CN210761031U

CN210761031U - Traveling mechanism for rugged terrain investigation robot

Info

Publication number: CN210761031U
Application number: CN201921894545.6U
Authority: CN
Inventors: 李玮; 徐定烽; 郑艳; 邓浪
Original assignee: Changzhou Vocational Institute of Engineering
Current assignee: Changzhou Vocational Institute of Engineering
Priority date: 2019-11-06
Filing date: 2019-11-06
Publication date: 2020-06-16
Anticipated expiration: 2029-11-06

Abstract

The utility model discloses a walking mechanism for a rugged topography investigation robot, relating to the technical field of robot walking, comprising a first belt, a rotating shaft is sleeved on one side of the first belt, a supporting seat is fixedly arranged at one end of the rotating shaft, a motor is fixedly arranged in the middle of the supporting seat, a fixing device is fixedly arranged at one side of the connecting rod, the fixing device is fixedly arranged in the second wheel, the surface of the second belt is fixedly provided with a first convex block, one side of the first protruding block is fixedly provided with a rotating device, a first buffer sheet and a second buffer sheet are arranged in the damping device, the investigation robot that prevents that can be fine slows down its vibrations when the walking, and is provided with the spring in the middle of first buffer plate and second buffer plate, and the spring can effectually play the cushioning effect and protect the frictional force that produces between first wheel and second wheel and the second belt.

Description

Traveling mechanism for rugged terrain investigation robot

Technical Field

The utility model relates to a robot walking technical field specifically is a running gear who is used for rugged topography investigation robot.

Background

The robot is a common name of an automatic control machine, the automatic control machine comprises all machines (such as machine dogs, machine cats and the like) for simulating human behaviors or ideas and other organisms, a walking mechanism is also called as a walking mechanism, and the walking mechanism has the advantages of stable movement, low energy consumption, easiness in controlling the movement speed and direction and the like, so that the robot is widely applied.

However, when the detection robot travels over a rough terrain, the detection robot sometimes cannot move, and during the movement, a large friction force is generated between the first wheel and the second belt, so that the detection robot is damaged. Accordingly, one skilled in the art provides a walking mechanism for a rough terrain inspection robot to solve the problems set forth in the background art described above.

Disclosure of Invention

An object of the utility model is to provide a running gear for rugged topography investigation robot to solve the problem that provides among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a running gear for rugged topography investigation robot, includes first belt, one side of first belt is cup jointed and is installed the axis of rotation, and the other end of first belt cup joints and installs the connecting rod, the fixed supporting seat that is provided with of one end of axis of rotation, the middle part fixed mounting of supporting seat has the motor, and the fixed controller that is provided with in top of supporting seat, connecting rod one side fixed mounting has fixing device, fixing device fixed mounting is in the inside of second wheel, one side movable mounting of second wheel has first wheel, and the second wheel cup joints and installs the internal surface at damping device, damping device's top fixed mounting has the second belt, the fixed surface of second belt is provided with first protruding piece, one side fixed mounting of first protruding piece has rotary device.

As a further aspect of the present invention: the first protruding blocks and the rotating devices are alternately distributed, and the first protruding blocks and the rotating devices are in a sawtooth shape.

As a further aspect of the present invention: the diameter of the second wheel is greater than the diameter of the first wheel.

As a further aspect of the present invention: damping device includes first buffer piece, spring and second buffer piece, the fixed first buffer piece that is provided with in top of spring, and the fixed second buffer piece that is provided with in below of spring.

As a further aspect of the present invention: the first buffer sheet and the second buffer sheet are both made of rubber materials.

As a further aspect of the present invention: the rotating device comprises a second protruding block, a fixing rod and bent teeth, one end of the fixing rod is fixedly arranged on the side face of the second protruding block, and the bent teeth are fixedly arranged at one end of the fixing rod.

As a further aspect of the present invention: the bent teeth are barb-shaped, and the number of the bent teeth is 3.

As a further aspect of the present invention: fixing device includes bolt, first through-hole, nut, second through-hole, first fixed block and second fixed block, first through-hole has been seted up on the surface of first fixed block, and one side fixed mounting of first fixed block has the second fixed block, the second through-hole has been seted up on the surface of second fixed block, the bolt has been cup jointed with the inside of second through-hole to install in first through-hole, the one end fixed mounting of bolt has the nut.

Compared with the prior art, the beneficial effects of the utility model are that:

1. be provided with first buffer plate and second buffer plate in the damping device, can be fine prevent that investigation robot slows down its vibrations when the walking, and be provided with the spring in the middle of first buffer plate and second buffer plate, the spring can effectually play the cushioning effect and protect the frictional force that produces between first wheel and second wheel and the second belt.

2. The second protruding blocks and the first protruding blocks are alternately distributed, the second protruding blocks are provided with bent teeth for grabbing the ground, and the bent teeth can well contact the ground to roll, so that the robot can effectively move when encountering the rugged ground.

