CN209022706U - A kind of crusing robot walking mechanism - Google Patents
A kind of crusing robot walking mechanism Download PDFInfo
- Publication number
- CN209022706U CN209022706U CN201821902261.2U CN201821902261U CN209022706U CN 209022706 U CN209022706 U CN 209022706U CN 201821902261 U CN201821902261 U CN 201821902261U CN 209022706 U CN209022706 U CN 209022706U
- Authority
- CN
- China
- Prior art keywords
- bottom plate
- fixed
- crusing robot
- walking mechanism
- fixed frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a kind of crusing robot walking mechanism, including bottom plate, a pair of of driving wheel mechanism for being fixed on bottom plate two sides and the driven wheel on bottom plate lower end surface；The driving wheel mechanism includes motor, speed reducer, damping device, connecting plate, bearing and driving wheel；The on both sides of the middle of the bottom plate offers tire mounting groove, and the rear and front end of the tire mounting groove is equipped with baffle；The driving wheel is located in the tire mounting groove, which is fixed on the connecting plate by bearing, and the connecting plate is fixed on the bottom plate by damping device, and the bearing is connect by speed reducer with the motor drive.Crusing robot walking mechanism described in the utility model realizes the steady walking of robot, reduces the vibration loss of robot, improves robot routing inspection efficiency and accuracy rate, widened the inspection scene of robot.
Description
Technical field
The utility model belongs to robot research and development technology field, more particularly, to a kind of crusing robot walking mechanism.
Background technique
Crusing robot mainly passes through self-contained video camera, passes through acquisition image and carries out visual identity to complete to patrol
Work is examined, crusing robot is more demanding to camera stabilization.Crusing robot is in the inspection of out-of-flatness section, especially in room
Under external environment when inspection, it is unstable that the undesirable crusing robot of damping effect will lead to video camera, and shooting photo is unclear, influences
Visual identity effect；The undesirable crusing robot of antiskid effect can cause driving wheel to dally in complicated highway section, influence routing inspection efficiency.
In addition to this, strenuous vibration of crusing robot during inspection can accelerate crusing robot component wear, and influence inspection
Robot localization precision.Therefore, crusing robot has higher requirement to its damping and non-skid property.
Summary of the invention
In view of this, the utility model is directed to a kind of crusing robot walking mechanism, by the setting of damping spring,
The steady walking of robot is realized, and improves the efficiency and accuracy rate of inspection work.
In order to achieve the above objectives, the technical solution of the utility model is achieved in that
A kind of crusing robot walking mechanism including bottom plate, is fixed on a pair of of driving wheel mechanism and the position of bottom plate two sides
Driven wheel on bottom plate lower end surface；
The driving wheel mechanism includes motor, speed reducer, damping device, connecting plate, bearing and driving wheel；
The on both sides of the middle of the bottom plate offers tire mounting groove, and the rear and front end of the tire mounting groove is equipped with baffle；
The driving wheel is located in the tire mounting groove, which is fixed on the connecting plate by bearing, described
Connecting plate is fixed on the bottom plate by damping device, and the driving wheel is connect by speed reducer with the motor drive.
Further, the middle part of the bottom plate is equipped with driving mounting slot recessed down, and the driving mounting slot is in rectangular
Body shape, the driving mounting slot is by extending to right side on the left of bottom plate.
Further, the tire mounting groove is the opening through bottom plate at left and right sides of the driving mounting slot,
And the baffle of tire mounting groove rear and front end is flushed with the front-rear side walls of the driving mounting slot.
Further, the damping device includes slide bar, sliding block, connector, spring, limit shaft and fixed frame；
The slide bar is fixed on the outside of the fixed frame vertically；
The sliding block is set on the slide bar, and is fixedly connected with connector；
The limit shaft is fixed on the inside of the fixed frame, and the spring is set on limit shaft, and upper end is fixed；
Described connector one end is fixedly connected with connecting plate, and the other end is slidably set on limit shaft, and with spring
Lower end is fixed；
The fixed frame is fixed on bottom plate.
Further, the slide bar has a pair, the relatively fixed outside in the fixed frame.
