阅读说明：本技术 一种非轮式机器人 (Non-wheeled robot ) 是由 刘春山 张文清 侯玉申 邓明明 邓磊 李银涛 于 2020-07-10 设计创作，主要内容包括：本发明公开了一种非轮式机器人,包括行走机构,所述行走机构包括四个腿部行走机构和腹部结构,所述腿部行走机构对称安装在所述腹部结构的两侧,所述腹部结构的顶端通过支撑板安装有弹射机构。所述腹部结构包括腹板,所述腹板两侧对称设有侧板。有益效果是：本申请的足式机器人为教育用机器人提供了一种新的思路,该机器人首先是一种仿生四足机器人,能够通过该机器人向学生普及机器人技术的同时,科普一系列仿生概念,让孩子们从仿生学的角度去理解机器人的运动状态,趣味性会更好。由于该仿生四足机器人具有很多自由度,能够在教学中发挥学生的主观能动性,让他们自行探索更多的动作可能性,实现个性化定制功能。(The invention discloses a non-wheeled robot which comprises a walking mechanism, wherein the walking mechanism comprises four leg walking mechanisms and an abdomen structure, the leg walking mechanisms are symmetrically arranged on two sides of the abdomen structure, and an ejection mechanism is arranged at the top end of the abdomen structure through a supporting plate. The belly structure includes the web, the web bilateral symmetry is equipped with the curb plate. The beneficial effects are that: the utility model provides a sufficient formula robot provides a new thinking for robot for education, and this robot is the bionic four-footed robot at first, can popularize the robot technique to the student through this robot, and a series of bionical concepts of science popularization let children go to understand the motion state of robot from the angle of bionics, and the interest can be better. Because the bionic quadruped robot has multiple degrees of freedom, the subjective initiative of students can be exerted in teaching, so that the students can explore more action possibilities by themselves, and the personalized customization function is realized.)

1. A non-wheeled robot is characterized by comprising a walking mechanism (1), wherein the walking mechanism (1) comprises four leg walking mechanisms (3) and an abdomen structure (2), the leg walking mechanisms (3) are symmetrically arranged on two sides of the abdomen structure (2), and an ejection mechanism (29) is arranged at the top end of the abdomen structure (2) through a support plate (30);

the abdomen structure (2) comprises a web plate (201), side plates (202) are symmetrically arranged on two sides of the web plate (201), mounting openings (203) are symmetrically formed in the top ends of the side plates (202) along the length direction of the side plates, and a mechanical arm connecting opening (204) is formed in the surface of the web plate (201);

the leg walking mechanism (3) comprises a thigh part (4), a knee (5) and a shank part (6), the thigh part (4) is connected with the output end of a first steering engine (19) on the inner side surface of a side plate (202) through the mounting opening (203), the thigh part (4) is movably connected with the knee (5) through a second steering engine (7), and the knee (5) is movably connected with the shank part (6) through a third steering engine (8);

the surface of web (201) passes through fourth steering wheel (34) are installed in connector (204), the output of fourth steering wheel (34) is connected with arm one (33), the side-mounting of arm one (33) has fifth steering wheel (18), the output of fifth steering wheel (18) is connected with arm two (31), sixth steering wheel (17) are installed to the front end lateral surface of arm two (31), the output of sixth steering wheel (17) be connected with launch mechanism (29) matched with grab ball mechanism (13).

2. The non-wheeled robot according to claim 1, wherein the ball catching mechanism (13) comprises a driving motor (9) arranged at the top end of a fixing plate (15), the output end of the driving motor (9) is connected with a lead screw (37), the free end of the lead screw (37) penetrates through the surface of the fixing plate (15) and extends to the lower side of the fixing plate, a clamping plate (36) is connected to the lead screw (37) through internal threads, three clamping claws (11) are movably connected to the bottom of the fixing plate (15), a protrusion (12) is arranged on the inner side surface of each clamping claw (11), a sliding groove (14) is formed in each protrusion (12), a lever structure fulcrum (10) is connected to each sliding groove (14) in a sliding mode, and each lever structure fulcrum (10) is clamped to the side surface of the clamping plate (36) through a notch formed in each lever structure fulcrum (.

