CN108081282A

CN108081282A - A kind of road multi-function robot

Info

Publication number: CN108081282A
Application number: CN201711289832.XA
Authority: CN
Inventors: 柳南辉
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-12-08
Filing date: 2017-12-08
Publication date: 2018-05-29

Abstract

The invention discloses a kind of road multi-function robots, including rack, it is equipped with the first rotation axis in the rack successively along the direction from front to back of same level, second rotation axis, 3rd rotation axis, 4th rotation axis, first rotation axis, the one side of second rotation axis is connected with first walking mechanism, opposite side is connected with the second walking mechanism, 3rd rotation axis, the one side of 4th rotation axis is connected with the third line and walks mechanism, opposite side is connected with fourth line and walks mechanism, the first walking mechanism includes being vertically connected at first crank of first rotation axis one end, it is vertically connected at second crank of second rotation axis one end.The robot of the present invention can realize walking function by the output of single motor, reasonable in design；Robot device movement variation, can meet several work demand.Show that device drives showing stand to realize comprehensive dynamic bandwagon effect by single main motor, bandwagon effect is good, has practicability.

Description

A kind of road multi-function robot

Technical field

The present invention relates to robotic technology fields, particularly relate to a kind of road multi-function robot.

Background technology

The walking mechanism complex structural designs of the prior art could drive robot to advance, it is necessary to which multiple motors coordinate, into This height；In addition show that apparatus structure design is unreasonable, lack dynamic effect, it is necessary to improve.

The content of the invention

The technical problems to be solved by the invention are to provide a kind of road multi-function robot, to solve in the prior art Walking mechanism complex structural designs could drive robot to advance, it is necessary to which multiple motors coordinate, of high cost；In addition device knot is shown Structure design is unreasonable, lacks dynamic effect, it is necessary to the technical issues of improving.

In order to solve the above technical problems, the embodiment of the present invention provides a kind of road multi-function robot, including rack, It is equipped with the first rotation axis, the second rotation axis, the 3rd rotation in the rack successively along the direction from front to back of same level Axis, the 4th rotation axis, first rotation axis, the one side of the second rotation axis are connected with first walking mechanism, and opposite side is connected with Second walking mechanism, the 3rd rotation axis, the one side of the 4th rotation axis are connected with the third line and walk mechanism, and opposite side is connected with Four walking mechanisms, the first walking mechanism include being vertically connected at first crank of first rotation axis one end, be vertically connected at Second crank of second rotation axis one end, first crank, the second crank are isometric and parallel, first crank and the second song The other end of handle is connected by first connecting rod, and the both ends of the first connecting rod are also rotatably connected to preceding rocking bar and rear rocking bar, described Preceding rocking bar and rear rocking bar are isometric and be arranged in parallel, and the preceding rocking bar is connected with the other end of rear rocking bar by second connecting rod, described Second connecting rod is located above first connecting rod, and the preceding rocking bar connects vertically downward close to rack front end, the middle part of the second connecting rod Supporting rod is connected to, landing part, the structure of first, second, third, fourth walking mechanism are connected at the supporting rod lower end It is identical, it is connected in the middle part of the preceding rocking bar in the first walking mechanism by the first guide rod at rack front end, second walking It is connected in the middle part of preceding rocking bar in mechanism by the second guide rod at rack front end, described the third line is walked in the middle part of the rear rocking bar in mechanism Rack rear end is connected to by the 3rd guide rod, the fourth line is walked to be connected in the middle part of the rear rocking bar in mechanism by the 4th guide rod Rack rear end, the central rack are equipped with movable motor, and the output terminal of the movable motor is connected to the by belt wheel transmission 2nd, the 3rd rotation axis, second rotation axis are connected to the first rotation axis by belt wheel transmission, and the 3rd rotation axis passes through band Wheel is sequentially connected in the 4th rotation axis；