Further, the connector is U-shaped, and the connector is laterally disposed, including epipleural, lower side panel and side bottom plate,
The medial surface of the side bottom plate is fixedly connected with a slide block, and lateral surface is fixedly connected with connecting plate, and the epipleural of the connector is short
In lower side panel, the epipleural be can be slidably mounted on slide bar, and lower side panel can be slidably mounted on slide bar and limit shaft.
Further, the fixed frame is U-shaped, and the fixed frame is laterally disposed, and is open towards connecting plate, and the slide bar is perpendicular
It is directly fixed on the U-shaped opening side of the fixed frame, the limit shaft is fixed on vertically on the inside of fixed frame.
Further, the upper end of the slide bar and the lower end of limit shaft are equipped with sliding slot, and the connector is sliding in sliding slot
It is dynamic.
Further, the fixed frame is fixedly connected by decelerator shell with the bottom plate.
Compared with the existing technology, crusing robot walking mechanism described in the utility model has the advantage that
(1) crusing robot walking mechanism described in the utility model realizes the steady walking of robot, reduces machine
The vibration of device people is lost, and improves robot routing inspection efficiency and accuracy rate, has widened the inspection scene of robot.
Detailed description of the invention
The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, this is practical new
The illustrative embodiments and their description of type are not constituteed improper limits to the present invention for explaining the utility model.?
In attached drawing:
Fig. 1 is crusing robot walking mechanism structural schematic diagram described in the utility model embodiment；
Fig. 2 is driving wheel mechanism structural schematic diagram described in the utility model embodiment.
Description of symbols:
1- bottom plate；11- driving mounting slot；12- tire mounting groove；121- baffle；2- driving wheel mechanism；21- motor；22-
Speed reducer；23- damping device；231- slide bar；232- sliding block；233- connector；234- spring；235- limit shaft；236- is fixed
Frame；237- sliding slot；24- connecting plate；25- bearing；26- driving wheel；3- driven wheel.
Specific embodiment
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitations of the present invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.It is in the description of the present invention, unless another
It is described, the meaning of " plurality " is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State the concrete meaning of term in the present invention.
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Fig. 1 to 2, the utility model provides a kind of crusing robot walking mechanism, including bottom plate 1, is fixed on bottom
A pair of of driving wheel mechanism 2 of 1 two sides of plate and the driven wheel 3 on 1 lower end surface of bottom plate；
The driving wheel mechanism 2 includes motor 21, speed reducer 22, damping device 23, connecting plate 24, bearing 25 and driving wheel
26；
The on both sides of the middle of the bottom plate 1 offers tire mounting groove 12, and the rear and front end of the tire mounting groove 12 is equipped with gear
Plate 121；
The driving wheel 26 is located in the tire mounting groove 12, which is fixed on the connecting plate by bearing 25
On 24, the connecting plate 24 is fixed on the bottom plate 1 by damping device 23, and the driving wheel 26 passes through speed reducer 22 and institute
State the transmission connection of motor 21.
Further, the middle part of the bottom plate 1 is equipped with driving mounting slot 11 recessed down, and the driving mounting slot 11 is in
Rectangular-shape, the driving mounting slot 11 extend to right side by the left side of bottom plate 1.
Further, the tire mounting groove 12 is positioned at 11 left and right sides of driving mounting slot through bottom plate 1
Opening, and the baffle 121 of 12 rear and front end of tire mounting groove is flushed with the front-rear side walls of the driving mounting slot 11.
Further, the damping device 23 includes slide bar 231, sliding block 232, connector 233, spring 234, limit shaft
235 and fixed frame 236；
The slide bar 231 is fixed on the outside of the fixed frame 236 vertically；
The sliding block 232 is set on the slide bar 231, and is fixedly connected with connector 233；
The limit shaft 235 is fixed on the inside of the fixed frame 236, the spring 234 be set on limit shaft 235 and
Upper end is fixed；
Described 233 one end of connector is fixedly connected with connecting plate 24, and the other end is slidably set on limit shaft 235, and
It is fixed with the lower end of spring 234；
The fixed frame 236 is fixed on bottom plate 1.
Further, the slide bar 231 has a pair, the relatively fixed outside in the fixed frame 236.
Further, the connector 233 is U-shaped, and the connector 233 is laterally disposed, including epipleural, lower side panel and side
The medial surface of bottom plate, the side bottom plate is fixedly connected with sliding block 232, and lateral surface is fixedly connected with connecting plate 24, and the connector
233 epipleural is shorter than lower side panel, and the epipleural can be slidably mounted on slide bar 231, and lower side panel can be slidably mounted at slide bar
231 and limit shaft 235 on.
