High-stability stepping device and walking robot with high walking stability
阅读说明：本技术 高稳定性的迈步装置和行走稳定性高的行走机器人 (High-stability stepping device and walking robot with high walking stability ) 是由 张兵 于 2019-12-10 设计创作，主要内容包括：本发明公开了一种高稳定性的迈步装置,包括与机器人防护外壳相连接的连接翼板、第一连接轴和第二连接轴；连接翼板的内侧设置有微型电机,微型电机设置有输出轴；输出轴依次穿过连接翼板、第一曲轴的第一端、第一圆角行位长孔和第二圆角行位长孔,输出轴的外端侧设置有第一挡紧螺母,输出轴驱动第一曲轴转动；第一连接轴的两端分别枢接第一曲轴的第一端和第二曲轴的第一端,第一连接轴的中部穿过第一连接孔；第二连接轴的两端分别枢接第二曲轴的第二端和第二连接孔；第一转动臂和第二转动臂的两端分别设置有圆角腿。在第一曲轴和第二曲轴的驱动作用及第一连接轴和第二连接轴的限位作用下,第一转动臂和第二转动臂交替着地,运行平稳。(The invention discloses a high-stability stepping device, which comprises a connecting wing plate, a first connecting shaft and a second connecting shaft, wherein the connecting wing plate is connected with a robot protective shell; the inner side of the connecting wing plate is provided with a micro motor, and the micro motor is provided with an output shaft; the output shaft sequentially penetrates through the connecting wing plate, the first end of the first crankshaft, the first round angle slide slot hole and the second round angle slide slot hole, a first retaining nut is arranged on the outer end side of the output shaft, and the output shaft drives the first crankshaft to rotate; the two ends of the first connecting shaft are respectively pivoted with the first end of the first crankshaft and the first end of the second crankshaft, and the middle part of the first connecting shaft penetrates through the first connecting hole; two ends of the second connecting shaft are respectively pivoted with a second end of the second crankshaft and the second connecting hole; and two ends of the first rotating arm and the second rotating arm are respectively provided with a fillet leg. Under the driving action of the first crankshaft and the second crankshaft and the limiting action of the first connecting shaft and the second connecting shaft, the first rotating arm and the second rotating arm alternately touch the ground and run stably.)
1. A high-stability walking device is characterized by comprising a connecting wing plate (1) connected with a robot protective shell, a first connecting shaft (5) and a second connecting shaft (6);
a first crankshaft (2), a first rotating arm (3), a second rotating arm (4) and a second crankshaft (7) are sequentially arranged on the outer side of the connecting wing plate (1); a first round angle slide long hole (31) and a first connecting hole (32) are sequentially arranged in the long direction of the first rotating arm (3), and a second round angle slide long hole (41) and a second connecting hole (42) are sequentially arranged in the long direction of the second rotating arm (4);
a micro motor (8) is arranged on the inner side of the connecting wing plate (1), and an output shaft (9) is arranged on the micro motor (8);
the output shaft (9) sequentially penetrates through the connecting wing plate (1), the first end of the first crankshaft (2), the first round angle slide long hole (31) and the second round angle slide long hole (41), a first blocking nut (91) is arranged on the outer end side of the output shaft (9), and the output shaft (9) drives the first crankshaft (2) to rotate;
two ends of the first connecting shaft (5) are respectively pivoted with the first end of the first crankshaft (2) and the first end of the second crankshaft (7), and the middle part of the first connecting shaft (5) penetrates through the first connecting hole (32);
two ends of the second connecting shaft (6) are respectively pivoted with a second end of the second crankshaft (7) and a second connecting hole (42);
and both ends of the first rotating arm (3) and the second rotating arm (4) are respectively provided with a fillet leg (01).
2. High stability advancing assembly according to claim 1, characterized in that the fillet legs (01) are provided with a wing foot (02) on each side.
3. The advancing assembly with high stability as claimed in claim 1, wherein the center of the half-angle hole at the first end of the first round-trip long hole (31) is a distance a from the first end of the first turning arm (3), and the center of the first connection hole (32) is a distance a from the second end of the first turning arm (3);
the first end of the first round angle slide long hole (31) is defined as the end far away from the first connecting hole (32);
the second end of the first rotation arm (3) is defined as an end closer to the center of the first connection hole (32).