3. A non-wheeled robot as claimed in claim 2, characterised in that the surface of the mounting plate (15) on one side of the drive motor (9) is connected to the output of the sixth steering engine (17) by means of a connecting plate (16).

4. The non-wheeled robot as claimed in claim 1, wherein the ejection mechanism (29) comprises a mounting seat (27) mounted at the top end of a support plate (30), the mounting seat (27) is connected with a circular mounting plate (26) through a bolt, a plurality of positioning rods (25) are arranged on the side surface of the mounting plate (26), and a limiting mechanism is formed among the positioning rods (25);

a first positioning frame (20) is arranged at the right end of the limiting mechanism, a second positioning frame (24) is arranged at one end, close to the mounting plate (26), of the limiting mechanism, the free end of the positioning rod (25) extends along the length direction of the mounting seat (27), the positioning rod (25) is uniformly distributed along the edge of the mounting plate (26), a firing pin (21) is arranged in the limiting mechanism, a spring (23) is arranged between the firing pin (21) and the mounting plate (26), one end of the spring (23) is fixedly connected with the mounting plate (26), the other end of the spring (23) is abutted against the firing pin (21), a limiting plate (38) is connected to one end, far away from the spring (23), of the firing pin (21), and a groove (39) is formed between the limiting plate (38) and the firing pin (21);

and a driving mechanism for driving the firing pin (21) to move along the limiting mechanism to extrude the spring (23) is arranged on the side surface of the mounting seat (27).

5. The non-wheeled robot as claimed in claim 4, wherein the driving mechanism comprises a connecting plate (28) arranged on the side face of the mounting seat (27), a seventh steering engine (22) is mounted on the surface of the connecting plate (28) through a bolt, the output end of the seventh steering engine (22) is connected with a bolt machine (35), and one end, far away from the seventh steering engine (22), of the bolt machine (35) penetrates through the side face of the mounting seat (27) and can extend into the groove (39).

6. A non-wheeled robot according to claim 5, characterized in that a trigger (32) is mounted at the bottom end of said connection plate (28), said trigger (32) being rotatably connected to said connection plate (28) by means of a torsion spring.

7. A non-wheeled robot as claimed in claim 6, characterised in that said mounting (27) is provided with a slide groove on its side for matching with said trigger (32) and said bolt (35).

Technical Field

The invention relates to the technical field of robots, in particular to a non-wheel type robot.

Background

The existing educational robot mainly comprises a particle-type robot and a wheel-type robot. The built robot is static or limited in action due to the limited number of interfaces and the like of the robot built in a particle type; the wheeled mobile robot mainly depends on various external sensors to realize complex functions, but the functions are more conventional.

Disclosure of Invention

The invention aims to provide a non-wheel type robot, which can popularize the robot technology for students and simultaneously popular a series of bionic concepts by science, so that children can understand the motion state of the robot from the perspective of bionics, and the interestingness is better.

The technical scheme of the invention is realized as follows:

the utility model provides a non-wheeled robot, includes running gear, running gear includes four shank running gear and belly structure, shank running gear symmetry is installed the both sides of belly structure, ejection mechanism is installed through the backup pad in the top of belly structure.

The belly structure includes the web, the web bilateral symmetry is equipped with the curb plate, the installing port has been seted up along its length direction symmetry in curb plate top, the robotic arm connector has been seted up on the surface of web.

The leg walking mechanism comprises a thigh part, a knee and a shank part, the thigh part is connected with an output end of a first steering engine on the inner side of the side plate through the mounting opening, the thigh part is movably connected with the knee through a second steering engine, and the knee part is movably connected with the shank through a third steering engine.

The surface of web passes through the connector is installed the fourth steering wheel, the output of fourth steering wheel is connected with arm one, the side-mounting of arm one has the fifth steering wheel, the output of fifth steering wheel is connected with arm two, the front end side of arm two is installed the sixth steering wheel, the output of sixth steering wheel be connected with ejection mechanism matched with grab the ball mechanism.