Drawings

FIG. 1 is a schematic view of a traveling mechanism for a rough terrain inspection robot;

FIG. 2 is a schematic view showing a shock absorbing device of a traveling mechanism for a rough terrain inspection robot;

FIG. 3 is an enlarged view of portion A of FIG. 1;

fig. 4 is a schematic structural view of a fixing device in a traveling mechanism for a rough terrain inspection robot.

In the figure: 1. a rotating shaft; 2. a first belt; 3. a connecting rod; 4. a fixing device; 5. a first raised block; 7. a rotating device; 8. a first wheel; 9. a second wheel; 10. a damping device; 11. a second belt; 12. a motor; 13. a supporting seat; 14. a controller; 101. a first buffer sheet; 102. a spring; 103. a second buffer sheet; 71. a second raised block; 72. fixing the rod; 73. a bent tooth; 41. a bolt; 42. a first through hole; 43. a nut; 44. a second through hole; 45. a first fixed block; 46. and a second fixed block.

Detailed Description

Referring to fig. 1 to 4, in an embodiment of the present invention, a walking mechanism for a rough terrain inspection robot includes a first belt 2, a rotating shaft 1 is sleeved on one side of the first belt 2, a connecting rod 3 is sleeved on the other end of the first belt 2, a supporting seat 13 is fixedly disposed on one end of the rotating shaft 1, a motor 12 is fixedly disposed in the middle of the supporting seat 13, a controller 14 is fixedly disposed above the supporting seat 13, a fixing device 4 is fixedly disposed on one side of the connecting rod 3, the fixing device 4 includes a bolt 41, a first through hole 42, a nut 43, a second through hole 44, a first fixing block 45 and a second fixing block 46, a first through hole 42 is disposed on the surface of the first fixing block 45, a second fixing block 46 is fixedly disposed on one side of the first fixing block 45, a second through hole 44 is disposed on the surface of the second fixing block 46, a bolt 41 is sleeved on the first through hole 42 and the inside of the second through hole, a nut 43 is fixedly arranged at one end of the bolt 41, the bolt 41 passes through a first through hole 42 and a second through hole 44 which are arranged on a first fixed block 45 and a second fixed block 46, the first fixed block 45 and the second fixed block 46 are tightly connected by the bolt 41 and are fixed by the nut 43, the fixing device 4 is fixedly arranged in the second wheel 9, the diameter of the second wheel 9 is larger than that of the first wheel 8, one side of the second wheel 9 is movably provided with the first wheel 8, the second wheel 9 is sleeved and arranged on the inner surface of the damping device 10, the damping device 10 comprises a first buffer sheet 101, a spring 102 and a second buffer sheet 103, a first buffer sheet 101 is fixedly arranged above the spring 102, a second buffer sheet 103 is fixedly arranged below the spring 102, the first buffer sheet 101 and the second buffer sheet 103 are made of rubber materials, when the reconnaissance robot moves, the second belt 11, the first wheel 8 and the second wheel 9 have a friction effect, be provided with first buffer wafer 101 and second buffer wafer 103 in the bottom of second belt 11, first buffer wafer 101 and second buffer wafer 103 can be fine prevent that the investigation robot slows down its vibrations when the walking, and be provided with spring 102 in the middle of first buffer wafer 101 and second buffer wafer 103, spring 102 can effectually play the cushioning effect and protect the frictional force that produces between first wheel 8 and second wheel 9 and the second belt 11.

In fig. 2, a second belt 11 is fixedly installed above a damping device 10, a first protrusion block 5 is fixedly installed on the surface of the second belt 11, the first protrusion block 5 and a rotating device 7 are alternately distributed, the first protrusion block 5 and the rotating device 7 are zigzag, the rotating device 7 is fixedly installed on one side of the first protrusion block 5, the rotating device 7 comprises a second protrusion block 71, a fixing rod 72 and bent teeth 73, one end of the fixing rod 72 is fixedly installed on the side surface of the second protrusion block 71, one end of the fixing rod 72 is fixedly installed with the bent teeth 73, the bent teeth 73 are barb-shaped, the number of the bent teeth 73 is 3, when the reconnaissance robot moves, the first protrusion block 5 and the second protrusion block 71 on the second belt 11 roll on the ground, the first protrusion block 5 and the second protrusion block 71 are rectangular zigzag, and can be well contacted with the ground, when the investigation robot encounters a rugged ground, the bent teeth 73 of the fixing rod 72 connected to one side of the second protrusion block 71 can increase the ground contact, so that the robot can effectively move when it encounters a rugged ground.