4. The advancing assembly with high stability as claimed in claim 3, wherein the output shaft (9) is in clearance fit with the first circular arc slot (31), and the diameter of the output shaft (9) is 0 to 0.01mm smaller than the diameter of the first circular arc slot (31).
5. The advancing assembly with high stability as claimed in claim 3, wherein a ball (03) is fitted in an inner hole wall of the first circular arc travel slot (31), and the output shaft (9) and the ball (03) can slide and rotate relatively.
6. A high stability swing according to any one of claims 4 or 5, characterised in that the first swivel arm (3) and the second swivel arm (4) have the same construction.
7. Advancing assembly with high stability according to claim 6, characterized in that ball bearings are arranged at both ends of the second connecting shaft (6), and the outer rings of the ball bearings at both sides are respectively embedded inside the second end of the second crankshaft (7) and inside the second connecting hole (42).
8. The high stability advancing assembly according to claim 7, characterized in that the length of the second crankshaft (7) is greater than the length of the first crankshaft (2);
the length of the second crankshaft (7) is smaller than the length of the first rotating arm (3).
9. Advancing assembly with high stability according to claim 8, characterized in that the fillet legs (01) at both ends of the first swivel arm (3) are arranged symmetrically;
the lower part of the wing foot (02) is provided with a tower-shaped spring (04), and the extending length of the tower-shaped spring (04) is smaller than the length of the fillet leg (01).
10. A walking robot having high walking stability, comprising 2 or more sets of the high-stability walking apparatus according to any one of claims 1 to 9 symmetrically disposed in the left-right direction.
Technical Field
The invention relates to the technical field of robots, in particular to a high-stability walking device and a walking robot with high walking stability.
Background
Robots are machine devices that automatically perform work, including all machines that simulate human behavior or thought and other creatures (e.g., machine dogs, machine cats, etc.). There are also a number of taxonomies and controversy over the definition of robots in the narrow sense, and some computer programs are even referred to as robots. In modern industry, robots refer to man-made machines capable of automatically performing tasks to replace or assist human work, and are typically electromechanical devices, controlled by computer programs or electronic circuits.
The inventor of the invention finds that the robot walking device for spreading the pesticide in the prior art has a simple structure and a single use mode due to the design characteristics of the robot walking device, reduces the walking stability of the robot, further reduces the quality of spreading the pesticide, and further cannot meet various use requirements of the robot walking device for spreading the pesticide at present;
therefore, a high-stability walking device and a walking robot with high walking stability are provided.
Disclosure of Invention
The invention aims to provide a high-stability walking device, aiming at improving the stability problem of a robot walking device for spreading pesticides in the prior art.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a high-stability walking device comprises a connecting wing plate connected with a robot protective shell, a first connecting shaft and a second connecting shaft;
the outer side of the connecting wing plate is sequentially provided with a first crankshaft, a first rotating arm, a second rotating arm and a second crankshaft; a first fillet slide slot hole and a first connecting hole are sequentially arranged in the length direction of the first rotating arm, a second fillet slide slot hole and a second connecting hole are sequentially arranged in the length direction of the second rotating arm, a micro motor is arranged on the inner side of the connecting wing plate, and an output shaft is arranged on the micro motor;
the output shaft sequentially penetrates through the connecting wing plate, the first end of the first crankshaft, the first round angle slide slot hole and the second round angle slide slot hole, a first retaining nut is arranged on the outer end side of the output shaft, and the output shaft drives the first crankshaft to rotate;
the two ends of the first connecting shaft are respectively pivoted with the first end of the first crankshaft and the first end of the second crankshaft, and the middle part of the first connecting shaft penetrates through the first connecting hole;
two ends of the second connecting shaft are respectively pivoted with a second end of the second crankshaft and the second connecting hole;
and two ends of the first rotating arm and the second rotating arm are respectively provided with a fillet leg.
Preferably, two sides of the fillet leg are respectively provided with a wing foot.
