阅读说明：本技术 一种适应多种行走环境的机器人行走结构装置 (Robot walking structure device suitable for various walking environments ) 是由 陈国富 王连进 于 2020-06-08 设计创作，主要内容包括：本发明公开了一种适应多种行走环境的机器人行走结构装置,涉及机器人行走机构装置领域。本发明中：机器人行走架的两侧位置上装设有第一旋转动力装置、第二旋转动力装置；第一旋转动力装置连接有第一旋转连杆机构；第一驱动轮动力装置连接有第一驱动轴连杆机构；第一驱动轴连杆机构连接有第一辅助驱动轮；第二旋转动力装置连接有第二旋转连杆机构；第二驱动轮动力装置连接有第二驱动轴连杆机构；第二驱动轴连杆机构连接有第二辅助驱动轮。本发明通过旋转动力装置对调节基架连板的位置进行驱动调节,使得调节基架连板上的辅助驱动轮到达合适的辅助配合位置,通过驱动轮动力装置驱动辅助驱动轮进行动作,有效的增强机器人行走架的行走效率。(The invention discloses a robot walking structure device suitable for various walking environments, and relates to the field of robot walking mechanism devices. In the invention: a first rotary power device and a second rotary power device are arranged at the two sides of the robot walking frame; the first rotary power device is connected with a first rotary connecting rod mechanism; the first driving wheel power device is connected with a first driving shaft connecting rod mechanism; the first driving shaft connecting rod mechanism is connected with a first auxiliary driving wheel; the second rotary power device is connected with a second rotary connecting rod mechanism; the second driving wheel power device is connected with a second driving shaft connecting rod mechanism; the second drive shaft linkage is connected with a second auxiliary drive wheel. The auxiliary driving wheel power device drives and adjusts the position of the adjusting pedestal connecting plate, so that the auxiliary driving wheel on the adjusting pedestal connecting plate reaches a proper auxiliary matching position, and the auxiliary driving wheel is driven to act by the driving wheel power device, thereby effectively enhancing the walking efficiency of the robot walking frame.)

1. The utility model provides a robot walking structure device who adapts to multiple walking environment which characterized in that:

the robot walking frame comprises a robot walking frame (1), wherein a first rotary power device (2) and a second rotary power device (9) are fixedly distributed on the two sides of the robot walking frame (1);

the output shaft of the first rotary power device (2) is connected with a first rotary connecting rod mechanism (3);

the device comprises a first adjusting pedestal connecting plate (4), wherein one end of the first adjusting pedestal connecting plate (4) is fixedly connected to the end side of a first rotating connecting rod mechanism (3);

the other end of the first adjusting pedestal connecting plate (4) is fixedly provided with a first driving wheel power device (5);

a first driving shaft connecting rod mechanism (6) is connected to an output shaft of the first driving wheel power device (5);

a first auxiliary driving wheel (7) is fixedly connected to the end side of the first driving shaft linkage mechanism (6);

a second rotary connecting rod mechanism (10) is connected to an output shaft of the second rotary power device (9);

the device comprises a second adjusting pedestal connecting plate (11), wherein two ends of the second adjusting pedestal connecting plate (11) are fixedly connected to the end side of a second rotating connecting rod mechanism (10);

the other end of the second adjusting pedestal connecting plate (11) is fixedly provided with a second driving wheel power device (12);

a second driving shaft connecting rod mechanism (13) is connected to an output shaft of the second driving wheel power device (12);

a second auxiliary driving wheel (14) is fixedly connected to the end side of the second driving shaft linkage mechanism (13).

2. The robot walking structure device adapted to various walking environments of claim 1, wherein:

the first adjusting pedestal connecting plate (4) and the second adjusting pedestal connecting plate (11) are fixedly connected with auxiliary supporting posts (15);

an auxiliary supporting ring plate (16) is fixedly connected to the periphery of the auxiliary supporting post rod (15);

and auxiliary support frames (17) are arranged between the first adjusting pedestal connecting plate (4) and the corresponding auxiliary support ring plate (16) and between the second adjusting pedestal connecting plate (11) and the corresponding auxiliary support ring plate (16).

