CN110906106A

CN110906106A - Crawling robot walking mechanism and crawling robot

Info

Publication number: CN110906106A
Application number: CN201911199107.2A
Authority: CN
Inventors: 宋有聚; 杜联栋
Original assignee: Shenzhen Schroder Industry Group Co Ltd
Current assignee: Shenzhen Schroder Industry Group Co Ltd
Priority date: 2019-11-27
Filing date: 2019-11-27
Publication date: 2020-03-24

Abstract

The application discloses robot running gear and robot of crawling crawls. The crawling robot walking mechanism comprises a vehicle body, two wheel assemblies and two driving mechanisms. Two wheel components are respectively arranged on two sides of the vehicle body and comprise at least three wheels which are in synchronous transmission. The driving mechanism is in one-to-one correspondence with the wheel assemblies and independently drives the wheel assemblies corresponding to the driving mechanism. The technical scheme that this application provided can solve the problem of the barrier that traditional robot is difficult to cross steadily for the task is accomplished smoothly to the robot of crawling.

Description

Crawling robot walking mechanism and crawling robot

Technical Field

The application relates to the technical field of robots, in particular to a crawling robot walking mechanism and a crawling robot.

Background

Nowadays, the technology is developed at a high speed, and various municipal pipelines, long-distance pipelines and industrial pipelines are distributed all over the world. The subsequent pipeline maintenance work becomes a serious concern for the continuous development of the assistance force. Although various pipeline conveying media are different, the maintenance difficulty is almost the same. Therefore, various pipeline crawling robots for pipeline detection and maintenance are produced at the same time.

However, since the environment in the existing pipeline is complex, there is an obstacle that the conventional crawling robot is difficult to stably cross, so that the crawling robot cannot smoothly complete the task.

Disclosure of Invention

The application provides a robot running gear and robot of crawling, it can solve the problem of the barrier that traditional robot is difficult to cross steadily for the robot of crawling accomplishes the task smoothly.

In a first aspect, the present application provides a crawling robot walking mechanism, which comprises a vehicle body, two wheel assemblies and two driving mechanisms. Two wheel components are respectively arranged on two sides of the vehicle body and comprise at least three wheels which are in synchronous transmission. The driving mechanism is in one-to-one correspondence with the wheel assemblies and independently drives the wheel assemblies corresponding to the driving mechanism.

In the scheme, the crawling robot walking mechanism with good obstacle crossing capability is provided. The two sides of the vehicle body are respectively provided with a wheel assembly, and each wheel assembly is driven by one driving mechanism independently, so that each wheel assembly on the walking side surface of the walking mechanism of the crawling robot can provide thrust for the vehicle body to advance independently. Wherein, in order to make the robot of crawling cross the barrier that traditional robot is difficult to stably cross in the pipeline, wheel subassembly among this technical scheme includes at least three wheel, promptly, each side walking side all has at least three wheel, at least three wheel supports in the pipeline, and three wheel is because synchronous drive for each wheel homoenergetic provides thrust, thereby makes the robot running gear of crawling have the ability of surmounting the barrier steadily well, thereby can make the robot of crawling accomplish the task smoothly, for example, make the robot of crawling can stably acquire tasks such as the image in the pipeline.

In one possible implementation, the wheels of the wheel assembly are synchronously driven by a gear assembly, and the drive mechanism drives one of the wheels of the wheel assembly.

In the scheme, the wheels of the wheel assembly are synchronously driven through the gear assembly, so that each wheel of the wheel assembly has good stability, the transmission of the wheels is continuous, the stability of the walking mechanism of the crawling robot can be improved, and tasks such as image acquisition and the like can be smoothly completed.

Alternatively, in one possible implementation, the drive mechanism drives a wheel of the wheel assembly located at the rear end of the vehicle.

Optionally, in one possible implementation, the gear assembly includes a drive gear shaft and a transition gear shaft;

the transmission gear shaft is arranged on the vehicle body through a bearing, and the wheel is arranged at one end of the transmission gear shaft;

the transition gear shaft is arranged on the vehicle body through a bearing, the transition gear shaft is positioned between two adjacent transmission gear shafts, and the teeth of the transition gear shaft are meshed with the teeth of the transmission gear shafts.

Optionally, in a possible implementation manner, the walking mechanism of the crawling robot further comprises a star-shaped sealing ring, and the star-shaped sealing ring is arranged between the transmission gear shaft and the vehicle body.

