CN214648655U

CN214648655U - Walking structure

Info

Publication number: CN214648655U
Application number: CN202120248600.5U
Authority: CN
Inventors: 刘宝良
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-28
Filing date: 2021-01-28
Publication date: 2021-11-09
Anticipated expiration: 2031-01-28

Abstract

The utility model discloses a walking structure, including supporting body frame, drive mechanism, dual drive mechanism, trigger mechanism and spike subassembly, drive mechanism locates support on the body frame, dual drive mechanism with drive mechanism connects, the spike subassembly by dual drive mechanism drives the lift, trigger mechanism locates on the dual drive mechanism and with dual drive mechanism connects, be equipped with the trigger baffle on the support body frame. The walking structure can improve the obstacle crossing capability of the walking device, so that the walking device can smoothly cross the obstacle, and the cleaning efficiency of the cleaning robot is improved.

Description

Walking structure

Technical Field

The utility model belongs to the cleaning robot field, concretely relates to walking structure.

Background

At present, the cleaning mode of the glass curtain wall is mainly manual cleaning, the range of the glass curtain wall is generally large, the labor intensity of manual cleaning is high, the efficiency is low, and the danger coefficient is high. With the increasing demand of curtain wall cleaning, many types of curtain wall cleaning robots have emerged at home and abroad for solving the problem of manual cleaning.

The existing high-rise curtain wall cleaning robot mainly comprises a walking device and a cleaning device, wherein the cleaning device is driven to walk by the walking device, but the obstacle crossing capability of the walking device is poor, the robot is difficult to adapt to obstacles with large crossing number and different heights, the robot cannot normally cross the obstacles and is easy to walk unstably when crossing the obstacles, the normal cleaning of the cleaning device is influenced, and the cleaning efficiency of the cleaning robot is reduced.

Disclosure of Invention

An object of the utility model is to provide a running structure, this running structure can improve running gear's the ability of hindering more for running gear can hinder more smoothly, does benefit to the cleaning efficiency who improves cleaning robot.

The technical scheme is as follows:

the walking structure comprises a supporting main frame, a transmission mechanism, a dual-drive mechanism, a triggering mechanism and a supporting foot assembly, wherein the transmission mechanism is arranged on the supporting main frame, the dual-drive mechanism is connected with the transmission mechanism, the supporting foot assembly is driven by the dual-drive mechanism to lift, the triggering mechanism is arranged on the dual-drive mechanism and connected with the dual-drive mechanism, and a triggering baffle plate is arranged on the supporting main frame.

In one embodiment, the trigger mechanism comprises a first mounting plate, a conduction assembly, a connecting arm and a trigger pressing plate, the first mounting plate is mounted on the dual-drive mechanism, the conduction assembly is fixed on the first mounting plate and used for controlling the dual-drive mechanism to move, a first action switch and a second action switch are arranged on the conduction assembly, the trigger pressing plate is fixed on the connecting arm, and the connecting arm is rotatably connected with the first mounting plate.

In one embodiment, the dual-driving mechanism comprises a second mounting plate, a first driving mechanism and a second driving mechanism, the first driving mechanism and the first mounting plate are both mounted on the second mounting plate, the first driving mechanism is connected with the second driving mechanism and drives the second driving mechanism to lift, and the arm brace assembly is connected with the second driving mechanism.

In one embodiment, the arm brace assembly comprises a support main body, a connecting assembly, a buffer spring and a sucker assembly, wherein one end of the connecting assembly is fixedly connected with the second driving mechanism, the other end of the connecting assembly is in sliding fit with the support main body, the sucker assembly is connected with the support main body, the buffer spring is sleeved on the support main body, and the buffer spring is located between the connecting assembly and the sucker assembly.

In one embodiment, the connecting assembly comprises a sliding sleeve, a driving connecting plate, a first nut and a second nut, the sliding sleeve is hollow inside and is sleeved on the supporting main body, a limiting boss is fixed at one end, far away from the sucker assembly, of the supporting main body, the sliding sleeve is located between the limiting boss and the buffer spring, one end of the driving connecting plate is fixedly connected with the second driving mechanism, the other end of the driving connecting plate is fixedly connected with the sliding sleeve, the first nut and the second nut are both in threaded connection with the outer wall of the sliding sleeve, and the driving connecting plate is clamped between the first nut and the second nut.

