CN215848162U - Walking robot - Google Patents

Abstract

The utility model discloses a walking robot, comprising: a box body and wheels; a coupling mechanism, comprising: at least one extension arm which is arranged along the second direction, one end of the extension arm is connected with the box body, the other end of the extension arm extends to the upper end and/or the lower end of the guardrail, and the extension arm is pivotally provided with a first guide wheel through a connecting shaft, and the first guide wheel is propped against the inner side wall of the corrugated plate of the guardrail; the second guide wheel is arranged along a third direction and can be pivotally connected to the box body, and the second guide wheel is arranged opposite to the first guide wheel so that the second guide wheel abuts against the outer side wall of the corrugated plate of the guardrail; the first guide wheel and the second guide wheel are used for attaching the box body to the guardrail, so that the walking robot can move back and forth along a first direction extending along the guardrail under the action of the coupling mechanism; at least one of the first and second guide wheels is flexibly coupled such that at least one of the first and second guide wheels is capable of adaptively adjusting the position of the first and/or second guide wheel along the second direction.

Description

Walking robot

Technical Field

The utility model relates to the field of road robot equipment, in particular to a walking robot.

Background

The highway is one of the necessary ways for going out at the present stage, the intelligent traffic is taken as the primary task in China at present, and the walking robot can be used on the guardrail of the highway, namely, the walking robot moves along the extending direction of the guardrail, so that the corresponding purpose can be realized, for example, the walking robot carrying the trimmer can trim two sides of the guardrail of the highway, and the trimming robot carrying the warning board can play a role in prompting traffic accidents or construction sections; however, in the prior art, the walking robot and the guardrail are connected in a manner of generating large noise, and are easy to wear, thereby reducing the service life.

Disclosure of Invention

The present solution provides a walking robot, which can achieve the above technical objects by adopting the following technical features and bring other multiple technical effects, in view of the problems and needs presented above.

The utility model provides a walking robot, which is arranged on a highway guardrail and comprises:

a case and wheels pivotally coupled to a lower end of the case;

a coupling mechanism, comprising:

at least one extension arm which is arranged along a second direction, one end of the extension arm is connected with the box body, the other end of the extension arm extends to the upper end and/or the lower end of the guardrail, a first guide wheel is pivotally configured through a connecting shaft, and the first guide wheel is abutted against the inner side wall of the corrugated plate of the guardrail;

at least one second guide wheel arranged along a third direction and pivotally connected to the box body, wherein the second guide wheel is arranged opposite to the first guide wheel, so that the second guide wheel abuts against the outer side wall of the corrugated plate of the guardrail;

the first guide wheel and the second guide wheel are used for attaching the box body to the guardrail, so that the walking robot can move back and forth along a first direction of the guardrail extension under the action of a coupling mechanism;

wherein at least one of the first and second guide wheels is flexibly coupled such that at least one of the first and second guide wheels is capable of adaptively adjusting the position of the first and/or second guide wheel along a second direction;

wherein the extension arm is capable of adaptively sliding on the case along a third direction;

wherein the first direction, the second direction and the third direction are perpendicular to each other.

In the technical scheme, when the operation is required to be carried out on the expressway, the walking robot is driven by the wheels, and the walking robot reciprocates along the first direction of the guardrail under the flexible clamping action of the first guide wheel and the second guide wheel of the connecting mechanism so as to realize the corresponding execution function of the walking robot, wherein at least one of the first guide wheel and the second guide wheel is flexibly connected, so that the noise between the walking robot and the guardrail is greatly reduced, the walking robot is not easy to wear, and the service life is prolonged.

In addition, the walking robot according to the present invention may further have the following technical features:

in one example of the present invention, the first guide wheel is coupled to the coupling shaft by a bearing, and the bearing includes at least two bearings and is arranged at intervals along an extending direction of the coupling shaft.

In one example of the present invention, the method further comprises: the shock-absorbing part is arranged on the base,

the shock absorption piece is arranged on the extension arm and is arranged on one side, far away from the box body, of the first guide wheel;

when the first guide wheel is subjected to impact force in the second direction, the shock absorption piece is used for relieving the impact force of the first guide wheel.

In one example of the present invention, the shock absorbing member includes one of a rubber member, a spring, and an elastic sheet.

In one example of the present invention, the method further comprises: a connecting plate is arranged on the upper surface of the connecting plate,

the connecting plate is arranged on one side, far away from the box body, of the extension arm, and the shock absorption piece is arranged between the connecting plate and the first guide wheel.

