CN210761037U

CN210761037U - Wheeled sufficient protective structure of multi-legged wheeled robot

Info

Publication number: CN210761037U
Application number: CN201921301680.5U
Authority: CN
Inventors: 黄剑锋
Original assignee: Zhuji Lan Le Electronic Technology Co ltd
Current assignee: Zhuji Lan Le Electronic Technology Co ltd
Priority date: 2019-08-12
Filing date: 2019-08-12
Publication date: 2020-06-16
Anticipated expiration: 2029-08-12

Abstract

The utility model relates to a wheeled sufficient protective structure of polypod wheeled robot. It has solved current protective structure easy wearing and tearing, stability scheduling problem not good, including scalable body, scalable body cover in wheeled sufficient scalable regional periphery, the lower extreme of scalable body extends to scalable regional lower part and for scalable regional lower part axial positioning, the upper end of scalable body extends to scalable regional upper portion and for scalable regional upper portion axial positioning, the scalable range of axial of scalable body is not less than the flexible stroke in wheeled sufficient scalable region, and when scalable regional length changes, scalable body overlaps all the time in scalable regional periphery. The utility model discloses can effectively reduce the wearing and tearing of scalable body, and prevent that outside dust from getting into inside, strengthen the stability of scalable body simultaneously.

Description

Wheeled sufficient protective structure of multi-legged wheeled robot

Technical Field

The utility model belongs to mechanical equipment protection field, concretely relates to sufficient protective structure of wheeled of polypody wheeled robot.

Background

With the rapid development of science and technology, robots are widely applied to various fields such as exploration, rescue, production and the like. The types of robots are more and more, the functions are more and more perfect, but the robots have respective advantages and disadvantages. For example, a wheeled robot for transportation has the advantages of high flexibility, stable and fast movement and the like, and in order to adapt to different terrains, the existing wheeled robot usually arranges a walking wheel body on a telescopic mechanism, but the tightness between the telescopic mechanism and the robot body is poor, the telescopic mechanism is not protected easily, dust is easy to enter, and internal devices or lines are damaged.

In order to solve the problems of the prior art, people have long searched for and put forward various solutions. For example, chinese patent document discloses a telescopic protective sleeve [ application No.: CN201510670218.2], which comprises a sleeve and an extension tube, wherein the tail of the sleeve and the head of the extension tube are respectively provided with an interface flange; the diameter of the sleeve is larger than that of the telescopic pipe; the sleeve is provided with a cavity, the tail part of the telescopic pipe is connected with the head part of the sleeve, and the telescopic pipe is arranged in the cavity. Above-mentioned scheme has solved current protective sleeve protection to a certain extent and can not be close not good problem of laminating degree, still exists in this scheme: the inside easy wearing and tearing of lag, easily enter the dust and stability scheduling problem.

Disclosure of Invention

The utility model aims at the above-mentioned problem, a sufficient protective structure of wheeled of multi-legged wheeled robot of reasonable in design, protecting effect is good is provided

In order to achieve the above purpose, the utility model adopts the following technical proposal: this sufficient protective structure of wheeled robot of polypod, including scalable body, scalable body cover in the scalable regional periphery of wheeled foot, the lower extreme of scalable body extend to scalable regional lower part and for scalable regional lower part axial positioning, the upper end of scalable body extend to scalable regional upper portion and for scalable regional upper portion axial positioning, the scalable range of axial of scalable body not be less than the scalable stroke of the scalable regional of wheeled foot, and when scalable regional length changes scalable body overlap in scalable regional periphery all the time, make scalable body protect scalable scope all the time like this, dustproof effectual.

In the wheel-type foot protection structure of the multi-foot wheel-type robot, the telescopic pipe body is any one of a metal corrugated pipe, a non-metal corrugated pipe and an elastic pipe. The telescopic pipe body is rich in material and can adapt to various use scenes.

In the wheel-type foot protection structure of the multi-foot wheel-type robot, the wheel-type foot comprises a threaded sleeve and a screw rod, the threaded sleeve is connected with a threaded sleeve driving device and rotatably arranged in the multi-foot wheel-type robot, the screw rod penetrates out of the multi-foot wheel-type robot and is connected with a walking wheel body at the lower end of the screw rod through a belt driving movable joint, the upper end of a telescopic pipe body is fixed on the threaded sleeve, and the lower end of the telescopic pipe body extends to the lower part of the belt driving movable joint and is fixed above the walking wheel body. The top and the bottom of the telescopic pipe body are fixed, so that the stability of the telescopic pipe body is better, meanwhile, the telescopic pipe body can be used for driving the movable joint to thread, and the protection space is effectively utilized.