In one embodiment, the trigger mechanism further includes a micro switch, the micro switch is disposed on the top of the conducting assembly, the micro switch, the first action switch and the second action switch correspond to each other in sequence from top to bottom, the trigger pressing plate extends longitudinally, and the height of the longitudinal extension of the trigger pressing plate is greater than or equal to the height between the second action switch and the switch portion of the micro switch.

In one embodiment, a limiting plate is disposed on a side wall of the conduction assembly close to the second action switch, the limiting plate is fixedly connected with the side wall of the conduction assembly, a through hole adapted to the second action switch is disposed on the limiting plate, and the second action switch extends out of the through hole.

In one embodiment, a connecting block is fixed on the first mounting plate, the connecting arm is rotatably connected with the connecting block, a roller is arranged at one end of the connecting arm, which is far away from the end connected with the connecting block, and the roller is rotatably connected with the connecting arm.

In one embodiment, the transmission mechanism includes a motor, a transmission shaft and a transmission chain, the motor is fixed on the support main frame, the transmission shaft is rotatably connected with the support main frame, the transmission shaft is driven by the motor to rotate, the transmission shaft is connected with the transmission chain and drives the transmission chain to rotate, and the dual-drive mechanism is connected with the transmission chain.

In one embodiment, a first connecting piece is arranged on the transmission chain, a second connecting piece is arranged on the dual-drive mechanism, and the first connecting piece is connected with the second connecting piece.

The walking structure provided by the utility model improves the obstacle crossing capability of the walking device by arranging the dual-driving mechanism, so that the walking device can adapt to obstacles with more quantity and different heights; the transmission mechanism is connected with the double-drive mechanism to realize the movement of the walking device in the horizontal direction of the working surface; the triggering mechanism and the triggering baffle are arranged to switch the working state of the dual-driving mechanism and control the lifting of the supporting leg assembly, so that the walking working state of the walking device is switched, and the normal walking of the walking device is realized.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles, principles and effects of the invention.

Unless otherwise specified or defined, the same reference numerals in different figures refer to the same or similar features, and different reference numerals may be used for the same or similar features.

Fig. 1 is a schematic structural diagram of a conventional walking structure of the present invention.

Fig. 2 is a schematic diagram of a trigger mechanism in a conventional walking structure according to the present invention.

Fig. 3 is a schematic structural view of a walking foot mechanism in a conventional walking structure of the present invention.

Fig. 4 is an enlarged schematic view of a in fig. 1.

Description of reference numerals:

10. supporting the main frame; 11. triggering a baffle; 20. a drive shaft; 21. a drive chain; 22. a first connecting piece; 23. a second connecting sheet; 30. a first mounting plate; 31. a conducting component; 32. a connecting arm; 33. triggering the pressing plate; 34. a first action switch; 35. a second action switch; 36. a microswitch; 37. a limiting plate; 38. connecting blocks; 39. a roller; 40. a second mounting plate; 41. a first drive mechanism; 42. a second drive mechanism; 50. a support body; 501. a limiting boss; 51. a buffer spring; 52. a sucker component; 53. a sliding sleeve; 54. a drive connection plate; 55. a first nut; 56. a second nut; 60. a vacuum generator.

Detailed Description

In order to facilitate an understanding of the invention, specific embodiments thereof will be described in more detail below with reference to the accompanying drawings.

Unless specifically stated or otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In the case of combining the technical solution of the present invention with realistic scenarios, all technical and scientific terms used herein may also have meanings corresponding to the objects of realizing the technical solution of the present invention.

As used herein, unless otherwise specified or defined, "first" and "second" … are used merely for name differentiation and do not denote any particular quantity or order.

As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items, unless specified or otherwise defined.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present; when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; when an element is referred to as being "mounted on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present.