Further, grab ball mechanism including setting up the driving motor on the fixed plate top, driving motor's output is connected with the lead screw, the free end of lead screw runs through the fixed plate surface to extend to its below, female connection has the grip block on the lead screw, fixed plate bottom swing joint has three joint claw, the joint claw medial surface is provided with the arch, be equipped with the spout in the arch, sliding connection has lever structure fulcrum in the spout, the lever structure fulcrum through the notch that sets up on it with the side joint of grip block.

Furthermore, the surface of the mounting plate is positioned on one side of the driving motor and is connected with the output end of the sixth steering engine through a connecting plate.

Further, ejection mechanism is including installing the mount pad on backup pad top, the mount pad has circular mounting panel through bolted connection, the mounting panel side is provided with a plurality of locating levers, forms stop gear between a plurality of locating levers.

The spring fixing device is characterized in that a first positioning frame is arranged at the right end of the limiting mechanism, a second positioning frame is arranged at one end, close to the mounting plate, of the limiting mechanism, the free end of the positioning rod extends along the length direction of the mounting seat, the positioning rod is evenly distributed at the edge of the mounting plate, firing pins are arranged in the limiting mechanism, a spring is arranged between the firing pins and the mounting plate, one end of the spring is fixedly connected with the mounting plate, the other end of the spring is abutted to the firing pins, one end, far away from the spring, of the firing pins is connected with a limiting plate, and a groove is formed between the limiting plate.

And a driving mechanism for driving the firing pin to move along the limiting mechanism to extrude the spring is arranged on the side surface of the mounting seat.

Furthermore, the driving mechanism comprises a connecting plate arranged on the side face of the mounting seat, a seventh steering engine is mounted on the surface of the connecting plate through bolts, the output end of the seventh steering engine is connected with a gun machine, and one end, far away from the seventh steering engine, of the gun machine penetrates through the side face of the mounting seat and can extend into the groove.

Further, the trigger is installed to the connecting plate bottom, the trigger passes through the torsional spring and is connected with the connecting plate rotation.

Furthermore, the side surface of the mounting base is provided with a sliding groove matched with the trigger and the gunlock.

The invention has the beneficial effects that: the utility model provides a sufficient formula robot provides a new thinking for robot for education, and this robot is the bionic four-footed robot at first, can popularize the robot technique to the student through this robot, and a series of bionical concepts of science popularization let children go to understand the motion state of robot from the angle of bionics, and the interest can be better. Because the bionic quadruped robot has multiple degrees of freedom, the subjective initiative of students can be exerted in teaching, so that the students can explore more action possibilities by themselves, and the personalized customization function is realized. The robot is provided with the controllable fort device, objects such as steel balls can be launched through the fort device, and through the design, the robot can be conveniently used in match design in robot teaching, so that children can enjoy learning interest through robot competition.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic diagram of a non-wheeled robot;

FIG. 2 is a left side view of FIG. 1;

FIG. 3 is a top view of FIG. 1;

FIG. 4 is a schematic view of a part of the ejection mechanism;

fig. 5 is an enlarged view of a point a in fig. 1.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

According to an embodiment of the present invention, a non-wheeled robot is provided.

Referring to fig. 1 to 5, the non-wheeled robot according to the embodiment of the present invention includes a traveling mechanism 1, wherein the traveling mechanism 1 includes four leg traveling mechanisms 3 and an abdomen structure 2, the leg traveling mechanisms 3 are symmetrically installed on two sides of the abdomen structure 2, and an ejection mechanism 29 is installed at the top end of the abdomen structure 2 through a support plate 30.

The abdomen structure 2 comprises a web 201, side plates 202 are symmetrically arranged on two sides of the web 201, mounting openings 203 are symmetrically formed in the top ends of the side plates 202 along the length direction of the side plates, and a mechanical arm connecting opening 204 is formed in the surface of the web 201.

The leg walking mechanism 3 comprises a thigh part 4, a knee 5 and a shank part 6, the thigh part 4 is connected with an output end of a first steering engine 19 on the inner side of the side plate 202 through the mounting opening 203, the thigh part 4 is movably connected with the knee 5 through a second steering engine 7, and the knee 5 is movably connected with the shank part 6 through a third steering engine 8.