Displaying device is provided with by supporting rack in the rack, the displaying device includes the pedestal of a square, institute Pedestal is stated equipped with orbit portion, the orbit portion includes square loop and circuit orbit, and the circuit orbit is inscribed within pros Shape track, so as to be separated out disk area and four angle point areas on the pedestal, each angle point area includes proximate base edge Orthogonal two right-angle sides and adjacent disk area an arc-shaped side, the center in the disk area is equipped with circular first Gear, the first gear are driven to rotate by main motor, and the orbit portion is equipped with showing stand, and the showing stand outer ring is set There is the second gear being meshed with the first gear, the outer profile of the second gear is oval, the showing stand bottom Both sides are respectively equipped with a slider guide so that the showing stand slides along the track, and the angle point that is transferred in the angle point area is equipped with gear Sheet devices, the mask device include being posted by the first catch on the outside of disk area and be posted by square loop side wall the Two catch are equipped with compression spring so that the second catch is resisted against on square loop side wall, institute between second catch and angle point area It states and the area of giving up the throne for housing the second catch is additionally provided in angle point area, the medium position of the mask device is turned by catch shaft Dynamic be connected to is transferred to corner point, described when being transferred to angle point and being moved for showing stand by first gear drives edge orbit portion, by angle point First corner point in area, when the showing stand is by wherein when being transferred to angle point of an angle point area, on the showing stand wherein One slider guide moves along square loop and oppresses the second catch and gives up the throne to giving up the throne in area, and the outer rim of first catch is posted by On the inside of square loop, so that another slider guide on the showing stand is slided along circuit orbit；

Reducing mechanism is additionally provided in the rack, the reducing mechanism includes the bottom plate being arranged in rack, the bottom plate Upside is equipped with motor supporting table, and the upper end of the motor supporting table is equipped with crushing motor, if being additionally provided on the upside of the bottom plate Heavenly Stems and Earthly Branches column, the upper end of the pillar are equipped with crush box, and the downside of the crush box is equipped with discharge port, and the inside of the discharge port is left Right both sides are equipped with ultraviolet lamp, and the lower end of the discharge port is equipped with material storing box, and the upper and lower part of the crush box is equipped with a powder Broken shaft, described crushing shaft one end of lower part are connected with crushing the output terminal of motor, and the crushing shaft on top passes through biography Band is sent to be connected with crushing motor, two described crush are equipped with several crushing knife tools on the outside of shaft, the crushing on top turns The crushing knife tool of axis and the crushing knife tool of the crushing shaft of lower part shift to install, and the top of the crush box is equipped with charging Pipe, the upper end of the feed pipe are equipped with feed hopper.

The above-mentioned technical proposal of the present invention has the beneficial effect that：

In said program, robot of the invention can realize walking function, structure design by the output of single motor Rationally；Robot device movement variation, can meet several work demand.Show that device drives showing stand by single main motor Realize comprehensive dynamic bandwagon effect, bandwagon effect is good, has practicability.

Description of the drawings

Fig. 1 is the state diagram one of the walking mechanism of the present invention.

Fig. 2 is the stereogram of the walking mechanism of the present invention.

Fig. 3 is the part-structure figure one of the walking mechanism of the present invention.

Fig. 4 is the part-structure figure two of the walking mechanism of the present invention.

Fig. 5 is the state diagram two of the walking mechanism of the present invention.

Fig. 6 is the state diagram three of the walking mechanism of the present invention.

Fig. 7 is the movement locus figure of the walking mechanism of the present invention.

Fig. 8 is the state diagram one of the displaying device of the present invention.

Fig. 9 is the state diagram two of the displaying device of the present invention.

Figure 10 is the stereogram of the displaying device of the present invention.

Figure 11 is the structure chart of the showing stand of the displaying device of the present invention.

Figure 12 is the structure chart in a wherein angle point area for the displaying device of the present invention.

Figure 13 is the layout of the present invention.

Figure 14 is the structure chart of the reducing mechanism of the present invention.

Specific embodiment

To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool Body embodiment is described in detail.

For convenience of description, before left side is in Fig. 1, after right side is.