In one example of the present invention, the method further comprises: the guide block is provided with a guide block,

the guide block is fixedly coupled to the extension arm, and the guide block has a guide surface facing an inner side wall of the corrugated plate.

In one example of the present invention, the guide surface is an arc surface, and a distance from the box body in the second direction of the arc surface is gradually increased from a side close to the first guide wheel to a side far away from the first guide wheel.

In one example of the present invention, the method further comprises: the connecting frame is connected with the connecting frame,

the connecting frame is adaptively adjustably coupled to the case along a second direction, and the second guide wheel is pivotably disposed on the connecting frame.

In one example of the present invention, a sliding groove is disposed along the third direction of one of the extension arm and the box, and a slide rail adapted to the sliding groove is disposed on the other of the extension arm and the box.

In one example of the utility model, the extension arms comprise two groups and are symmetrically arranged at two sides of the box body along a first direction;

each group comprises two extension arms which are arranged along the third direction of the box body and are respectively connected with the upper end edge and the lower end edge of the corrugated plate.

The following description of the preferred embodiments for carrying out the present invention will be made in detail with reference to the accompanying drawings so that the features and advantages of the present invention can be easily understood.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments of the present invention will be briefly described below. Wherein the drawings are only for purposes of illustrating some embodiments of the utility model and are not to be construed as limiting the utility model to all embodiments thereof.

Fig. 1 is a front view of a walking robot according to an embodiment of the present invention (with one side hidden from a connecting plate);

fig. 2 is a left side view of the walking robot according to the embodiment of the present invention (with one side hidden from the connecting plate);

fig. 3 is a plan view of a walking robot according to an embodiment of the present invention (with one side of the connecting plate hidden);

fig. 4 is a perspective view of one direction of the walking robot according to the embodiment of the present invention (with one side of the connecting plate hidden);

fig. 5 is a perspective view of another direction of the walking robot according to the embodiment of the present invention (with one side of the connecting plate hidden);

fig. 6 is a partially enlarged view at I in fig. 5.

List of reference numerals:

a walking robot 100;

a case 10;

a slide rail 11;

a wheel 20;

a coupling mechanism 30;

an extension arm 31;

a chute 311;

a first guide wheel 32;

a second guide pulley 33;

a connecting plate 34;

a connecting frame 35;

a shock absorbing member 36;

a guide block 37;

a guide surface 371;

a coupling shaft 38;

a first direction F;

a second direction S;

a third direction T.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of specific embodiments of the present invention. Like reference symbols in the various drawings indicate like elements. It should be noted that the described embodiments are only some embodiments of the utility model, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the utility model without any inventive step, are within the scope of protection of the utility model.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

The present invention provides a walking robot 100, which is installed on a highway guardrail, as shown in fig. 1 to 5, wherein the guardrail includes a vertical post and a corrugated plate connected to the vertical post, generally, the corrugated plate is divided into two corrugated plates and three corrugated plates, and the two corrugated plates or the three corrugated plates are used for the general guardrail plate, but in some highway sections, the two corrugated plates and the three corrugated plates are used simultaneously, and the height of the transition plate connected between the two corrugated plates and the three corrugated plates 221 is changed; the method comprises the following steps: a case 10 and wheels 20, the wheels 20 being pivotally coupled to a lower end of the case 10, and the wheels 20 being coupled to a power source installed in the case 10; specifically, the wheels 20 may be driven by an electric motor, for example, the electric motor may be a differential motor; it is of course also possible to provide an in-wheel motor in the wheel 20.

A coupling mechanism 30, comprising:

at least one extension arm 31 arranged along the second direction S, one end of which is connected to the box body 10, and the other end of which extends to the upper end and/or the lower end of the guardrail, and is pivotally configured with a first guide wheel 32 through a connecting shaft 38, wherein the first guide wheel 32 abuts against the inner side wall of the corrugated plate of the guardrail; that is, coupling shaft 38 is fixedly coupled to extension arm 31, and first guide wheel 32 is coupled to coupling shaft 38; generally, the extension arm 31 may be provided at the upper end or the lower end of the cabinet 10 or at both the upper end and the lower end.