In the wheel-type foot protection structure of the multi-foot wheel-type robot, the movable joint with the driving function is connected with the traveling wheel body through the circumferential rotation driving mechanism and the rolling driving mechanism, the lower end of the telescopic pipe body is provided with the lower positioning sleeve, and the lower positioning sleeve is fixed on the circumferential rotation driving mechanism.

In the wheel-type foot protection structure of the multi-foot wheel-type robot, the upper end of the telescopic pipe body is provided with the upper positioning sleeve, and the upper positioning sleeve is fixed on the circumferential screw sleeve.

In the wheeled sufficient protective structure of foretell polypod wheeled robot, polypod wheeled robot's lower part is equipped with the bar hole that corresponds the setting with the lead screw, the bottom surface of bar hole from polypod wheeled robot extend to the side, lead screw and scalable body wear to locate in the bar hole, the bar hole on be equipped with and enable lead screw and scalable body and remove and with the scalable enclosed construction of bar hole confined in the bar hole. The arrangement of the strip-shaped holes enables the telescopic sleeve to move synchronously according to the movement of the screw rod, and the flexibility is good.

In foretell sufficient wheeled robot's wheeled sufficient protective structure of multipotency, scalable enclosed construction is including setting up the flexible baffle that just is the fold form in the bar hole, flexible baffle circumference outside and bar hole circumference inboard link to each other, flexible baffle on have the through-hole that supplies lead screw and scalable body to pass, just scalable body circumference outside and the inboard contact of through-hole circumference. The flexible baffle reduces the abrasion between the screw rod and the telescopic sleeve and the box body in the moving process.

In the wheel-type foot protection structure of the multi-foot wheel-type robot, the flexible baffle is of an integrated structure; or, the flexible baffle be split type structure, just the flexible baffle form by two components of a whole that can function independently baffle butt joint each other, just the corresponding one end of components of a whole that can function independently baffle have the arc recess respectively, and when two components of a whole that can function independently baffles butt joint each other, the arc recess butt joint each other and form foretell through-hole.

Compared with the prior art, the utility model has the advantages of: the application of closely wrapping up the home range of lead screw through scalable sleeve pipe for the lead screw obtains comprehensive protection at the removal in-process, has protected the inner line, and scalable sleeve pipe all has fixing device from top to bottom, therefore scalable sleeve pipe can not produce at the removal in-process and rock, and stability can be better, simultaneously, because the bottom is equipped with flexible baffle, so, lead screw and scalable sleeve pipe are when the motion, and the frictional force of production is littleer, and the dust is difficult for getting into and reduced wearing and tearing, has prolonged life.

Drawings

Fig. 1 is a schematic structural diagram of a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of another view angle according to an embodiment of the present invention;

fig. 3 is a cross-sectional view of a collapsible tube according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a flexible baffle according to a first embodiment of the present invention.

Fig. 5 is a schematic structural view of a split type flexible baffle according to the second embodiment of the present invention;

in the figure, the telescopic pipe body 1, the lower locating sleeve 11, the upper locating sleeve 12, the wheel-type feet 2, the telescopic area 21, the thread insert 22, the screw rod 23, the thread insert driving device 24, the strip-shaped hole 25, the telescopic closed structure 251, the flexible baffle 252, the split baffle 2521, the arc-shaped groove 2522, the through hole 253, the multi-foot wheel-type robot 3, the driving movable joint 4, the walking wheel body 5, the circumferential rotation driving mechanism 6 and the rolling driving mechanism 7.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Example one

As shown in fig. 1 to 4, the wheel-type foot protection structure of the multi-foot wheel-type robot includes a telescopic tube body 1, the telescopic tube body 1 is sleeved on the periphery of a telescopic area 21 of a wheel-type foot 2, a lower end of the telescopic tube body 1 extends to a lower part of the telescopic area 21 and is axially positioned relative to the lower part of the telescopic area 21, an upper end of the telescopic tube body 1 extends to an upper part of the telescopic area 21 and is axially positioned relative to the upper part of the telescopic area 21, an axial telescopic range of the telescopic tube body 1 is not less than a telescopic stroke of the telescopic area 21 of the wheel-type foot 2, and the telescopic tube body 1 is always sleeved on the periphery of the telescopic area 21 when a length of the telescopic. Thus, the telescopic pipe body 1 always protects the telescopic range and has good protection effect.