As used herein, unless otherwise specified or defined, the terms "comprises," "comprising," and "comprising" are used interchangeably to refer to the term "comprising," and are used interchangeably herein.

It is needless to say that technical contents or technical features which are contrary to the object of the present invention or clearly contradict each other should be excluded.

As shown in fig. 1 to 4, the traveling structure includes a supporting main frame 10, a transmission mechanism, a dual-drive mechanism, a trigger mechanism and a leg-brace assembly, wherein the transmission mechanism is disposed on the supporting main frame 10, the dual-drive mechanism is connected to the transmission mechanism, in this embodiment, the dual-drive mechanism is connected to the leg-brace assembly to form the traveling leg mechanism, the leg-brace assembly is driven by the dual-drive mechanism to move, the traveling leg mechanism is provided with a plurality of traveling leg mechanisms, the plurality of traveling leg mechanisms are driven by the transmission mechanism to move, the trigger mechanism is disposed on the dual-drive mechanism and connected to the dual-drive mechanism, a trigger baffle 11 is fixed to a top portion 10 of the supporting main frame, and the trigger baffle 11 is located at a position where the traveling leg mechanism needs to change a working state.

By arranging the dual-drive mechanism, the lifting stroke of the walking device is improved, and the obstacle crossing capability of the walking device is further improved, so that the walking device can adapt to obstacles with large quantity and different heights; the transmission mechanism is connected with the double-driving mechanism so as to drive the walking foot mechanism to rotate, and the double-driving mechanism is matched to work so as to realize the movement of the walking device in the horizontal direction of the working surface; a trigger mechanism and a trigger baffle 11 are arranged, when the walking foot mechanism is transmitted to the position contacted with the trigger baffle 11 by the transmission mechanism, the trigger mechanism is triggered to work, the working state of the dual-drive mechanism is switched, the lifting of the arm brace component is controlled, and the walking working state of the walking device is switched, so that the normal walking of the walking device is realized; the walking structure can improve the obstacle crossing capability of the walking device, so that the walking device can smoothly cross the obstacle, and the normal switching of the walking state of the walking device and the walking stability can be ensured, thereby being beneficial to the cooperation of the walking device and the cleaning device and improving the cleaning efficiency of the cleaning robot.

As shown in fig. 1 to 3, the triggering mechanism includes a first mounting plate 30, a conduction assembly 31, a connecting arm 32 and a triggering pressing plate 33, the first mounting plate 30 is mounted on the dual-drive mechanism, the conduction assembly 31 is fixed on the first mounting plate 30, the conduction assembly 31 is used for controlling the movement of the dual-drive mechanism, the conduction assembly 31 is provided with a first action switch 34 and a second action switch 35, the triggering pressing plate 33 is fixed on the connecting arm 32, and the connecting arm 32 is rotatably connected with the first mounting plate 30. In this embodiment, the conducting assembly 31 is two-position three-way valves mechanically connected in series, and the two-position three-way valves are used to control the operation of the dual driving mechanism. In the process that the transmission mechanism drives the walking foot mechanism to move, when the trigger mechanism moves to the position where the dual-drive mechanism needs to switch the working state, the connecting arm 32 on the trigger mechanism can be in contact with the trigger baffle 11, the walking foot mechanism continues to move along with the transmission mechanism, the trigger baffle 11 presses the connecting arm 32 towards one side close to the action switch, so that the connecting arm 32 drives the trigger pressing plate 33 to rotate towards one side close to the action switch, the trigger pressing plate 33 can simultaneously trigger the first action switch 34 and the second action switch 35, and further can trigger the conduction assembly 31 to work, the normal work of the dual-drive mechanism is ensured, the working state of the dual-drive mechanism is switched, the lifting of the supporting foot assembly is driven, the walking device can normally change the walking state, and the walking of the walking device is prevented from being unstable.