Optionally, in one possible implementation, the driving mechanism includes a driving motor and a bevel gear assembly, an output axis of the driving motor is parallel to a traveling direction of the vehicle body;

the output end of the driving motor drives a wheel through a bevel gear component.

Alternatively, in one possible implementation, the outer surface of the wheel is formed with a plurality of continuous twill portions.

Optionally, in a possible implementation, the twill portion includes two intersecting convex strips, and one convex strip of two adjacent twill portions is connected to each other.

In a second aspect, the present application further provides a crawling robot, which includes an image acquisition device and any one of the crawling robot walking mechanisms provided in the first aspect. The image acquisition device is arranged on the vehicle body.

In the above scheme, the crawling robot adopts the crawling robot walking mechanism provided by the first aspect, so that the crawling robot can stably cross the barriers in the pipe, and the crawling robot can stably complete the task of image acquisition in the pipe.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, 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 application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic perspective view of a walking mechanism of a crawling robot in this embodiment;

FIG. 2 is a schematic structural diagram of a walking mechanism of the crawling robot in the embodiment;

FIG. 3 is a schematic structural view of the wheel assembly and the driving mechanism in the present embodiment;

fig. 4 is a perspective view of the wheel in the present embodiment;

fig. 5 is a schematic structural diagram of the crawling robot in the embodiment.

Icon: 20-a crawling robot walking mechanism; 21-a vehicle body; 22-a wheel assembly; 22 a-a wheel; 23-a drive mechanism; 24-a drive gear shaft; 25-transition gear shaft; 26-star-shaped sealing rings; 27-a retainer ring; 99-a bearing; 210-driving a hatch member; 211-a mounting seat; 212-a body of the vehicle; 220-a twill portion; 230-a drive motor; 220 a-convex strip; 231-a first bevel gear; 232-second bevel gear; 2320-a flat bond;

10-a crawling robot; 10 a-image acquisition means.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The technical solution in the present application will be described below with reference to the accompanying drawings.

The present embodiment provides a crawling robot walking mechanism 20 that can solve the problem of obstacles that a conventional robot is difficult to stably cross, so that the crawling robot smoothly completes a task.

Referring to fig. 1 and 2, fig. 1 shows a three-dimensional structure of a crawling robot walking mechanism 20 in the present embodiment, and fig. 2 shows a specific structure of the crawling robot walking mechanism 20 in the present embodiment.

The crawling robot walking mechanism 20 includes a vehicle body 21, two wheel assemblies 22, and two driving mechanisms 23.

The crawling robot walking mechanism 20 includes a vehicle body 21, two wheel assemblies 22, and two driving mechanisms 23. The two wheel assemblies 22 are respectively arranged on two sides of the vehicle body 21, the wheel assemblies 22 comprise at least three wheels 22a, and the at least three wheels 22a are in synchronous transmission. The drive mechanisms 23 correspond one-to-one to the wheel assemblies 22 and individually drive the wheel assemblies 22 corresponding thereto.

Illustratively, the wheel 22a is hidden in FIG. 2.

Among them, in the above embodiment, there is provided the crawling robot walking mechanism 20 having a good obstacle surmounting capability. The vehicle body 21 is provided with one wheel assembly 22 on each side thereof, and each wheel assembly 22 is driven by one driving mechanism 23 alone, so that each wheel assembly 22 on the walking side (both sides in the walking direction) of the crawling robot walking mechanism 20 alone can provide thrust for the travel of the vehicle body 21. In order to enable the crawling robot to stably cross obstacles in the pipeline, the wheel assembly 22 in the present technical solution includes at least three wheels 22a, that is, at least three wheels 22a exist on each side walking side, at least three wheels 22a are supported in the pipeline, and due to synchronous transmission, each wheel 22a can provide thrust, so that the crawling robot walking mechanism 20 has good stable obstacle crossing capability, so that the crawling robot can smoothly complete tasks, for example, the crawling robot can stably acquire images in the pipeline.

Meanwhile, it should be noted that the conventional crawling robot cannot steer (only travels along the pipeline), or a steering mechanism needs to be additionally arranged, but the complexity of the system is increased after the steering mechanism is added, and the cost is increased. In the crawler robot traveling mechanism 20 according to the present embodiment, the wheel assemblies 22 on the side surfaces are driven by one driving mechanism 23, and thus steering can be performed by differentiating the left and right wheels 22 a. At the same time, steering can also be achieved by having two drive mechanisms 23 provide steering in opposite directions. When the branch pipeline appears, the main pipeline and the branch pipeline can be detected at one time by controlling the driving mechanism 23 to provide different steering directions.