As shown in Figures 1 to 6, the embodiment of the present invention provides a kind of road multi-function robot, including rack 100, institute It states and is equipped with the first rotation axis 31, the second rotation axis the 32, the 3rd in rack 100 successively along the direction from front to back of same level Rotation axis 33, the 4th rotation axis 34, first rotation axis 31, the one side of the second rotation axis 32 are connected with first walking mechanism 35, opposite side is connected with the second walking mechanism 36, and the 3rd rotation axis 33, the one side of the 4th rotation axis 34 are connected with the third line Mechanism 37 is walked, opposite side is connected with fourth line and walks mechanism 38, and the first walking mechanism 35 includes being vertically connected at the first rotation First crank 41 of 31 one end of axis, the second crank 42 for being vertically connected at 32 one end of the second rotation axis, first crank 41, Two cranks 42 are isometric and parallel, and first crank 41 is connected with the other end of the second crank 42 by first connecting rod 43, described The both ends of first connecting rod 43 are also rotatably connected to preceding rocking bar 44 and rear rocking bar 45, and the preceding rocking bar 44 and rear rocking bar 45 are isometric and flat Row is set, and the preceding rocking bar 44 is connected with the other end of rear rocking bar 45 by second connecting rod 46, and the second connecting rod 46 is positioned at the One connecting rod, 43 top, the preceding rocking bar 44 are connected with branch vertically downward close to 100 front end of rack, the middle part of the second connecting rod 46 Strut 47 is connected with landing part 48 at 47 lower end of supporting rod；The structure of first, second, third, fourth walking mechanism Identical, 44 middle part of preceding rocking bar in the first walking mechanism 35 is connected to by the first guide rod 51 at 100 front end of rack, described 44 middle part of preceding rocking bar in second walking mechanism 36 is connected to by the second guide rod 52 at 100 front end of rack, and described the third line is walked 45 middle part of rear rocking bar in mechanism 37 is connected to 100 rear end of rack by the 3rd guide rod 53, and the fourth line is walked in mechanism 38 The middle part of rear rocking bar 45 100 rear end of rack is connected to by the 4th guide rod 54, crank and rotation axis are fixedly linked, and connecting rod is led Bar both ends are rotation connection, and 100 middle part of rack is equipped with movable motor 30, and the output terminal of the movable motor 30 passes through band Wheel is sequentially connected in second, third rotation axis, and second rotation axis 32 is connected to the first rotation axis 31, institute by belt wheel transmission It states the 3rd rotation axis 33 and the 4th rotation axis 34 is connected to by belt wheel transmission, therefore first, second, third and fourth rotation axis rotates synchronously； The length of four guide rods is identical, and the length of preceding rocking bar 44 is more than the length of the first guide rod 51, and the length of the first guide rod 51 is more than the The length of one connecting rod 43, the length of first connecting rod 43 are more than the length of the first crank 41.First guide rod length is the one of preceding rocking bar Half.The initial rotation angle that first walking mechanism and the third line walk mechanism is identical, and the second walking mechanism and fourth line walk mechanism Initial rotation angle is identical, and the initial rotation angle of first walking mechanism and the second walking mechanism differs 180 °.

Line, the first crank, the second crank, first connecting rod between first rotation axis and the second rotation axis form one and put down Row quadrangular mechanism, first connecting rod, the first rocking bar, the second rocking bar, second connecting rod form another parallelogram mechanism.

As shown in Figure 1, being shown as first walking mechanism and fourth line walks that mechanism is liftoff, and the second walking mechanism and the third line are walked Mechanism lands；As shown in figure 5, movable motor drives each rotation axis to rotate counterclockwise, the landing part in four walking mechanisms is same When it is of short duration contact to earth, complete alternating movement, the walking manner of similar doggie realized, as shown in fig. 6, the second walking mechanism and the 3rd Walking mechanism is liftoff, and first walking mechanism and fourth line walk mechanism and land.

As shown in fig. 7, dotted line is the movement locus of landing part in figure, mark 49 is ground, and single landing part 48 is landing It moves from the front to the back afterwards, rack 100 is driven to advance, then liftoff soar travels forward at rear, and forefront lands again.