3. The robot walking structure device adapted to various walking environments of claim 2, wherein:

a first buffer base plate (18) is arranged on the auxiliary support post rod (15);

a second buffer base plate (19) is arranged on the auxiliary supporting ring plate (16);

the first cushion pad (18) and the second cushion pad (19) are both rubber plates.

4. The robot walking structure device adapted to various walking environments of claim 1, wherein:

a plurality of auxiliary slats (8) which are uniformly distributed are fixedly arranged on the peripheral side plate of the first auxiliary driving wheel (7);

a plurality of auxiliary slats (8) which are uniformly distributed are fixedly arranged on the peripheral side plate of the second auxiliary driving wheel (14);

the auxiliary lath (8) is a rubber material plate.

5. The robot walking structure device adapted to various walking environments of claim 1, wherein:

the auxiliary driving positions of the first auxiliary driving wheel (7) and the second auxiliary driving wheel (14) are matched with the position of the bottom side panel of the robot walking frame (1).

Technical Field

The invention relates to the field of robot walking mechanism devices, in particular to a robot walking structure device suitable for various walking environments.

Background

A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.

In the walking process of the robot, various road conditions under different conditions can be met, and the walking mechanism of the traditional robot cannot better cope with the road conditions under poorer conditions, so that the robot is very inconvenient to walk, and the corresponding operation efficiency of the robot is reduced; how to effectively enhance the walking operation efficiency of the robot under the condition of a complex road surface becomes a problem to be solved.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a robot walking structure device suitable for various walking environments, the position of an adjusting pedestal connecting plate is driven and adjusted through a rotary power device, so that an auxiliary driving wheel on the adjusting pedestal connecting plate reaches a proper auxiliary matching position, the auxiliary driving wheel is driven to act through a driving wheel power device, and the walking efficiency of a robot walking frame is effectively enhanced.

In order to solve the technical problems, the invention is realized by the following technical scheme:

the invention provides a robot walking structure device suitable for various walking environments, which comprises a robot walking frame, wherein a first rotary power device and a second rotary power device are fixedly distributed on the two sides of the robot walking frame; the output shaft of the first rotary power device is connected with a first rotary connecting rod mechanism.

The first adjusting pedestal connecting plate is fixedly connected with one end side of the first rotating connecting rod mechanism; the other end of the first adjusting base frame connecting plate is fixedly provided with a first driving wheel power device; the output shaft of the first driving wheel power device is connected with a first driving shaft connecting rod mechanism; the end side of the first driving shaft link mechanism is fixedly connected with a first auxiliary driving wheel; and the output shaft of the second rotary power device is connected with a second rotary connecting rod mechanism.

The two ends of the second adjusting pedestal connecting plate are fixedly connected to the end side of the second rotating connecting rod mechanism; the other end of the second adjusting bed frame connecting plate is fixedly provided with a second driving wheel power device; a second driving shaft connecting rod mechanism is connected to an output shaft of the second driving wheel power device; the end side of the second drive shaft linkage is fixedly connected with a second auxiliary drive wheel.

The first adjusting pedestal connecting plate and the second adjusting pedestal connecting plate are fixedly connected with auxiliary supporting posts; the periphery of the auxiliary support post rod is fixedly connected with an auxiliary support ring plate; and auxiliary supporting frames are arranged between the first adjusting base frame connecting plate and the corresponding auxiliary supporting ring plate and between the second adjusting base frame connecting plate and the corresponding auxiliary supporting ring plate.

Wherein, the auxiliary supporting pole is provided with a first buffer backing plate; the auxiliary supporting ring plate is provided with a second buffer base plate; the first cushion backing plate and the second cushion backing plate are both rubber material plates.

Wherein, a plurality of auxiliary slats which are uniformly distributed are fixedly arranged on the peripheral side plate of the first auxiliary driving wheel; a plurality of auxiliary slats which are uniformly distributed are fixedly arranged on the peripheral side plate of the second auxiliary driving wheel; the auxiliary strip plate is a rubber material plate.