Alternatively, referring to fig. 2 in combination with fig. 3, fig. 3 shows a specific structure of the wheel assembly 22 and the driving mechanism 23 in this embodiment.

In one possible implementation, the wheels 22a of the wheel assembly 22 are synchronized via a gear assembly, and the drive mechanism 23 drives one of the wheels 22a of the wheel assembly 22.

The wheels 22a of the wheel assembly 22 are synchronously driven through the gear assembly, so that the wheel assembly 22 has good stability during transmission, the transmission of the wheels 22a is continuous, the stability of the walking mechanism 20 of the crawling robot can be improved, and tasks such as image acquisition and the like can be smoothly completed.

It should be noted that, in other embodiments, the wheels 22a of the wheel assembly 22 can also be synchronously driven by a belt assembly, for example, a pulley is mounted on the shaft of the wheel 22a, the pulley on the shaft of each wheel 22a is connected by a belt, and the driving mechanism 23 drives one of the wheels 22a to drive all the wheels 22a of the wheel assembly 22 to rotate synchronously.

Alternatively, in one possible implementation, the driving mechanism 23 drives the wheel 22a located at the rear end of the vehicle in the wheel assembly 22.

Note that, in the present embodiment, the wheel assembly 22 has three wheels 22a, the three wheels 22a are arranged in order in the traveling direction of the vehicle body 21, and the drive mechanism 23 drives the vehicle at the rear end of the vehicle, that is, the end in the normal forward direction. In other embodiments, since the wheels 22a of the wheel assembly 22 are synchronously driven, the driving mechanism 23 can drive any one wheel 22a of the wheel assembly 22 to drive the other wheels 22a to rotate.

Referring to fig. 2 and 3, the gear assembly includes a drive gear shaft 24 and a transition gear shaft 25. The transmission gear shaft 24 is attached to the vehicle body 21 via a bearing 99, and the wheel 22a is attached to one end of the transmission gear shaft 24.

The transition gear shaft 25 is mounted to the vehicle body 21 through a bearing 99, the transition gear shaft 25 is located between two adjacent transmission gear shafts 24, and the teeth of the transition gear shaft 25 are meshed with the teeth of the transmission gear shafts 24.

It should be noted that, in the present embodiment, in order to improve the obstacle crossing ability and stability of the crawling robot walking mechanism 20, each wheel 22a in the wheel assembly 22 has a large distance therebetween, and the gear assembly is used for synchronous transmission, so as not to sacrifice the compactness and the ingenuity of the crawling robot walking mechanism 20, the transition gear shaft 25 is used for transmitting power, so as to avoid the occurrence of the phenomenon that the crawling robot walking mechanism 20 wastes the assembly space due to the large distance between the wheels 22a and the meshing of the large gear.

It should be noted that, in the present embodiment, three transition gear shafts 25 are located between two adjacent transmission gear shafts 24 to complete synchronous transmission. In other embodiments, the number of the transition gear shafts 25 may be adjusted according to the interval between the wheels 22 a.

In order to prevent the components such as the transmission gear shaft 24, the transition gear shaft 25, and the bearing 99 from being exposed to the outside, the vehicle body 21 includes a drive hatch member 210, a mounting seat 211, and a vehicle body 212. The driving hatch member 210 is connected to the vehicle body 212 of the vehicle body 21, a space capable of accommodating the transmission gear shaft 24 and the transition gear shaft 25 is provided between the driving hatch member 210 and the vehicle body 212, and two bearings 99 at two ends of the transmission gear shaft 24 (the transition gear shaft 25) are respectively mounted on the driving hatch member 210 and the vehicle body 212.

The drive mechanism 23 is fixed in the vehicle body 212 by a mount 211.

Optionally, in one possible implementation, the crawling robot walking mechanism 20 further comprises a star-shaped sealing ring 26, and the star-shaped sealing ring 26 is arranged between the transmission gear shaft 24 and the vehicle body 21. Note that, as shown in fig. 2. The star seal 26 is located between the drive hatch member 210 and the drive gear shaft 24, and a retainer ring 27 is provided between the star seal 26 and its adjacent bearing 99.