As shown in fig. 1 and 3, the dual driving mechanism includes a second mounting plate 40, a first driving mechanism 41 and a second driving mechanism 42, the first driving mechanism 41 and the first mounting plate 30 are both mounted on the second mounting plate 40, the first driving mechanism 41 is connected to the second driving mechanism 42 and drives the second driving mechanism 42 to move up and down, and the arm brace assembly is connected to the second driving mechanism 42. Through the arrangement, the connection and installation of the dual-driving mechanism and the triggering mechanism are realized, the first driving mechanism 41 drives the second driving mechanism 42 to ascend and descend, and the second driving mechanism 42 drives the supporting foot component to ascend and descend, so that the stroke of the walking foot mechanism is prolonged, the obstacle crossing capability of the walking device is improved, and the walking device cannot move normally due to the fact that the walking device is not easily blocked by a higher obstacle.

As shown in fig. 1 and 3, the arm brace assembly includes a support main body 50, a connection assembly, a buffer spring 51 and a suction cup assembly 52, one end of the connection assembly is fixedly connected to the second driving mechanism 42, the other end of the connection assembly is in sliding fit with the support main body 50, the suction cup assembly 52 is connected to the support main body 50, the buffer spring 51 is sleeved on the support main body 50, and the buffer spring 51 is located between the connection assembly and the suction cup assembly 52. When the driving mechanism drives the support main body 50 to descend until the sucker component 52 is contacted with the working surface, at the moment, the connecting component has a downward pressing trend due to the inertia effect, the buffer spring 51 is compressed and reduces the downward pressing impact force of the connecting component, so that the direct impact of the arm brace component on the working surface is avoided, the arm brace component is in light contact with the working surface, and the arm brace component is slightly lowered and lifted; and because the cleaning robot is high altitude construction, if the working face damages and drops, can cause very big safety problem, consequently, this spike subassembly can also improve the security performance, reduces the potential safety hazard.

The connecting assembly comprises a sliding sleeve 53, a driving connecting plate 54, a first nut 55 and a second nut 56, the sliding sleeve 53 is hollow, the sliding sleeve 53 is sleeved on the supporting main body 50, one end, far away from the sucker assembly 52, of the supporting main body 50 is fixedly provided with a limiting boss 501, the sliding sleeve 53 is positioned between the limiting boss 501 and the buffer spring 51, one end of the driving connecting plate 54 is fixedly connected with the second driving mechanism 42, the other end of the driving connecting plate is fixedly connected with the sliding sleeve 53, the first nut 55 and the second nut 56 are both in threaded connection with the outer wall of the sliding sleeve 53, and the driving connecting plate 54 is clamped between the first nut 55 and the second nut 56. The sliding fit between the connecting assembly and the supporting main body 50 is realized by arranging the sliding sleeve 53 and sleeving the sliding sleeve 53 on the supporting main body 50; the limiting boss 501 can prevent the sliding sleeve 53 from falling off from the end of the support body 50, and meanwhile, under the elastic action of the buffer spring 51, the sliding sleeve 53 can tightly push the limiting boss 501, so that the initial position of the sliding sleeve 53 is limited; the two nuts are in threaded connection with the sliding sleeve 53 and clamp the driving connecting plate 54 between the two nuts, so that the driving connecting plate 54 can be prevented from moving upwards or downwards, and the normal lifting motion of the supporting foot is ensured.

In this embodiment, the buffer spring 51 is compressed in the initial state, and after the support body 50 is connected to the suction cup assembly 52, the buffer spring 51 is compressed by 2mm to 5 mm. When the walking device does not work, the buffer spring 51 is kept slightly compressed, so that the buffer spring 51 always applies force to the sliding sleeve 53, the buffer time of the buffer spring 51 is prevented from being too long due to the fact that the driving mechanism drives the sliding sleeve 53 to press downwards, and the buffer effect is further improved.

As shown in fig. 1 to 3, the trigger mechanism further includes a micro switch 36 for controlling the operation of the vacuum generator 60, the vacuum generator 60 and the suction cup assembly 52 cooperate to generate vacuum in the suction cup assembly 52, the micro switch 36 is disposed on the top of the conducting assembly 31, the micro switch 36, the first action switch 34 and the second action switch 35 sequentially correspond to each other up and down, the trigger pressing plate 33 is longitudinally extended, and the height of the longitudinal extension of the trigger pressing plate 33 is greater than or equal to the height between the second action switch 35 and the switch portion of the micro switch 36. Through the arrangement, the trigger pressing plate 33 can trigger the three switches simultaneously, so that when the dual-drive mechanism drives the supporting leg assembly to ascend and descend, the vacuum generator 60 can work in cooperation with the suckers simultaneously, the walking device is guaranteed to be normally switched to a walking state, and the walking device is enabled to walk more stably.

