求7所述的运输机器人,其特征在于:The transportation robot according to claim 7, characterized in that:所述偏心件(8)包括第一偏心件(81)和第二偏心件(82),所述第一连杆(41)安装在所述第一偏心件(81)和所述第二偏心件(82)之间。The eccentric member (8) includes a first eccentric member (81) and a second eccentric member (82), and the first connecting rod (41) is mounted on the first eccentric member (81) and the second eccentric member (81). Between pieces (82).
- 如权利要求1所述的运输机器人,其特征在于:The transportation robot according to claim 1, wherein:所述第一连杆(41)为大腿骨架状,所述第二连杆(42)为小腿骨架状,所述第二连杆(42)的下端(422)铰接有支撑脚(44)。The first link (41) is in the shape of a thigh frame, the second link (42) is in the shape of a calf frame, and the lower end (422) of the second link (42) is hinged with a supporting foot (44).
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CN201921637362.6U CN211388794U (en) | 2019-09-27 | 2019-09-27 | Transport robot |
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