At least one second guide wheel 33, arranged along the third direction T, pivotably coupled to the box 10, the second guide wheel 33 being disposed opposite to the first guide wheel 32 such that the second guide wheel 33 abuts against an outer sidewall of the corrugated plate of the guard rail;

the first guide wheel 32 and the second guide wheel 33 are used to attach the case 10 to the guard rail such that the walking robot 100 can reciprocate along the first direction F in which the guard rail extends by the coupling mechanism 30;

wherein at least one of the first guide wheel 32 and the second guide wheel 33 is flexibly coupled such that at least one of the two is capable of adaptively adjusting the position of the first guide wheel 32 and/or the second guide wheel 33 along the second direction S;

wherein the extension arm 31 is adaptively slidably coupled on the casing 10 along the third direction T; the walking robot 100 is driven by the wheels 20 to move in the first direction F by the extension arm 31; when walking robot 100 is in the transition department of wave plate (transition between three-wave plate and the two-wave plate), the height on third direction T can be adjusted to extension arm 31 self-adaptation for extension arm 31 can be with the highly uniform of guardrail all the time, in order to improve the trafficability characteristic of guardrail robot on the highway guardrail, save adjust time greatly, improve walking robot 100's work efficiency, simple structure moreover, it is convenient to adjust, and the reliability is high.

Wherein the first direction F, the second direction S and the third direction T are perpendicular to each other.

When work is required on the expressway, the walking robot 100 is driven by the wheels 20, and the walking robot 100 is reciprocated along the first direction F of the guardrail by the flexible clamping action of the first guide wheel 32 and the second guide wheel 33 of the coupling mechanism 30, so as to perform the corresponding execution function of the walking robot 100, wherein at least one of the first guide wheel 32 and the second guide wheel 33 is flexibly coupled, so that noise between the walking robot 100 and the guardrail is greatly reduced, and the walking robot is not easily worn, and the service life is prolonged.

In an example of the present invention, a sliding groove 311 is disposed along the third direction T of one of the extension arm 31 and the case 10, and a sliding rail 11 adapted to the sliding groove 311 is disposed on the other one;

firstly, a slide rail 11 is arranged along the third direction T of the box body 10, and a slide groove 311 matched with the slide rail is arranged on the extension arm 31, so that the extension arm 31 can slide on the slide rail 11 along the third direction T in a self-adaptive manner;

secondly, a sliding groove 311 is arranged along the third direction T of the box body 10, and a sliding rail 11 matched with the sliding groove is arranged on the extension arm 31, so that the extension arm 31 can slide on the sliding groove 311 along the third direction T in a self-adaptive manner;

in order to improve the reliability of the connection between the extension arm 31 and the guard rail, the extension arm 31 includes two groups, and is symmetrically disposed on both sides of the box 10 along the first direction F;

wherein each set includes two extension arms 31 arranged along the third direction T of the box 10 and respectively coupled to the upper and lower edges of the corrugated plate; and an end cover is disposed at the connection position of the extension arm 31 and the case 10 in order to protect the walking robot 100;

specifically, for each set of extension arms 31, two extension arms 31 are disposed on the box 10 at intervals along the third direction T, and are respectively connected to the upper end and the lower end of the corrugated plate, wherein the lower end of the corrugated plate is generally flush, and there is no transition between the corrugated plate and the corrugated plate, so that in order to connect the lower end extension arms 31 to the corrugated plate more stably, a limiting plate is disposed on the slide rail 11 connected to the lower end extension arms 31 for limiting the position of the lower end extension arms 31 in the third direction T, so that the lower end extension arms 31 are always connected to the corrugated plate.

Because the extension arm 31 is vertically connected with the box 10, in order to improve the stability between the extension arm 31 and the box 10, at least two slide rails 11 are arranged on the box 10 at intervals along the second direction S, and correspondingly, at least two slide rails matched with the extension arm 31 are arranged on the extension arm 31.

In order to make the walking robot 100 operate more stably and reliably, a second guide wheel 33 adapted to abut against the outer end of the wave plate is pivotably provided in the third direction T of the case 10.

In one example of the present invention, the first guide wheel 32 is coupled to the coupling shaft 38 through bearings, and the bearings include at least two bearings and are arranged at intervals along the extending direction of the coupling shaft 38;

the first guide wheel 32 is supported by the bearing, so that the friction coefficient in the movement process is reduced, the rotation precision of the first guide wheel is ensured, the bearing is arranged on the connecting shaft 38, the first guide wheel 32 has the movement frame amount in the radial direction (because the inner ring and the outer ring are connected by the retainer), the flexible connection between the first guide wheel 32 and the connecting shaft 38 is realized, the noise between the first guide wheel 32 and the guardrail is reduced, and the first guide wheel 32 can move more stably by arranging at least two bearings; of course, the present invention is not limited thereto, and a bearing may be provided on the connecting shaft 38.