Preferably, the distance from the center of the half-angle hole at the first end of the first round corner slide long hole to the first end of the first rotating arm is a, and the distance from the center of the first connecting hole to the second end of the first rotating arm is a;
the first end of the first round angle slide long hole is defined as the end far away from the first connecting hole;
the second end of the first rotating arm is defined as an end closer to the center of the first connection hole.
Preferably, the output shaft is in clearance fit with the first round angle slide long hole, and the diameter of the output shaft is 0-0.01 mm smaller than the diameter of the first round angle slide long hole.
Preferably, the ball is embedded in the inner hole wall of the first round angle slide long hole, and the output shaft and the ball can slide and rotate relatively.
Preferably, the first and second swing arms have the same structure.
Preferably, ball bearings are arranged at two ends of the second connecting shaft, and outer rings of the ball bearings at two sides are embedded in the inner side of the second end of the second crankshaft and the inner side of the second connecting hole respectively.
Preferably, the length of the second crankshaft is greater than the length of the first crankshaft;
the length of the second crankshaft is less than the length of the first rotating arm.
Preferably, the rounded legs at both ends of the first rotating arm are symmetrically disposed.
Preferably, the lower part of the wing foot is provided with a tower-shaped spring, and the extension length of the tower-shaped spring is less than that of the fillet leg.
The invention also provides a walking robot with high walking stability.
Comprises more than two groups of high-stability walking devices which are arranged in bilateral symmetry.
The high-stability stepping device comprises a connecting wing plate connected with the robot protective shell, a first connecting shaft and a second connecting shaft;
the outer side of the connecting wing plate is sequentially provided with a first crankshaft, a first rotating arm, a second rotating arm and a second crankshaft; the first rotating arm is sequentially provided with a first round angle slide long hole and a first connecting hole in the long direction, and the second rotating arm is sequentially provided with a second round angle slide long hole and a second connecting hole in the long direction
The inner side of the connecting wing plate is provided with a micro motor, and the micro motor is provided with an output shaft;
the output shaft sequentially penetrates through the connecting wing plate, the first end of the first crankshaft, the first round angle slide slot hole and the second round angle slide slot hole, a first retaining nut is arranged on the outer end side of the output shaft, and the output shaft drives the first crankshaft to rotate;
the two ends of the first connecting shaft are respectively pivoted with the first end of the first crankshaft and the first end of the second crankshaft, and the middle part of the first connecting shaft penetrates through the first connecting hole;
two ends of the second connecting shaft are respectively pivoted with a second end of the second crankshaft and the second connecting hole;
and two ends of the first rotating arm and the second rotating arm are respectively provided with a fillet leg.
Preferably, two sides of the fillet leg are respectively provided with a wing foot.
Preferably, the distance from the center of the half-angle hole at the first end of the first round corner slide long hole to the first end of the first rotating arm is a, and the distance from the center of the first connecting hole to the second end of the first rotating arm is a;
the first end of the first round angle slide long hole is defined as the end far away from the first connecting hole;
the second end of the first rotating arm is defined as an end closer to the center of the first connection hole.
Preferably, the output shaft is in clearance fit with the first round angle slide long hole, and the diameter of the output shaft is 0-0.01 mm smaller than the diameter of the first round angle slide long hole.
Preferably, the ball is embedded in the inner hole wall of the first round angle slide long hole, and the output shaft and the ball can slide and rotate relatively.
Preferably, the first and second swing arms have the same structure.
Preferably, ball bearings are arranged at two ends of the second connecting shaft, and outer rings of the ball bearings at two sides are embedded in the inner side of the second end of the second crankshaft and the inner side of the second connecting hole respectively.
Preferably, the length of the second crankshaft is greater than the length of the first crankshaft;
the length of the second crankshaft is less than the length of the first rotating arm.
Preferably, the rounded legs at both ends of the first rotating arm are symmetrically disposed.
Preferably, the lower part of the wing foot is provided with a tower-shaped spring, and the extension length of the tower-shaped spring is less than that of the fillet leg.