The auxiliary driving positions of the first auxiliary driving wheel and the second auxiliary driving wheel are matched with the position of the bottom side panel of the robot walking frame.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the corresponding rotary power device is arranged on the robot walking frame, and the position of the adjusting base frame connecting plate is driven and adjusted through the rotary power device, so that the auxiliary driving wheel on the adjusting base frame connecting plate reaches a proper auxiliary matching position, and the auxiliary driving wheel is driven to act through the driving wheel power device, thereby effectively enhancing the walking efficiency of the robot walking frame;

2. according to the invention, the auxiliary support column rod with the buffer base plate and the auxiliary support ring plate are arranged on the adjusting base frame connecting plate, so that excessive impact pressure between the robot walking frame and the walking surface is reduced, and the structure of the robot walking frame is effectively protected.

Drawings

FIG. 1 is a schematic structural diagram of a robot walking structure device adapted to various walking environments according to the present invention;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

wherein: 1-a robot walking frame; 2-a first rotary power unit; 3-a first rotating linkage; 4-first adjusting pedestal connecting plate; 5-a first drive wheel power plant; 6-a first drive shaft linkage; 7-a first auxiliary drive wheel; 8-auxiliary lath; 9-a second rotary power unit; 10-a second rotating linkage; 11-a second adjusting pedestal connecting plate; 12-a second drive wheel power plant; 13-a second drive shaft linkage; 14-a second auxiliary drive wheel; 15-auxiliary support posts; 16-an auxiliary support ring plate; 17-an auxiliary support frame; 18-a first cushion pad; 19-second cushion pad.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The invention relates to a robot walking structure device suitable for various walking environments, which comprises a robot walking frame 1, wherein a first rotary power device 2 and a second rotary power device 9 are fixedly distributed on the two sides of the robot walking frame 1; the output shaft of the first rotary power device 2 is connected with a first rotary link mechanism 3.

The device comprises a first adjusting pedestal connecting plate 4, wherein one end of the first adjusting pedestal connecting plate 4 is fixedly connected to the end side of a first rotating connecting rod mechanism 3; the other end of the first adjusting bed frame connecting plate 4 is fixedly provided with a first driving wheel power device 5; a first driving shaft connecting rod mechanism 6 is connected to an output shaft of the first driving wheel power device 5; a first auxiliary driving wheel 7 is fixedly connected with the end side of a driving shaft link mechanism 6; a second rotary link mechanism 10 is connected to an output shaft of the second rotary power unit 9.

The two ends of the second adjusting pedestal connecting plate 11 are fixedly connected to the end side of the second rotating connecting rod mechanism 10; the other end of the second adjusting pedestal connecting plate 11 is fixedly provided with a second driving wheel power device 12; a second drive shaft linkage mechanism 13 is connected to an output shaft of the second drive wheel power device 12; a second auxiliary drive wheel 14 is fixedly connected to an end side of the second drive shaft link mechanism 13.

Further, the first adjusting pedestal connecting plate 4 and the second adjusting pedestal connecting plate 11 are both fixedly connected with an auxiliary support post rod 15; an auxiliary supporting ring plate 16 is fixedly connected to the periphery of the auxiliary supporting post rod 15; auxiliary support frames 17 are arranged between the first adjusting pedestal connecting plate 4 and the corresponding auxiliary support ring plate 16 and between the second adjusting pedestal connecting plate 11 and the corresponding auxiliary support ring plate 16.

Further, a first buffer cushion plate 18 is arranged on the auxiliary support post rod 15; the auxiliary supporting ring plate 16 is provided with a second buffer backing plate 19; the first cushion plate 18 and the second cushion plate 19 are both made of rubber.

Furthermore, a plurality of auxiliary slats 8 which are uniformly distributed are fixedly arranged on the peripheral side plate of the first auxiliary driving wheel 7; a plurality of auxiliary strips 8 which are uniformly distributed are fixedly arranged on the peripheral side plate of the second auxiliary driving wheel 14; the auxiliary strip plate 8 is a rubber material plate.

Further, the auxiliary driving positions of the first auxiliary driving wheel 7 and the second auxiliary driving wheel 14 are matched with the position of the bottom side panel of the robot walking frame 1.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.