The surface of web 201 passes through connector 204 installs fourth steering wheel 34, the output of fourth steering wheel 34 is connected with arm 33, fifth steering wheel 18 is installed to the side of arm 33, the output of fifth steering wheel 18 is connected with arm two 31, the front end side of arm two 31 is installed sixth steering wheel 17, the output of sixth steering wheel 17 be connected with ejection mechanism 29 matched with grab ball mechanism 13.

In one embodiment, the ball grabbing mechanism 13 comprises a driving motor 9 arranged on the top end of a fixing plate 15, the output end of the driving motor 9 is connected with a lead screw 37, the free end of the lead screw 37 penetrates through the surface of the fixing plate 15 and extends to the lower side of the fixing plate, a clamping plate 36 is connected to the lead screw 37 through an internal thread, three clamping claws 11 are movably connected to the bottom of the fixing plate 15, protrusions 12 are arranged on the inner side surfaces of the clamping claws 11, sliding grooves 14 are formed in the protrusions 12, lever structure fulcrums 10 are connected to the sliding grooves 14 in a sliding mode, and the lever structure fulcrums 10 are connected with the side surfaces of the clamping plate 36 through notches formed in.

In one embodiment, the surface of the mounting plate 15 on one side of the driving motor 9 is connected with the output end of the sixth steering engine 17 through a connecting plate 16.

In one embodiment, the ejection mechanism 29 comprises a mounting seat 27 mounted at the top end of a support plate 30, the mounting seat 27 is connected with a circular mounting plate 26 through bolts, the side surface of the mounting plate 26 is provided with a plurality of positioning rods 25, and a limiting mechanism is formed among the plurality of positioning rods 25.

The right end of the limiting mechanism is provided with a first positioning frame 20, one end of the limiting mechanism, which is close to the mounting plate 26, is provided with a second positioning frame 24, the free end of the positioning rod 25 extends along the length direction of the mounting seat 27, the positioning rod 25 is uniformly distributed along the edge of the mounting plate 26, a firing pin 21 is arranged in the limiting mechanism, a spring 23 is arranged between the firing pin 21 and the mounting plate 26, one end of the spring 23 is fixedly connected with the mounting plate 26, the other end of the spring 23 is abutted against the firing pin 21, one end of the firing pin 21, which is far away from the spring 23, is connected with a limiting plate 38, and a groove 39 is formed between the limiting plate 38 and the firing pin.

And a driving mechanism for driving the striker 21 to move along the limiting mechanism to press the spring 23 is arranged on the side surface of the mounting seat 27.

In one embodiment, the driving mechanism comprises a connecting plate 28 arranged on the side surface of the mounting seat 27, a seventh steering engine 22 is mounted on the surface of the connecting plate 28 through a bolt, an output end of the seventh steering engine 22 is connected with a bolt 35, and one end, far away from the seventh steering engine 22, of the bolt 35 penetrates through the side surface of the mounting seat 27 and can extend into the groove 39.

In one embodiment, a trigger 32 is mounted to the bottom end of the attachment plate 28, and the trigger 32 is pivotally coupled to the attachment plate 28 via a torsion spring.

In one embodiment, the side of the mounting seat 27 is provided with a sliding groove matched with the trigger 32 and the bolt 35.

As shown in fig. 1 or fig. 2, the leg walking mechanism 3 is composed of three sections, namely a thigh section 4, a knee section 5 and a shank section 6, and three degrees of freedom, namely longitudinal, transverse and longitudinal, are respectively given by three steering engines. Two longitudinal degrees of freedom accomplish forward walking, and one transverse degree of freedom is used during turning and squatting. The belly structure 2 adopts a recessed tank body for connecting various parts and placing batteries, circuit boards and the like.

As shown in fig. 1: walking analysis: defining four legs as L1 (left front), L2 (left back), R1 (right front), R2 (right back)

(1) Slow walking: when walking, the four legs advance in turn according to the sequence of L1-R2-R1-L2. The natural state of each leg is bowed rearwardly. When walking with the L1 leg, the lower leg part of the L1 is lifted to extend forwards, then the thigh part of the L1 is extended forwards, the lower leg part of the L1 is sent forwards, the thigh part is fixed after the lower leg part reaches the designated position, and the lower leg part falls to the ground. The distance by which the anterior edge of the calf portion advances is defined as one Step. R2 repeats the process of L1. The knee joints of the four legs all move forwards, so that the center of gravity moves forwards. R1 executes forward movement, and according to the action type, R1 executes movement and then moves forward one Step if the movement is always forward, and executes half Step if the movement is stopped.