Alternatively, in one possible implementation, the drive mechanism 23 includes a drive motor 230 and a bevel gear assembly, and the output axis of the drive motor 230 is parallel to the travel direction of the vehicle body 21. The output of the drive motor 230 drives one wheel 22a via a bevel gear assembly. That is, in the present embodiment, the bevel gear assembly drives the wheel 22a located at the rear end of the vehicle. The driving motor 230 is mounted to the mount 211.

It should be noted that the bevel gear assembly includes a first bevel gear 231 and a second bevel gear 232, the first bevel gear 231 mounted on the output shaft of the driving motor 230 and supported on the mounting seat 211 through the bearing 99, the second bevel gear 232 mounted on the transmission gear shaft 24, wherein the second bevel gear 232 is limited on the transmission gear shaft 24 through a flat key 2320.

In this embodiment, the driving motor 230 is parallel to the walking direction, and in other embodiments, the driving motor 230 may be perpendicular to the walking direction.

It should be noted that in other embodiments, the driving motor 230 may drive the wheel assembly 22 through other transmission structures, such as a belt transmission.

In order to improve the stability of the crawling robot walking mechanism 20 while walking, please refer to fig. 4, which illustrates a specific structure of the wheels 22a in fig. 4. The outer surface of the wheel 22a is formed with a plurality of continuous twill portions 220. The rib portion 220 includes two ribs 220a crossing each other, and one of the ribs 220a of two adjacent rib portions is connected to each other. Through the twill portion, the walking mechanism 20 of the crawling robot can be in contact with the ground continuously in the walking process, so that the crawling robot can walk stably and without vibration, and smooth completion of tasks of the crawling robot, such as image acquisition, is guaranteed.

In other embodiments, the wheel 22a may be a conventional straight tire.

It should be noted that the present embodiment also provides a crawling robot 10. Referring to fig. 5, fig. 5 shows a detailed structure of the crawling robot 10.

The crawling robot 10 includes an image acquisition device 10a and the crawling robot walking mechanism 20 provided in the above-described embodiment. The image pickup device 10a is provided in the vehicle body 21.

Since the crawling robot 10 employs the crawling robot walking mechanism 20 provided in the above-described embodiment, the crawling robot 10 can smoothly cross an obstacle in a pipe, so that the crawling robot 10 can smoothly complete the task of image acquisition by the image acquisition device 10a in the pipe.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A crawling robot walking mechanism is characterized by comprising:

a vehicle body;

the two wheel assemblies are respectively arranged on two sides of the vehicle body and comprise at least three wheels which are in synchronous transmission; and

the driving mechanisms correspond to the wheel assemblies one by one and independently drive the wheel assemblies corresponding to the driving mechanisms.

2. The crawling robot walking mechanism of claim 1,

the wheels in the wheel assembly are synchronously driven through a gear assembly, and the driving mechanism drives one of the wheels in the wheel assembly.

3. The crawling robot walking mechanism of claim 2,

the driving mechanism drives a wheel positioned at the tail end of the vehicle in the wheel assembly.

4. The crawling robot walking mechanism of claim 2,

the gear assembly comprises a transmission gear shaft and a transition gear shaft;

the transmission gear shaft is mounted on the vehicle body through a bearing, and the wheel is mounted at one end of the transmission gear shaft;

the transition gear shaft is installed on the vehicle body through a bearing, the transition gear shaft is located between two adjacent transmission gear shafts, and the teeth of the transition gear shaft are meshed with the teeth of the transmission gear shafts.

5. The crawling robot walking mechanism of claim 4,

the crawling robot walking mechanism further comprises a star-shaped sealing ring, and the star-shaped sealing ring is arranged between the transmission gear shaft and the vehicle body.

6. The crawling robot walking mechanism of claim 2,

the driving mechanism comprises a driving motor and a bevel gear component, and the output axis of the driving motor is parallel to the advancing direction of the vehicle body;

the output end of the driving motor drives one wheel through the bevel gear component.

7. The crawling robot walking mechanism of claim 1,

the outer surface of the wheel is formed with a plurality of continuous twill portions.

8. The crawling robot walking mechanism of claim 7,

the twill portion includes two intercrossing's sand grip, adjacent two one of them sand grip interconnect of twill portion.

9. A crawling robot is characterized in that,

the crawling robot comprises an image acquisition device and the crawling robot walking mechanism of any one of claims 1 to 8;

the image acquisition device is arranged on the vehicle body.