Compared with the prior art, the invention has the beneficial effects that: a high-stability walking device comprises a connecting wing plate connected with a robot protective shell, a first connecting shaft and a second connecting shaft; the outer side of the connecting wing plate is sequentially provided with a first crankshaft, a first rotating arm, a second rotating arm and a second crankshaft; a first fillet slide slot hole and a first connecting hole are sequentially arranged in the length direction of the first rotating arm, a second fillet slide slot hole and a second connecting hole are sequentially arranged in the length direction of the second rotating arm, a micro motor is arranged on the inner side of the connecting wing plate, and an output shaft is arranged on the micro motor; the output shaft sequentially penetrates through the connecting wing plate, the first end of the first crankshaft, the first round angle slide slot hole and the second round angle slide slot hole, a first retaining nut is arranged on the outer end side of the output shaft, and the output shaft drives the first crankshaft to rotate; the two ends of the first connecting shaft are respectively pivoted with the first end of the first crankshaft and the first end of the second crankshaft, and the middle part of the first connecting shaft penetrates through the first connecting hole; two ends of the second connecting shaft are respectively pivoted with a second end of the second crankshaft and the second connecting hole; and two ends of the first rotating arm and the second rotating arm are respectively provided with a fillet leg. Under the driving action of the first crankshaft and the second crankshaft and the limiting action of the first connecting shaft and the second connecting shaft, the first rotating arm and the second rotating arm alternately touch the ground and operate stably, so that the walking stability of the robot is effectively improved, and the pesticide sowing quality is effectively guaranteed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural view of an exploded view of the overall structure of a high stability walking device of the present invention.
Fig. 2 is a structural schematic diagram of the overall structure of a high-stability walking device.
Fig. 3 is a schematic view of another view of fig. 2 in a high stability walking device of the present invention.
Fig. 4 is a schematic structural view of another embodiment of the overall structure of a high stability walking device of the present invention.
In the figure: 1-connecting wing plates; 2-a first crankshaft; 3-a first turning arm; 31-a first fillet row slot; 32-a first connection hole; 4-a second rotating arm; 41-second round corner row slot; 42-second connection hole; 5-a first connecting shaft; 6-a second connecting shaft; 7-a second crankshaft; 8-a micro motor; 9-an output shaft; 91-first blocking nut; 01-round corner legs; 02-rib foot; 03-a ball bearing; 04-tower spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1, fig. 2, fig. 3 and fig. 4, the present invention provides a technical solution:
a high-stability walking device comprises a connecting
the outer side of the connecting
The inner side of the connecting
the
two ends of the first connecting
two ends of the second connecting
both ends of the first
In this embodiment, two sides of the
In this embodiment, the distance from the center of the half-angle hole at the first end of the first round corner slide
a first end of the first
the second end of the
In this embodiment,
In this embodiment, the
In the present embodiment, the first and
In this embodiment, ball bearings are provided at both ends of the second connecting
In the present embodiment, the length of the
the length of the
In the present embodiment, the
In this embodiment, a
The invention also provides a walking robot with high walking stability, which comprises L groups of stepping devices which are symmetrically arranged left and right, wherein L is an even number and is more than or equal to 2.
The walking device comprises a connecting
the outer side of the connecting
The inner side of the connecting
the
two ends of the first connecting
two ends of the second connecting
both ends of the first
In this embodiment, two sides of the
In this embodiment, the distance from the center of the half-angle hole at the first end of the first round corner slide
a first end of the first
the second end of the
In this embodiment,
In this embodiment, the
In the present embodiment, the first and
In this embodiment, ball bearings are provided at both ends of the second connecting
In the present embodiment, the length of the
the length of the
In the present embodiment, the
And then the walking stability of the robot is effectively improved, thereby effectively ensuring the quality of pesticide sowing.
The device obtained through the design can basically improve the problem that the robot walking device for spreading the pesticide in the prior art is simple in structure and single in use mode due to the design characteristics of the robot walking device, the stability of the robot walking device is reduced, the quality of spreading the pesticide is reduced, the problem that the use requirements of the robot walking device for spreading the pesticide at present cannot be met, the function of the robot walking device is further improved, and a designer improves the device further.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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