As shown in fig. 2, a limiting plate 37 is disposed on a side wall of the conducting assembly 31 close to the second acting switch 35, the limiting plate 37 is fixedly connected to the side wall of the conducting assembly 31, a through hole adapted to the second acting switch 35 is disposed on the limiting plate 37, and the second acting switch 35 extends out of the through hole. Limiting plate 37 limits the rotation angle of connecting arm 32 to be too large on the premise of ensuring that trigger pressing plate 33 can trigger three switches simultaneously, thereby causing trigger pressing plate 33 to excessively press three switches, further preventing damage to the switches, and being beneficial to prolonging the service lives of the three switches.

Be fixed with connecting block 38 on the first mounting panel 30, connecting arm 32 with connecting block 38 rotates to be connected, connecting arm 32 keep away from with the one end that connecting block 38 is connected is equipped with gyro wheel 39, gyro wheel 39 with rotate between the connecting arm 32 and be connected. The connecting block 38 is arranged to realize the rotary connection of the connecting arm 32 on the mounting plate, so that the normal movement of the trigger pressing plate 33 is realized; because the trigger mechanism always drives displacement on the running gear along with the dual-drive mechanism, the arrangement of the roller 39 can reduce the friction force between the connecting arm 32 and the running gear structure, and avoid abrasion of the running gear structure.

As shown in fig. 1, the transmission mechanism includes a motor (not shown), a transmission shaft 20 and a transmission chain 21, the motor is fixed on the support main frame 10, the transmission shaft 20 is rotatably connected with the support main frame 10, the transmission shaft 20 is driven by the motor to rotate, the transmission shaft 20 is connected with the transmission chain 21 and drives the transmission chain 21 to rotate, in this embodiment, the transmission chain 21 rotates around the edge of the support main frame 10, and the plurality of walking foot mechanisms are all connected with the transmission chain 21. The plurality of walking foot mechanisms are driven to rotate through the transmission chain 21, and work of the triggering mechanism is matched, so that the switching of the working states of the walking foot mechanisms is realized, and the walking device moves in the horizontal direction of a working surface.

As shown in fig. 4, a first connecting piece 22 is fixedly connected to the transmission chain 21, a second connecting piece 23 is fixedly connected to the second mounting plate 40 of the dual-drive mechanism, connecting holes are formed in the first connecting piece 22 and the second connecting piece 23, and the traveling foot mechanism is mounted on the transmission chain 21 through the bolt-nut fit connection, so that the transmission chain 21 drives the traveling foot mechanism to move.

The utility model provides a walking structure, through setting up dual drive mechanism, improve the lift stroke of running gear, can improve the obstacle-surmounting ability of running gear, enable running gear to adapt to the barrier of a large amount, highly different, avoid running gear to be stopped by the barrier and can't normally move, improve the cleaning efficiency of cleaning robot; a trigger mechanism and a trigger baffle 11 are arranged, when the walking foot mechanism is transmitted to the position contacted with the trigger baffle 11 by the transmission mechanism, the trigger mechanism is triggered to work, the working state of the dual-drive mechanism is switched, the lifting of the arm brace component is controlled, and the walking working state of the walking device is switched, so that the normal walking of the walking device is realized; the arm brace component of the walking structure can buffer the impact force between the double-drive mechanism and the working face, so that the direct impact on the working face is avoided, the arm brace component is lowered and lifted lightly, the working face is prevented from being damaged and falling, the safety performance is improved, and the potential safety hazard is reduced.

The above embodiments are intended to be illustrative, and should not be construed as limiting the scope of the invention, and the technical solutions, objects and effects of the present invention are described in full herein.