As shown in Fig. 8 to Figure 13, displaying device 10, the displaying dress are provided with by supporting rack 111 in the rack 100 Putting 10 includes the pedestal 11 of a square, and 11 lower section of pedestal is connected to 100 top of rack, the bottom by supporting rack 111 Seat 11 is equipped with orbit portion 12, and the orbit portion 12 includes square loop 121 and circuit orbit 122, and square loop 121 exists Its corner location makees arc transition, and the circuit orbit 122 is inscribed within square loop 121, so as to separate on the pedestal 11 Go out disk area 13 and four angle point areas 14, each angle point area 14 includes orthogonal two of 11 edge of proximate base directly The arm of angle 141 and an arc-shaped side 142 in adjacent disk area 13, two right-angle sides 141 and an arc-shaped side 142 form one substantially Angle point area triangular in shape, two 141 connecting places of right-angle side make arc transition, and the center in the disk area 13 is equipped with circular the One gear 15, the first gear 15 are driven to rotate by main motor 16, and the orbit portion 12 is equipped with showing stand 17, described 17 outer ring of showing stand is equipped with the second gear 18 being meshed with the first gear 15, and the outer profile of the second gear 18 is ellipse Circle, 17 two bottom sides of showing stand are respectively equipped with a slider guide 19 so that the showing stand 17 is slided along orbit portion 12 Dynamic, the angle point area 14 is transferred to angle point 143 equipped with mask device 20, and the mask device 20 is included in be posted by under normal conditions First catch 201 and the second catch 202 on 121 side wall of square loop is posted by under normal conditions in 13 outside of disk area, institute It states and compression spring 21 is equipped between the second catch 202 and angle point area 143 so that the second catch 202 is being resisted against square loop under normal conditions On 121 side walls, it is additionally provided with to house the area 22 of giving up the throne of the second catch 202 in the angle point area 14, the compression spring 21, which is located at, to move back In the area 22 of position, the medium position of the mask device 20 is rotationally connected with by catch shaft 23 to be transferred at angle point 143, described turn Enter angle point 143 for showing stand 17 moved by 15 drives edge orbit portion 12 of first gear when, by first angle point in angle point area 14 Place, the wherein slide guide on the showing stand 17 process wherein when being transferred to angle point 143 of an angle point area 14, the showing stand 17 Block 19 moves along square loop 121 and oppresses the second catch 202 and gives up the throne to giving up the throne in area 22, first catch 201 it is outer Edge is posted by 121 inside of square loop, so that another slider guide 19 on the showing stand 17 is slided along circuit orbit 122.

As shown in figure 8, the arrow logo on showing stand is directed toward first gear, with the rotation of first gear, displaying is driven Frame is moved along orbit portion, and when as shown in Figure 9, the arrow logo on showing stand is illustrated as showing stand hair away from first gear 180 ° of rotary movement is given birth to, principle is, showing stand on orbit portion when moving, during by being transferred to angle point, on showing stand A slider guide on front side of direction of advance continues on the square loop movement of periphery, and then oppressing the second catch moves back it Position drives the outer end of the first catch to be resisted against on square loop side wall at this time to giving up the throne in area, and is opened to circuit orbit, Square loop is closed, another slider guide on showing stand is made to be moved along circuit orbit, when showing stand is behind angle point area, just 180 ° of overturning has occurred, the billboard established on showing stand will be realized transforms to back side content by the displaying of positive content Displaying, the billboard of dynamic mapping can more attract the attention of other people, achieve the effect that publicize widely.

As shown in Figure 13 and Figure 14, reducing mechanism 7 is additionally provided in the rack 100, the reducing mechanism 7 includes being arranged on machine Bottom plate 71 on frame 100, the upside of the bottom plate 71 are equipped with motor supporting table 72, and the upper end of the motor supporting table 72 is equipped with Motor 73 is crushed, the upside of the bottom plate 71 is additionally provided with several pillars 74, and the upper end of the pillar 74 is equipped with crush box 75, described The downside of crush box 75 is equipped with discharge port 76, and ultraviolet lamp 77, the discharge port are equipped at left and right sides of the inside of the discharge port 76 76 lower end is equipped with material storing box 78, and the upper and lower part of the crush box 75 is equipped with a crushing shaft 79, the powder of lower part Broken 79 one end of shaft is connected with crushing the output terminal of motor 73, and the crushing shaft 79 on top is electric with crushing by conveyer belt 80 Machine 73 connects, and two outsides for crushing shaft 79 are equipped with several crushing knife tools 81, the crushing shaft 79 on top Crushing knife tool 81 and the crushing knife tool 81 of the crushing shaft 79 of lower part shift to install, the top of the crush box 75 be equipped with into Expects pipe 82, the upper end of the feed pipe 82 are equipped with feed hopper 83.The crushing knife tool shifted to install can crush more thoroughly, carry High crush efficiency.