(2) Fast walking: the legs are lifted by the L1 and the R2 at the same time, and the L2 and the R1 move the whole body forwards by rotating the steering engines at the root part and the knee part of the thigh. L1 and R2 fall, L2 and R1 rise, and the above processes of L1 and R2 are repeated and performed alternately. The four-foot mechanism can complete the running state similar to that of two feet, and the speed is increased. Description of the drawings: the size of Step determines the advancing speed of the robot, and the Step is about 70mm as the result of measurement and calculation of the robot, so that the robot actually walks slowly, and the need of projecting a small ball is increased.

(3) Turning: (right turn is described here, and left turn is analogous) the turning action evolves from a forward action, completing the turn in forward travel. And (3) turning to the right: lift R1, move 1/2step forward and turn the other three-legged knees right, R1 landing. Lift L2, advance 3/2step forward and turn the knee right, landing. The whole has a tendency to the right, lifting L1 to advance more than step and the knee to turn right, landing. Finally, the R2 is lifted, the natural state of the leg is restored, and the leg falls to the ground. The robot has already rotated through a certain angle. The right turn can be completed by repeating the above process.

(4) Squatting in front and at back: the knee longitudinal steering engine controls the included angle between the large leg and the small leg to be smaller; simultaneously, the steering engine on the thigh part is controlled to enable the thigh part to stretch horizontally; the robot can squat in place. Or: the knee is controlled to control the steering engine transversely, so that the lower leg is horizontal, and the robot can half squat.

(5) Inclination: the lateral freedom of the knee joint can control the bending of one leg, so that the whole body can be inclined leftwards and rightwards. The front leg or the rear leg squats down to finish the front and rear inclination. This action is mainly used to set the launch angle in conjunction with launching the ball.

The action principle of the ejection mechanism is as follows: the device is completed by loading a steering engine, stopping a trigger, launching a spring, performing gun striking linkage and the like. Loading: the seventh steering engine 22 rotates forward at a certain angle (about 60 degrees), the spring 23 is compressed by the gun strike 35, the firing pin 21 is locked by the trigger 32 when the compression is about to end, and the seventh steering engine 22 continues to rotate to drive the gun strike 35 to enter a preset sliding groove and leave the firing pin 21. Emission: the seventh actuator 22 increases the angle of rotation to trigger the trigger 32, and the trigger 32 moves downward away from the striker 21. The spring 23 is released, driving the striker 21 to strike the ball and launch it. And (3) recovering: the seventh steering engine 22 returns to the natural state, and the gunlock 35 is driven to return to the initial position in the recovery process.

The ball grabbing mechanism 13 is matched with two mechanical arm hands. The first arm 33 completes horizontal small-range rotation, the second arm 31 completes vertical rotation, and the second arm 31 is matched with the ball grabbing mechanism 13 to complete vertical rotation of the hook.

The method specifically comprises the following steps: the laser lamps are arranged on two sides of the front edge of the body of the non-wheeled robot, an arc-shaped area is projected on the ground through scattering and refraction, and the area where the mechanical arm gripper can grip a ball most easily is marked in the arc-shaped area. Then, a laser lamp is arranged on the mechanical arm, a linear light area is formed in the radial direction of the mechanical arm, and the linear light area displays the direction of the mechanical arm at the moment. When the small ball falls on the overlapped area of the arc area and the linear light area, the small ball is marked to be in the graspable area at the moment. At this time, the operator can directly issue a grabbing command.

And a photoelectric triggering mode is adopted, when the non-wheeled robot walks to a triggering area, the arm II is rotated upwards, the angle is adjusted, and laser of the laser device on the arm can be shot into a photoelectric sensor of the wheeled robot to trigger the wheeled robot. To avoid interference from the field light, we prepare to use a near infrared laser.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.