Wherein, the telescopic pipe body 1 is any one of a metal corrugated pipe, a nonmetal corrugated pipe and an elastic pipe. The telescopic pipe body 1 is rich in material and can adapt to various use scenes.

In detail, the wheel-type foot 2 comprises a threaded sleeve 22 and a screw rod 23, the threaded sleeve 22 is connected with a threaded sleeve driving device 24, the threaded sleeve 22 is rotatably arranged in the multi-foot wheel-type robot 3, the screw rod 23 penetrates out of the multi-foot wheel-type robot 3 and is connected with a walking wheel body 5 at the lower end of the screw rod 23 through a belt driving movable joint 4, the upper end of the telescopic pipe body 1 is fixed on the threaded sleeve 22, and the lower end of the telescopic pipe body 1 extends to the position below the belt driving movable joint 4 and is fixed above the walking wheel body 5. The top and the bottom of the telescopic pipe body 1 are fixed, so that the stability of the telescopic pipe body is better, and meanwhile, wires for driving actuating components such as the movable joint 4, the circumferential rotation actuating mechanism 6 and the rolling actuating mechanism 7 can be threaded in the telescopic pipe body 1, so that the protection space is effectively utilized, and the wire body is protected.

Preferably, the belt-driving movable joint 4 is connected with the traveling wheel body 5 through a circumferential rotation driving mechanism 6 and a rolling driving mechanism 7, a lower positioning sleeve 11 is arranged at the lower end of the telescopic tube body 1, and the lower positioning sleeve 11 is fixed on the circumferential rotation driving mechanism 6.

Specifically, the upper end of the telescopic pipe body 1 is provided with an upper positioning sleeve 12, and the upper positioning sleeve 12 is fixed on the circumferential thread sleeve 22.

Visibly, the lower part of the multi-legged wheeled robot 3 is provided with a strip-shaped hole 25 which is arranged corresponding to the screw rod 23, the strip-shaped hole 25 extends from the bottom surface to the side surface of the multi-legged wheeled robot 3, the screw rod 23 and the telescopic pipe body 1 are arranged in the strip-shaped hole 25 in a penetrating manner, and the strip-shaped hole 25 is provided with a telescopic sealing structure 251 which can enable the screw rod 23 and the telescopic pipe body 1 to move in the strip-shaped hole 25 and seal the strip-shaped hole 25. The arrangement of the strip-shaped hole 25 enables the telescopic sleeve 1 to synchronously move according to the movement of the screw rod 23, and the flexibility is good.

Further, scalable enclosed construction 251 is including setting up in bar hole 25 and being the flexible baffle 252 of fold form, and the outside of flexible baffle 252 circumference is inboard continuous with bar hole 25 circumference, has the through-hole 253 that supplies lead screw 23 and scalable body 1 to pass on the flexible baffle 252, and scalable body 1 circumference outside and the inboard contact of through-hole 253 circumference, flexible baffle 252 formula structure as an organic whole. The flexible flap 252 reduces wear on the screw 23 and the telescoped sleeve 1 during movement.

The principle of the embodiment is as follows: closely wrap up the laminating through telescopic tube 1 with the home range of lead screw 23 for lead screw 23 obtains comprehensive protection at the removal in-process, the internal circuit has been protected, and telescopic tube 1 all has fixing device from top to bottom, consequently telescopic tube 1 can not produce at the removal in-process and rock, and stability can be better, and simultaneously, because the bottom is equipped with flexible baffle, so, lead screw and telescopic tube are when the motion, the frictional force of production is littleer, the dust is difficult for getting into and reduced wearing and tearing, and service life is prolonged.

Example two

As shown in fig. 5, the structure, principle, and implementation steps of the present embodiment are similar to those of the present embodiment, except that the flexible baffle 252 in the present embodiment is a split structure, the flexible baffle 252 is formed by two split baffles 2521 being butted together, one ends of the split baffles 2521 corresponding to each split baffle are respectively provided with an arc-shaped groove 2522, and when the two split baffles 2521 are butted together, the arc-shaped grooves 2522 are butted together to form the through hole 253.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Although the terms of the telescopic tube body 1, the lower positioning sleeve 11, the upper positioning sleeve 12, the wheel-type feet 2, the telescopic region 21, the threaded sleeve 22, the lead screw 23, the threaded sleeve driving device 24, the strip-shaped hole 25, the telescopic closing structure 251, the flexible baffle 252, the split baffle 2521, the arc-shaped groove 2522, the through hole 253, the multi-foot wheeled robot 3, the driving movable joint 4, the walking wheel body 5, the circumferential rotation driving mechanism 6, the rolling driving mechanism 7, and the like are used more frequently, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.

Claims

1. The utility model provides a wheeled foot protective structure of polypod wheeled robot, its characterized in that includes scalable body (1), scalable body (1) overlap in scalable regional (21) periphery of wheeled foot (2), the lower extreme of scalable body (1) extend to the lower part of scalable region (21) and for the lower part axial positioning of scalable region (21), the upper end of scalable body (1) extend to the upper portion of scalable region (21) and for the upper portion axial positioning of scalable region (21), the scalable range of axial of scalable body (1) be not less than the flexible stroke of scalable region (21) of wheeled foot (2), and when the length of scalable region (21) changes scalable body (1) overlap in scalable region (21) periphery all the time.

2. The wheeled foot protection structure of the multi-legged wheeled robot according to claim 1, wherein said telescopic tube (1) is any one of a metal bellows, a non-metal bellows, and an elastic tube.

3. The wheeled foot protection structure of the multi-legged wheeled robot according to claim 1 or 2, wherein the wheeled foot (2) comprises a threaded sleeve (22) and a lead screw (23), the threaded sleeve (22) is connected with a threaded sleeve driving device (24), the threaded sleeve (22) is rotatably arranged in the multi-legged wheeled robot (3), the lead screw (23) penetrates out of the multi-legged wheeled robot (3) and is connected with a walking wheel body (5) at the lower end of the lead screw (23) through a belt driving movable joint (4), the upper end of the telescopic tube body (1) is fixed on the threaded sleeve (22), and the lower end of the telescopic tube body (1) extends to the position below the belt driving movable joint (4) and is fixed above the walking wheel body (5).

4. The wheeled foot protection structure of the multi-legged wheeled robot according to claim 3, wherein the movable joint (4) with drive is connected with the walking wheel body (5) through a circumferential rotation drive mechanism (6) and a rolling drive mechanism (7), the lower end of the telescopic tube body (1) is provided with a lower positioning sleeve (11), and the lower positioning sleeve (11) is fixed on the circumferential rotation drive mechanism (6).

5. The wheeled foot protection structure of the multi-legged wheeled robot according to claim 3, wherein the upper end of the telescopic tube body (1) is provided with an upper positioning sleeve (12), and the upper positioning sleeve (12) is fixed on the circumferential thread sleeve (22).

6. The wheeled foot protection structure of the multi-legged wheeled robot according to claim 3, wherein a bar-shaped hole (25) corresponding to the screw rod (23) is formed in the lower portion of the multi-legged wheeled robot (3), the bar-shaped hole (25) extends from the bottom surface to the side surface of the multi-legged wheeled robot (3), the screw rod (23) and the telescopic tube body (1) are arranged in the bar-shaped hole (25) in a penetrating manner, and a telescopic sealing structure (251) capable of enabling the screw rod (23) and the telescopic tube body (1) to move in the bar-shaped hole (25) and sealing the bar-shaped hole (25) is formed in the bar-shaped hole (25).

7. The wheeled foot protection structure of the multi-legged wheeled robot of claim 6, wherein the retractable closed structure (251) comprises a flexible baffle (252) which is arranged in the strip-shaped hole (25) and is in a corrugated shape, the circumferential outer side of the flexible baffle (252) is connected with the circumferential inner side of the strip-shaped hole (25), the flexible baffle (252) is provided with a through hole (253) for the screw rod (23) and the retractable tube body (1) to pass through, and the circumferential outer side of the retractable tube body (1) is in contact with the circumferential inner side of the through hole (253).

8. The wheeled foot guard structure of a multi-legged wheeled robot of claim 7, characterized in that said flexible flap (252) is a one-piece structure; or the flexible baffle (252) is of a split structure, the flexible baffle (252) is formed by mutually butting two split baffles, the corresponding ends of the split baffles are respectively provided with an arc-shaped groove, and when the two split baffles are mutually butted, the arc-shaped grooves are mutually butted to form the through hole (253).