In one example of the present invention, the method further comprises: the shock-absorbing members 36 are provided with,

the shock absorbing member 36 is disposed on the extension arm 31 and on a side of the first guide wheel 32 away from the box body 10;

when the first guide wheel 32 is subjected to an impact force in the second direction S, the shock absorbing member 36 is used for buffering the impact force of the first guide wheel 32;

after the first guide wheel 32 receives external impact force, the first guide wheel 32 swings back and forth along the radial direction (the second direction S) under the action of the bearing, once the external impact force acts on the first guide wheel 32 greatly, the first guide wheel exceeds the limit of the moving frame amount of the bearing, so that the bearing is damaged, and the damping piece 36 is used for preventing the first guide wheel 32 from moving beyond the range value of the moving frame amount of the bearing, so that the bearing is protected.

It is worth mentioning that the bearing comprises an inner ring, an outer ring, a cage and balls arranged on the cage, wherein the inner ring is connected to the coupling shaft 38, and the outer ring is connected to the first guide wheel 32, so that a flexible connection between the first guide wheel 32 and the coupling shaft 38 can be formed.

In one example of the present invention, the shock absorbing member 36 includes one of a rubber member, a spring, and a resilient plate; all of which can provide cushioning to first idler 32.

In one example of the present invention, the method further comprises: the connection plate 34 is provided with a connection plate,

the connecting plate 34 is disposed on a side of the extension arm 31 away from the box body 10, and the shock absorbing member 36 is disposed between the connecting plate 34 and the first guide wheel 32;

to facilitate viewing of the shock absorbing members 36, the attachment plate 34 on one of the side extension arms 31 is hidden from view in fig. 1-5 of the present invention.

For example, when the damping member 36 is a spring, the plurality of springs are arranged at intervals along the first direction F of the connecting plate 34, so that the first guide wheel 32 swings back and forth along the second direction S under the action of external impact force, and the elastic force of the springs acts on the first guide wheel 32 to buffer the bearing, thereby protecting the bearing.

Of course, the damping element 36 may also be a rubber element or a spring plate, and the specific connection manner is similar to that of a spring, which is not described herein again.

In one example of the present invention, as shown in fig. 6, the method further includes: the guide blocks 37 are provided on the outer side of the casing,

the guide block 37 is fixedly coupled to the extension arm 31, the guide block 37 has a guide surface 371, and the guide surface 371 faces the inner side wall of the corrugated plate;

because the corrugated plates are jointed in a sectional mode, when the corrugated plates are actually installed, the two corrugated plates extending in the first direction F can deviate in the second direction S, the guide blocks 37 can avoid the deviation of the two adjacent corrugated plates in the second direction S to cause the first guide wheels 32 to be blocked, and the guide blocks 37 can play a role in guiding the inner side walls of the corrugated plates, so that the guiding effect of the first guide wheels 32 is further improved.

In an example of the present invention, the guide surface 371 is an arc surface, and the distance from the box 10 in the second direction S gradually increases from a side close to the first guide wheel 32 to a side far from the first guide wheel 32;

for example, when there is one first guide wheel 32, the guide blocks 32 include two guide blocks 32, and the two guide blocks 32 are disposed on both sides of the first guide wheel 32 along the first direction, so that the guide surfaces 371 are formed on both sides of the first guide wheel 32, which can further improve the guiding function of the first guide wheel 32.

In one example of the present invention, the method further comprises: the connection frame 35 is connected with the connecting frame,

the connecting frame 35 is adjustably coupled to the case 10 along the second direction S, and the second guide pulley 33 is pivotally disposed on the connecting frame 35;

as a further preference, second guide pulley 33 is coupled with case 10 by an elastic member so that second guide pulley 33 has a tendency to reciprocate in second direction S under the external force pressing; for example, the elastic member is a compression spring, specifically, the second guide pulley 33 is pivotally coupled to the connecting frame 35, the connecting frame 35 has a mounting shaft, the mounting shaft is telescopically coupled to the housing 10 along the second direction S, for example, a mounting hole adapted to the mounting shaft is provided on the housing 10, and the compression spring is sleeved on the mounting shaft, so that the connecting frame 35 has an elastic force reciprocating along the second direction S when receiving an external compression force, so as to improve a self-adaptive fit between the second guide pulley 33 and the corrugated plate; wherein, dispose the stopper in order to inject the position of installation axle in the mounting hole at the free end of installation axle, compression spring installs between stopper and box.

In an example of the present invention, the second guide wheel 33 includes a plurality of second guide wheels 33, and the plurality of second guide wheels 33 are arranged on the connecting frame 35 at intervals along the first direction F;

the degree of flexibility between the walking robot 100 and the guard rail can be further improved by providing the plurality of second guide wheels 33, and noise between the two can be further reduced.