Further, the fixed frame 236 is U-shaped, and the fixed frame 236 is laterally disposed, and is open towards connecting plate 24, institute
The U-shaped opening side that slide bar 231 is fixed on the fixed frame 236 vertically is stated, the limit shaft 235 is fixed on fixed frame 236 vertically
Inside.
Further, the upper end of the slide bar 231 and the lower end of limit shaft 235 are equipped with sliding slot 237, the connector
233 slide in sliding slot 237.
Further, the fixed frame 236 is fixedly connected by 22 shell of speed reducer with the bottom plate 1.
Further, the lower side panel of the connector 233 is fixedly connected with the lower end of the spring 234.
For the utility model during robot ambulation, motor via reducer drives driving wheel rotation, robot first
Walking, driven wheel follow rotation, keep the steady of robot ambulation,
When driving wheel smooth-riding surface when driving, spring is in compressive state, and when driving wheel enters pit, spring can be extensive
It is again nature, downward active force is applied to driving wheel by connecting plate, forces driving wheel to land non-slip；
When there is protrusion in bottom surface, driving wheel is caused to vibrate in the process of walking, the driving wheel of vibration passes through bearing and connection
The vibration of strip follower link so that connector and sliding block slide on slide bar, and connector slided on slide bar it is same
When synchronize and slide on limit shaft, by the fixation of connector and spring, realize spring to the buffering of vibration, reduce machine
Vibration in people's walking process realizes the damping of robot ambulation；
Portion in the soleplate is arranged in driving mounting slot, maintains the balance at bottom plate center, and the setting of tire mounting groove, makes
It obtains tire no longer to protrude from left and right sides of bottom plate, avoids tire side and always rub with barrier in walking process, increase
Life of Tyre.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (10)
1. a kind of crusing robot walking mechanism, it is characterised in that: including bottom plate (1), be fixed on a pair of main of bottom plate (1) two sides
Driving wheel mechanism (2) and the driven wheel (3) being located on bottom plate (1) lower end surface；
The driving wheel mechanism (2) includes motor (21), speed reducer (22), damping device (23), connecting plate (24), bearing (25)
With driving wheel (26)；
The on both sides of the middle of the bottom plate (1) offers tire mounting groove (12), and the rear and front end of the tire mounting groove (12) is equipped with
Baffle (121)；
The driving wheel (26) is located in the tire mounting groove (12), which is fixed on the company by bearing (25)
On fishplate bar (24), the connecting plate (24) is fixed on the bottom plate (1) by damping device (23), and the driving wheel (26) is logical
Speed reducer (22) and the motor (21) are crossed to be sequentially connected.
2. crusing robot walking mechanism according to claim 1, it is characterised in that: the middle part of the bottom plate (1) is equipped with
Driving mounting slot (11) recessed down, in a rectangular parallelepiped shape, the driving mounting slot (11) is by bottom plate for the driving mounting slot (11)
(1) right side is extended on the left of.
3. crusing robot walking mechanism according to claim 2, it is characterised in that: the tire mounting groove (12) is position
The opening through bottom plate (1) at left and right sides of the driving mounting slot (11), and the tire mounting groove (12) rear and front end
Baffle (121) flushed with the front-rear side walls of the driving mounting slot (11).
4. crusing robot walking mechanism according to claim 1, it is characterised in that: the damping device (23) includes sliding
Bar (231), sliding block (232), connector (233), spring (234), limit shaft (235) and fixed frame (236)；
The slide bar (231) is fixed on the outside of the fixed frame (236) vertically；
The sliding block (232) is set on the slide bar (231), and is fixedly connected with connector (233)；
The limit shaft (235) is fixed on the inside of the fixed frame (236), and the spring (234) is set in limit shaft (235)
Upper and upper end is fixed；
Described connector (233) one end is fixedly connected with connecting plate (24), and the other end is slidably set on limit shaft (235),
And it is fixed with the lower end of spring (234)；
The fixed frame (236) is fixed on bottom plate (1).
5. crusing robot walking mechanism according to claim 4, it is characterised in that: the slide bar (231) has a pair, phase
To the outside for being fixed on the fixed frame (236).