The above examples are not intended to be exhaustive list of the present invention, and there may be many other embodiments not listed. Any replacement and improvement made on the basis of not violating the conception of the utility model belong to the protection scope of the utility model.

Claims

1. The walking structure is characterized by comprising a supporting main frame, a transmission mechanism, a dual-drive mechanism, a trigger mechanism and a supporting leg assembly, wherein the transmission mechanism is arranged on the supporting main frame, the dual-drive mechanism is connected with the transmission mechanism, the supporting leg assembly is driven by the dual-drive mechanism to lift, the trigger mechanism is arranged on the dual-drive mechanism and is connected with the dual-drive mechanism, and a trigger baffle is arranged on the supporting main frame.

2. The walking structure of claim 1, wherein the triggering mechanism comprises a first mounting plate, a conduction assembly, a connecting arm and a triggering pressing plate, the first mounting plate is mounted on the dual-driving mechanism, the conduction assembly is fixed on the first mounting plate and is used for controlling the dual-driving mechanism to move, a first action switch and a second action switch are arranged on the conduction assembly, the triggering pressing plate is fixed on the connecting arm, and the connecting arm is rotatably connected with the first mounting plate.

3. The walking structure of claim 2, wherein said dual driving mechanism comprises a second mounting plate, a first driving mechanism and a second driving mechanism, said first driving mechanism and said first mounting plate are both mounted on said second mounting plate, said first driving mechanism is connected with said second driving mechanism and drives said second driving mechanism to move up and down, and said arm-brace assembly is connected with said second driving mechanism.

4. The walking structure of claim 3, wherein said arm brace assembly comprises a support body, a connecting assembly, a buffer spring and a suction cup assembly, one end of said connecting assembly is fixedly connected to said second driving mechanism, the other end is slidably engaged with said support body, said suction cup assembly is connected to said support body, said buffer spring is sleeved on said support body, and said buffer spring is located between said connecting assembly and said suction cup assembly.

5. The walking structure of claim 4, wherein the connection assembly comprises a sliding sleeve, a driving connection plate, a first nut and a second nut, the sliding sleeve is hollow inside and is sleeved on the support body, a limiting boss is fixed at one end of the support body, which is far away from the sucker assembly, the sliding sleeve is located between the limiting boss and the buffer spring, one end of the driving connection plate is fixedly connected with the second driving mechanism, the other end of the driving connection plate is fixedly connected with the sliding sleeve, the first nut and the second nut are both in threaded connection with the outer wall of the sliding sleeve, and the driving connection plate is clamped between the first nut and the second nut.

6. The walking structure of claim 2, wherein the trigger mechanism further comprises a micro switch, the micro switch is arranged at the top of the conducting component, the micro switch, the first action switch and the second action switch correspond to each other up and down in sequence, the trigger pressing plate extends longitudinally, and the height of the longitudinal extension of the trigger pressing plate is greater than or equal to the height between the second action switch and the switch part of the micro switch.

7. The walking structure of claim 6, wherein a limiting plate is arranged on the side wall of the conduction assembly close to the second action switch, the limiting plate is fixedly connected with the side wall of the conduction assembly, a through hole matched with the second action switch is arranged on the limiting plate, and the second action switch extends out of the through hole.

8. The walking structure of claim 2, wherein a connecting block is fixed on the first mounting plate, the connecting arm is rotatably connected with the connecting block, a roller is arranged at the end of the connecting arm far away from the end connected with the connecting block, and the roller is rotatably connected with the connecting arm.

9. The walking structure of claim 1, wherein the transmission mechanism comprises a motor, a transmission shaft and a transmission chain, the motor is fixed on the support main frame, the transmission shaft is rotatably connected with the support main frame, the transmission shaft is driven by the motor to rotate, the transmission shaft is connected with the transmission chain and drives the transmission chain to rotate, and the dual-drive mechanism is connected with the transmission chain.

10. The walking structure of claim 9, wherein a first connecting piece is arranged on the transmission chain, a second connecting piece is arranged on the dual-drive mechanism, and the first connecting piece is connected with the second connecting piece.