The utility model discloses a theory of operation is: the two ends of a connecting rod 3 are connected with a second wheel 9 through a fixing device 4, one side of the second wheel 9 is provided with a first wheel 8, the diameter of the second wheel 9 is larger than that of the first wheel 8, a damping device 10 and a second belt 11 are arranged above the second wheel 9, the upper surface of the second belt 11 is provided with a first convex block 5 and a rotating device 7, the connecting rod 3 is sleeved with a first belt 2, one side of the first belt 2 is also sleeved on a rotating shaft 1, the rotating shaft 1 is fixedly connected with the output end of a motor 12 arranged on one side, the motor 12 is fixed on a supporting seat 13, the supporting seat 13 is provided with a controller 14, when the reconnaissance robot moves, the controller 14 controls the motor 12 to rotate, so that the rotating shaft 1 rotates, the rotation of the rotating shaft 1 drives the first belt 2 to move, and the first belt 2 is connected with the connecting rod 3, the connecting rod 3 is driven to rotate, the rotation of the connecting rod 3 drives the rotation of the second wheel 9, the second wheel 9 is tightly attached to the first wheel 8, the rotation of the second wheel 9 and the first wheel 8 drives the second belt 11 to move forward, so as to complete the walking of the robot, when the robot walks to a rugged ground, the second raised blocks 71 and the first raised blocks 5 arranged on the second belt 11 can well contact with the ground, the first raised blocks 5 and the second raised blocks 71 are alternately arranged, the first raised blocks 5 are in a zigzag shape, one side of the second raised blocks 71 is provided with a fixing rod 72, the fixing rod 72 is provided with a bent tooth 73, the bent tooth 73 can increase the ground contact, so that the robot can effectively move when encountering the rugged ground, and the first buffer sheet 101 and the second buffer sheet 103 in the shock absorption device 10 can well prevent the detection robot from shaking when walking, and be provided with spring 102 in the middle of first buffer sheet 101 and second buffer sheet 103, spring 102 can effectually play the cushioning effect and protect the frictional force that produces between first wheel 8 and second wheel 9 and the second belt 11 to guarantee the walking of investigation robot on the rugged ground, and the protection that can be fine is first wheel 8 and second wheel 9 of investigation robot and second belt 11 and is prevented damaging.

The above-mentioned, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A walking mechanism for a rough terrain investigation robot comprises a first belt (2) and is characterized in that one side of the first belt (2) is sleeved with a rotating shaft (1), the other end of the first belt (2) is sleeved with a connecting rod (3), one end of the rotating shaft (1) is fixedly provided with a supporting seat (13), the middle of the supporting seat (13) is fixedly provided with a motor (12), a controller (14) is fixedly arranged above the supporting seat (13), one side of the connecting rod (3) is fixedly provided with a fixing device (4), the fixing device (4) is fixedly arranged inside a second wheel (9), one side of the second wheel (9) is movably provided with a first wheel (8), the second wheel (9) is sleeved and arranged on the inner surface of a damping device (10), and a second belt (11) is fixedly arranged above the damping device (10), the surface of the second belt (11) is fixedly provided with a first protruding block (5), and one side of the first protruding block (5) is fixedly provided with a rotating device (7).

2. A walking mechanism for a rough terrain investigation robot according to claim 1, characterized in that the first bumps (5) and the rotating means (7) are alternately distributed, and the first bumps (5) and the rotating means (7) are saw-toothed.

3. A walking mechanism for a rough terrain investigation robot according to claim 1, characterized in that the diameter of the second wheel (9) is larger than the diameter of the first wheel (8).

4. The walking mechanism for the rough terrain investigation robot of claim 1, wherein the damping device (10) comprises a first buffer plate (101), a spring (102) and a second buffer plate (103), the first buffer plate (101) is fixedly arranged above the spring (102), and the second buffer plate (103) is fixedly arranged below the spring (102).

5. A walking mechanism for a rough terrain investigation robot according to claim 4, characterized in that the materials of the first buffer sheet (101) and the second buffer sheet (103) are both rubber materials.

6. The walking mechanism for the rough terrain investigation robot of claim 1, wherein the rotating means (7) comprises a second protruding block (71), a fixing rod (72) and a bent tooth (73), one end of the fixing rod (72) is fixedly arranged at the side of the second protruding block (71), and one end of the fixing rod (72) is fixedly provided with the bent tooth (73).

7. A walking mechanism for rough terrain investigation robot according to claim 6, characterized in that the bent teeth (73) are barb-shaped, and the number of bent teeth (73) is 3.

8. The walking mechanism for the rough terrain investigation robot of claim 1, wherein the fixing device (4) comprises a bolt (41), a first through hole (42), a nut (43), a second through hole (44), a first fixing block (45) and a second fixing block (46), the first through hole (42) is formed in the surface of the first fixing block (45), the second fixing block (46) is fixedly mounted on one side of the first fixing block (45), the second through hole (44) is formed in the surface of the second fixing block (46), the bolt (41) is sleeved and mounted inside the first through hole (42) and the second through hole (44), and the nut (43) is fixedly mounted at one end of the bolt (41).