The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims

1. a kind of road multi-function robot, including rack, which is characterized in that along the past of same level in the rack On toward rear direction successively be equipped with the first rotation axis, the second rotation axis, the 3rd rotation axis, the 4th rotation axis, first rotation axis, The one side of second rotation axis is connected with first walking mechanism, and opposite side is connected with the second walking mechanism, the 3rd rotation axis, The one side of four rotation axis is connected with the third line and walks mechanism, and opposite side is connected with fourth line and walks mechanism, the first walking mechanism bag The second crank for being vertically connected at first crank of first rotation axis one end, being vertically connected at second rotation axis one end is included, it is described First crank, the second crank are isometric and parallel, and the other end of first crank and the second crank is connected by first connecting rod, institute The both ends for stating first connecting rod are also rotatably connected to preceding rocking bar and rear rocking bar, and the preceding rocking bar and rear rocking bar are isometric and be arranged in parallel, The preceding rocking bar is connected with the other end of rear rocking bar by second connecting rod, and the second connecting rod is located above first connecting rod, described Preceding rocking bar is connected with supporting rod, connects at the supporting rod lower end vertically downward close to rack front end, the middle part of the second connecting rod Be connected to landing part, the structure of first, second, third, fourth walking mechanism is identical, in the first walking mechanism before shake It is connected in the middle part of bar by the first guide rod at rack front end, passes through the second guide rod in the middle part of the preceding rocking bar in second walking mechanism It being connected at rack front end, the rear rocking bar middle part that described the third line is walked in mechanism is connected to rack rear end by the 3rd guide rod, The rear rocking bar middle part that the fourth line is walked in mechanism is connected to rack rear end by the 4th guide rod, and the central rack is equipped with row Motor is walked, the output terminal of the movable motor is connected to second, third rotation axis by belt wheel transmission, and second rotation axis is led to It crosses belt wheel transmission and is connected to the first rotation axis, the 3rd rotation axis is connected to the 4th rotation axis by belt wheel transmission；

Displaying device is provided with by supporting rack in the rack, the displaying device includes the pedestal of a square, the bottom Seat is equipped with orbit portion, and the orbit portion includes square loop and circuit orbit, and the circuit orbit is inscribed within square rail Road, so as to be separated out disk area and four angle point areas on the pedestal, each angle point area includes the phase at proximate base edge Mutually two vertical right-angle sides and an arc-shaped side in adjacent disk area, the center in the disk area are equipped with circular first tooth Wheel, the first gear are driven to rotate by main motor, and the orbit portion is equipped with showing stand, and the showing stand outer ring is equipped with The second gear being meshed with the first gear, the outer profile of the second gear is oval, the showing stand bottom two Side is respectively equipped with a slider guide so that the showing stand slides along the track, and the angle point area is transferred to angle point equipped with catch Device, the mask device include the first catch being posted by the outside of disk area and be posted by square loop side wall second Catch is equipped with compression spring so that the second catch is resisted against on square loop side wall between second catch and angle point area, described It is additionally provided with to house the area of giving up the throne of the second catch in angle point area, the medium position of the mask device is rotated by catch shaft Be connected to and be transferred to corner point, it is described be transferred to angle point for showing stand moved by first gear drives edge orbit portion when, by angle point area First corner point, when the showing stand is by wherein when being transferred to angle point of an angle point area, wherein one on the showing stand Slider guide moves along square loop and oppresses the second catch and gives up the throne to giving up the throne in area, and the outer rim of first catch is posted by just On the inside of square track, so that another slider guide on the showing stand is slided along circuit orbit；

Reducing mechanism is additionally provided in the rack, the reducing mechanism includes the bottom plate being arranged in rack, the upside of the bottom plate Equipped with motor supporting table, the upper end of the motor supporting table is equipped with crushing motor, is additionally provided on the upside of the bottom plate several Column, the upper end of the pillar are equipped with crush box, and the downside of the crush box is equipped with discharge port, the inside of the discharge port or so two Side is equipped with ultraviolet lamp, and the lower end of the discharge port is equipped with material storing box, and the upper and lower part of the crush box is equipped with a crushing and turns Axis, described crushing shaft one end of lower part are connected with crushing the output terminal of motor, and the crushing shaft on top passes through conveyer belt It is connected with crushing motor, two described crush are equipped with several crushing knife tools on the outside of shaft, the crushing shaft on top The crushing knife tool of the crushing shaft of crushing knife tool and lower part shifts to install, and the top of the crush box is equipped with feed pipe, institute The upper end for stating feed pipe is equipped with feed hopper.