6. crusing robot walking mechanism according to claim 4, it is characterised in that: the connector (233) is U-shaped,
The connector (233) is laterally disposed, including epipleural, lower side panel and side bottom plate, the medial surface of the side bottom plate and sliding block (232)
Be fixedly connected, lateral surface is fixedly connected with connecting plate (24), and the epipleural of the connector (233) is shorter than lower side panel, it is described on
Side plate can be slidably mounted on slide bar (231), and lower side panel can be slidably mounted on slide bar (231) and limit shaft (235).
7. crusing robot walking mechanism according to claim 4, it is characterised in that: the fixed frame (236) is U-shaped,
The fixed frame (236) is laterally disposed, and is open towards connecting plate (24), and the slide bar (231) is fixed on the fixed frame vertically
(236) U-shaped opening side, the limit shaft (235) are fixed on vertically on the inside of fixed frame (236).
8. crusing robot walking mechanism according to claim 4, it is characterised in that: the upper end of the slide bar (231) and
The lower end of limit shaft (235) is equipped with sliding slot (237), the connector (233) sliding in sliding slot (237).
9. crusing robot walking mechanism according to claim 4, it is characterised in that: the fixed frame (236) is by subtracting
Fast machine (22) shell is fixedly connected with the bottom plate (1).
10. crusing robot walking mechanism according to claim 4, it is characterised in that: the downside of the connector (233)
Plate is fixedly connected with the lower end of the spring (234).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821902261.2U CN209022706U (en) | 2018-11-19 | 2018-11-19 | A kind of crusing robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821902261.2U CN209022706U (en) | 2018-11-19 | 2018-11-19 | A kind of crusing robot walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209022706U true CN209022706U (en) | 2019-06-25 |
Family
ID=66909850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821902261.2U Active CN209022706U (en) | 2018-11-19 | 2018-11-19 | A kind of crusing robot walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209022706U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113942353A (en) * | 2021-09-15 | 2022-01-18 | 江苏丞工科技有限公司 | Damping device for downhole robot |
-
2018
- 2018-11-19 CN CN201821902261.2U patent/CN209022706U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113942353A (en) * | 2021-09-15 | 2022-01-18 | 江苏丞工科技有限公司 | Damping device for downhole robot |
| CN113942353B (en) * | 2021-09-15 | 2023-10-24 | 江苏丞工科技有限公司 | Vibration damper for underground robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109502015B (en) | Undercarriage damping structure for near space solar unmanned aerial vehicle | |
| CN202850074U (en) | Full-automatic bump-cutter machine | |
| CN208208931U (en) | A kind of battery pack radiator of new-energy automobile | |
| CN209022706U (en) | A kind of crusing robot walking mechanism | |
| CN211252453U (en) | Fixed limit structure of vehicle-mounted camera | |
| CN205651338U (en) | Swing arm moving mechanical arm | |
| CN107539051A (en) | A kind of self-coupling hitch | |
| CN210879680U (en) | Ceiling type intelligent track inspection robot | |
| CN208360158U (en) | Vacuum pump of electric automobile damping device | |
| CN105082105A (en) | Non-orthogonal three-degree-of-freedom mechanical movement mechanism | |
| CN211737863U (en) | Vibration isolation mounting device for building electrical equipment | |
| CN207207648U (en) | One kind mounting relocation mechanism | |
| CN105332869A (en) | Leaf spring damper power generating mechanism based on crank rocker | |
| CN110836241A (en) | Electromechanical equipment box, mounting device and using method | |
| CN108298325A (en) | A kind of refractory brick production line automatic plate superposing device | |
| CN210653424U (en) | Walking mechanism suitable for indoor inspection robot | |
| CN211598498U (en) | Supporting leg type anchor rod drilling machine | |
| CN207311060U (en) | Vehicle | |
| CN209834768U (en) | Belt conveying sliding rail mechanism | |
| CN107554254A (en) | Vehicle | |
| CN207730383U (en) | A kind of hydraulic valve general assembly leakage test platform combined platform | |
| CN216519452U (en) | Movable friction driving device | |
| CN210093382U (en) | Intelligent video monitoring system for railway locomotive | |
| CN213419776U (en) | Damping part for mechanical equipment | |
| CN220429884U (en) | Dual-motor state monitoring device of electric vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |