CN212099134U - Transport robot running gear with protection component - Google Patents

Abstract

The utility model discloses a transport robot running gear with protection component, including casing, slider, dwang, walking wheel, connecting rod, guard plate, push plate, biax motor, expanding spring, driven bevel gear, initiative bevel gear, gag lever post, torsion spring and stopper, the inside symmetry of casing is provided with the dwang, and the tip of dwang all is connected with the casing rotation through the bearing, the both ends of dwang all are provided with the walking wheel, and the walking wheel cup joints and fixes outside the dwang; the utility model discloses a setting of guard plate promotes the connecting rod motion, and the connecting rod drives the catch plate motion, and the catch plate makes the gag lever post rotate when contacting with the gag lever post to drive the stopper and slide in the arc wall, the stopper is towards the direction motion of walking wheel, finally contacts with walking wheel, and the rotation of restriction walking wheel improves the self-protection ability to the device, increases the life of device, saves resource consumption.

Description

Transport robot running gear with protection component

Technical Field

The utility model relates to a running gear device specifically is a transport robot running gear with protection component, belongs to transport robot application technical field.

Background

The running mechanism is part of chassis of automobile or tractor, and includes frame, front axle, rear axle, suspension system, wheels, etc. The part of the running gear which is directly contacted with the road surface is a wheel, which is called as a wheel running gear, and most of the running gears in real life are applied to goods carrying and transportation.

The micro-step robot with the bulletin number of CN106394725B has a motion track close to a walking mode of a person by utilizing a Chebyshev link mechanism, so that the micro-step robot advances more stably, can span shorter obstacles, has lower requirement on the flatness of the ground and has wider application range; the gear transmission mechanism of the invention utilizes the intermediate gear, thereby enabling the rotation directions of the front and rear driving gears to be consistent and enabling the front and rear driving gears to rotate at the same speed in the same direction; the damping mechanism is additionally arranged between the Chebyshev link mechanism and the foot part so as to reduce the impact of the robot on the ground when the robot walks and play a role in damping; the steering mechanism also has a steering function, and the steering engine provides rotation power to enable the shell to rotate, so that the purpose of changing the direction is achieved; the micro-step robot has the advantages of simple structure, good structural performance, low cost, convenience in operation, easiness in driving and controlling, intelligence and good motion stability, and is suitable for wide popularization and application.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a method for driving a driving bevel gear to rotate by a double-shaft motor, the driving bevel gear drives a driven bevel gear to rotate, the driven bevel gear drives a rotating rod to rotate so as to drive a travelling wheel to rotate, thereby solving the problem that the device can not be operated quickly in the prior art, the structure is simple, the operation is convenient, a driving force is provided, the shell body is moved, the time is saved, the working efficiency is improved, the connecting rod is pushed to move by arranging a protection plate, the connecting rod drives a pushing plate to move, the pushing plate enables a limiting rod to rotate when in contact with the limiting rod so as to drive a limiting block to slide in an arc-shaped groove, the limiting block moves towards the travelling wheel, and finally contacts with the travelling wheel to limit the rotation of the travelling wheel, thereby solving the problem that the travelling wheel can not be, the service life of the device is prolonged, and the resource consumption is saved.

The purpose of the utility model can be realized by the following technical scheme: a transport robot walking mechanism with a protection assembly comprises a shell, a sliding block, a rotating rod, walking wheels, a connecting rod, a protection plate, a pushing plate, a double-shaft motor, a telescopic spring, a driven bevel gear, a driving bevel gear, a limiting rod, a torsion spring and a limiting block, wherein the rotating rod is symmetrically arranged in the shell, the end part of the rotating rod is rotatably connected with the shell through a bearing, the walking wheels are arranged at the two ends of the rotating rod, and the walking wheels are sleeved and fixed on the outer side of the rotating rod;

a double-shaft motor is fixedly arranged in the shell, driving bevel gears are fixed at the end parts of two output shafts of the double-shaft motor, driven bevel gears are fixedly sleeved outside the rotating rod, and the driving bevel gears are in meshed connection with the driven bevel gears;

limiting grooves are symmetrically formed in one side, away from the double-shaft motor, of the rotating rod in the shell, the walking wheels are arranged in the corresponding limiting grooves, limiting rods are symmetrically arranged in the limiting grooves, the middle sections of the limiting rods are rotatably connected with the shell through torsion springs, limiting blocks are symmetrically arranged in the limiting grooves, one ends of the limiting rods are rotatably connected with the corresponding limiting blocks through hinges, and the limiting blocks are matched with the walking wheels;

a pushing plate is connected in the limiting groove in a sliding mode and matched with the limiting rod, a connecting rod is arranged in the limiting groove, one end of the connecting rod is fixedly connected with the pushing plate, and the other end of the connecting rod penetrates through the shell;

the both ends symmetry of casing is provided with the guard plate, the other end and the guard plate fixed connection of connecting rod.

The utility model discloses a further technological improvement lies in: the sliding blocks are symmetrically fixed at two ends of the pushing plate, sliding grooves are symmetrically formed in two sides of the limiting groove, and the sliding blocks are connected in the sliding grooves in a sliding mode.

The utility model discloses a further technological improvement lies in: one side of the connecting rod, which is far away from the pushing plate, is provided with a telescopic spring, the telescopic spring is sleeved outside the connecting rod, and two ends of the telescopic spring are respectively fixedly connected with the moon shell and the protection plate.

The utility model discloses a further technological improvement lies in: arc-shaped grooves are symmetrically formed in the limiting grooves, and one end of the limiting block is connected to the arc-shaped grooves in a sliding mode.

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

1. the utility model discloses when using, when running gear begins to work, the biax motor begins to work, its two output shafts drive the rotation of drive bevel gear, because drive bevel gear and driven bevel gear meshing connection, make driven bevel gear drive the dwang and rotate, thereby drive the walking wheel and rotate, realize the motion of casing, drive bevel gear through the biax motor and rotate, drive bevel gear drives driven bevel gear and rotate, driven bevel gear drives the dwang and rotates, thereby drive the walking wheel and rotate, simple structure, the simple operation provides a drive power, make the casing motion, save time, improve work efficiency;

2. when two ends of the shell touch an object in the moving process, the protection plate moves towards the direction of the double-shaft motor under the action of force, so as to drive the connecting rod to move, the telescopic spring compresses while the connecting rod moves, the push plate moves towards the direction of the double-shaft motor under the pushing of the connecting rod, so that the push plate extrudes one end of the limiting rod, the middle section of the limiting rod is rotatably connected with the shell through the torsion spring, so that the other end of the limiting rod drives the limiting blocks to slide towards the direction of the walking wheels in the arc-shaped groove, the two symmetrically arranged limiting blocks are in contact with the walking wheels, so as to increase the friction force, so that the walking wheels stop rotating, after adjustment, the protection plate is free of force, the torsion spring drives the limiting rods to reversely rotate, the limiting blocks are not in contact with the walking wheels, the telescopic spring, through the setting of guard plate, promote the connecting rod motion, the connecting rod drives the catch plate motion, the catch plate makes the gag lever post rotate when contacting with the gag lever post to drive the stopper and slide in the arc wall, the stopper moves towards the direction of walking wheel, finally contacts with walking wheel, and the rotation of restriction walking wheel improves the oneself protective capacities to the device, increases the life of device, saves resource consumption.

Drawings

In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall top view structure of the present invention;

FIG. 3 is an enlarged schematic view of the area A of the present invention;

fig. 4 is a schematic diagram of the B-region enlarged structure of the present invention.

In the figure: 1. a housing; 2. a slider; 3. rotating the rod; 4. a traveling wheel; 5. a connecting rod; 6. a protection plate; 7. a push plate; 8. a limiting groove; 9. a double-shaft motor; 10. a tension spring; 11. a driven bevel gear; 12. a drive bevel gear; 13. a chute; 14. a limiting rod; 15. a torsion spring; 16. an arc-shaped slot; 17. and a limiting block.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1-4, a transport robot traveling mechanism with a protection assembly includes a housing 1, a slider 2, a rotating rod 3, traveling wheels 4, a connecting rod 5, a protection plate 6, a pushing plate 7, a limiting groove 8, a double-shaft motor 9, a telescopic spring 10, a driven bevel gear 11, a driving bevel gear 12, a chute 13, a limiting rod 14, a torsion spring 15, an arc-shaped groove 16 and a limiting block 17, wherein the rotating rod 3 is symmetrically arranged inside the housing 1, the end of the rotating rod 3 is rotatably connected with the housing 1 through a bearing, the traveling wheels 4 are arranged at both ends of the rotating rod 3, and the traveling wheels 4 are fixedly sleeved on the outer side of the rotating rod 3;

a double-shaft motor 9 is fixedly installed inside the shell 1, driving bevel gears 12 are fixed at the end parts of two output shafts of the double-shaft motor 9, driven bevel gears 11 are fixedly sleeved outside the rotating rod 3, and the driving bevel gears 12 are in meshed connection with the driven bevel gears 11;

limiting grooves 8 are symmetrically formed in one side, away from the double-shaft motor 9, of the rotating rod 3 in the shell 1, the walking wheels 4 are arranged in the corresponding limiting grooves 8, limiting rods 14 are symmetrically arranged in the limiting grooves 8, the middle sections of the limiting rods 14 are rotatably connected with the shell 1 through torsion springs 15, limiting blocks 17 are symmetrically arranged in the limiting grooves 8, one ends of the limiting rods 14 are rotatably connected with the corresponding limiting blocks 17 through hinges, arc-shaped grooves 16 are symmetrically formed in the limiting grooves 8, one ends of the limiting blocks 17 are slidably connected in the arc-shaped grooves 16, and the limiting blocks 17 are matched with the walking wheels 4;

a pushing plate 7 is connected in the limiting groove 8 in a sliding manner, the pushing plate 7 is matched with a limiting rod 14, sliding blocks 2 are symmetrically fixed at two ends of the pushing plate 7, sliding grooves 13 are symmetrically formed in two sides of the limiting groove 8, the sliding blocks 2 are connected in the sliding grooves 13 in a sliding manner, a connecting rod 5 is arranged in the limiting groove 8, one end of the connecting rod 5 is fixedly connected with the pushing plate 7, and the other end of the connecting rod 5 penetrates through the shell 1;

the both ends symmetry of casing 1 is provided with guard plate 6, the other end and the guard plate 6 fixed connection of connecting rod 5, one side that catch plate 7 was kept away from to connecting rod 5 is provided with expanding spring 10, and the expanding spring 10 cover is established in the connecting rod 5 outside, the both ends of expanding spring 10 are respectively moon casing 1 and guard plate 6 fixed connection.

The working principle is as follows: when the utility model is used, firstly, when the running gear starts to work, the double-shaft motor 9 starts to work, two output shafts thereof drive the driving bevel gear 12 to rotate, because the driving bevel gear 12 is meshed with the driven bevel gear 11 to connect, the driven bevel gear 11 drives the rotating rod 3 to rotate, thereby driving the traveling wheel 4 to rotate, realizing the movement of the shell 1, when two ends of the shell 1 touch objects in the moving process, the protection plate 6 is acted by force to move towards the direction of the double-shaft motor 9, thereby driving the connecting rod 5 to move, the expansion spring 10 compresses when the connecting rod 5 moves, the push plate 7 moves towards the direction of the double-shaft motor 9 under the push of the connecting rod 5, thereby enabling the push plate 7 to extrude one end of the limiting rod 14, because the limiting rod 14 is rotationally connected with the shell 1 through the torsion spring 15, the other end of the limiting rod 14 drives the limiting block 17 to slide towards the traveling wheel 4 in the arc, stopper 17 and the walking wheel 4 that two symmetries set up contact to increase frictional force, make 4 stall of walking wheel, after mediating, guard plate 6 is not atress, and torque spring 15 drives gag lever post 14 antiport, and stopper 17 does not contact with walking wheel 4, and expanding spring 10 promotes guard plate 6 and removes walking wheel 4's spacing towards the direction motion of keeping away from double-shaft motor 9.

The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims (4)

1. The utility model provides a transport robot running gear with protection component which characterized in that: the novel walking mechanism comprises a shell (1), a sliding block (2), a rotating rod (3), walking wheels (4), a connecting rod (5), a protection plate (6), a pushing plate (7), a double-shaft motor (9), a telescopic spring (10), a driven bevel gear (11), a driving bevel gear (12), a limiting rod (14), a torsion spring (15) and a limiting block (17), wherein the rotating rod (3) is symmetrically arranged inside the shell (1), the end part of the rotating rod (3) is rotatably connected with the shell (1) through a bearing, the walking wheels (4) are arranged at the two ends of the rotating rod (3), and the walking wheels (4) are fixedly sleeved on the outer side of the rotating rod (3);

a double-shaft motor (9) is fixedly installed inside the shell (1), driving bevel gears (12) are fixed at the end parts of two output shafts of the double-shaft motor (9), driven bevel gears (11) are fixedly sleeved on the outer sides of the rotating rods (3), and the driving bevel gears (12) are in meshed connection with the driven bevel gears (11);

limiting grooves (8) are symmetrically formed in one side, away from the double-shaft motor (9), of the rotating rod (3) in the shell (1), the travelling wheels (4) are arranged in the corresponding limiting grooves (8), limiting rods (14) are symmetrically arranged in the limiting grooves (8), the middle sections of the limiting rods (14) are rotatably connected with the shell (1) through torsion springs (15), limiting blocks (17) are symmetrically arranged in the limiting grooves (8), one ends of the limiting rods (14) are rotatably connected with the corresponding limiting blocks (17) through hinges, and the limiting blocks (17) are matched with the travelling wheels (4);

a pushing plate (7) is connected in the limiting groove (8) in a sliding manner, the pushing plate (7) is matched with the limiting rod (14), a connecting rod (5) is arranged in the limiting groove (8), one end of the connecting rod (5) is fixedly connected with the pushing plate (7), and the other end of the connecting rod (5) penetrates through the shell (1);

protection plates (6) are symmetrically arranged at two ends of the shell (1), and the other end of the connecting rod (5) is fixedly connected with the protection plates (6).

2. The walking mechanism of the transport robot with the protection assembly as claimed in claim 1, wherein the sliding blocks (2) are symmetrically fixed at two ends of the pushing plate (7), sliding grooves (13) are symmetrically formed in two sides of the limiting groove (8), and the sliding blocks (2) are slidably connected in the sliding grooves (13).

3. The transport robot walking mechanism with the protection assembly as claimed in claim 1, wherein a telescopic spring (10) is arranged on one side of the connecting rod (5) far away from the pushing plate (7), the telescopic spring (10) is sleeved on the outer side of the connecting rod (5), and two ends of the telescopic spring (10) are respectively fixedly connected with the moon shell (1) and the protection plate (6).

4. The walking mechanism with the protection assembly for the transport robot of claim 1, wherein the limiting groove (8) is symmetrically provided with arc-shaped grooves (16), and one end of the limiting block (17) is slidably connected in the arc-shaped grooves (16).

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