Preferably, the connecting frame 35 includes two connecting frames, and each connecting frame is configured with two second guide wheels 33, and is disposed at an interval along the first direction F.

It will be understood, of course, that the connecting frame 35 may also be fixedly connected to the box 10 directly, for example, by fastening to the box 10 or by bolting to the box 10; wherein, the position of the connecting frame 35 in the second direction can be adjusted by means of bolt adjustment, so as to adjust the span between the first guide wheel 32 and the second guide wheel 33.

In one example of the present invention, the method further comprises: wireless subassembly that charges, it includes:

a wireless charging receiver fitted on the case 10 and coupled with a power source of the walking robot 100;

the wireless charging transmitter is adapted on the guardrail and is coupled with an external charging power supply;

when the walking robot 100 needs to be charged, it is adapted to travel to a designated position, and the wireless charging receiver receives a charging signal transmitted by the wireless charging transmitter for power supply replenishment;

the charging of the walking robot 100 can be realized by the wireless charging component, the work continuity of the walking robot 100 is ensured, and the trouble of charging is eliminated.

In one example of the present invention, the method further comprises: a controller for controlling the operation of the electronic device,

coupled to at least the wheel 20 for controlling the wheel 20 to perform a corresponding action;

the wireless charging device is at least coupled with the wireless charging assembly and used for controlling the wireless charging assembly to execute corresponding actions;

when construction, rescue and other operations are required on the expressway, the controller controls the wheels 20 to rotate, so that the walking robot 100 moves to an operation site along the first direction F; when the walking robot 100 needs to be charged, the controller controls the wheels 20 to travel to the designated position, and controls the wireless charging receiver to receive the charging signal transmitted by the wireless charging transmitter, so as to supplement power; this walking robot 100 can avoid the incident hidden danger, and warning effect is good, saves the manpower, safe and reliable.

The exemplary embodiment of the walking robot 100 proposed by the present invention has been described in detail with reference to the preferred embodiments, however, it will be understood by those skilled in the art that various modifications and changes may be made to the above specific embodiments and various combinations of the technical features and structures proposed by the present invention without departing from the concept of the present invention, and the scope of the present invention is defined by the appended claims.

Claims (10)

1. A walking robot, installed on a highway guardrail, comprising:

a case (10) and wheels (20), the wheels (20) being pivotally coupled to a lower end of the case (10);

a coupling mechanism (30) comprising:

at least one extension arm (31) arranged along a second direction (S), one end of the extension arm is connected with the box body (10), the other end of the extension arm extends to the upper end and/or the lower end of the guardrail, a first guide wheel (32) is pivotally configured through a connecting shaft (38), and the first guide wheel (32) is abutted against the inner side wall of the corrugated plate of the guardrail;

at least one second guide wheel (33) arranged along a third direction (T) and pivotably coupled to the box (10), the second guide wheel (33) being arranged opposite the first guide wheel (32) such that the second guide wheel (33) abuts against an outer side wall of the corrugated plate of the guardrail;

the first guide wheel (32) and the second guide wheel (33) are used for attaching the box body (10) to the guardrail, so that the walking robot (100) can move back and forth along a first direction (F) extending along the guardrail under the action of a coupling mechanism (30);

wherein the extension arm (31) is slidably coupled on the tank (10) along a third direction (T) adaptively;

wherein the first direction (F), the second direction (S) and the third direction (T) are mutually perpendicular;

it is characterized in that the preparation method is characterized in that,

wherein at least one of the first guide wheel (32) and the second guide wheel (33) is flexibly coupled such that at least one of the two is capable of adaptively adjusting the position of the first guide wheel (32) and/or the second guide wheel (33) along a second direction (S).

2. The walking robot of claim 1,

the first guide wheel (32) is coupled to the coupling shaft (38) through bearings, and the bearings comprise at least two bearings which are arranged at intervals along the extension direction of the coupling shaft (38).

3. The walking robot of claim 2,

further comprising: a shock-absorbing member (36),

the damping piece (36) is arranged on the extension arm (31) and on one side of the first guide wheel (32) far away from the box body (10);

when the first guide wheel (32) is subjected to impact force in the second direction (S), the shock absorption piece (36) is used for relieving the impact force of the first guide wheel (32).

4. The walking robot of claim 3,

the shock absorbing member (36) includes one of a rubber member, a spring and a resilient plate.

5. The walking robot of claim 3,

further comprising: a connecting plate (34),

the connecting plate (34) is arranged on one side of the extension arm (31) far away from the box body (10), and the shock absorption piece (36) is arranged between the connecting plate (34) and the first guide wheel (32).

6. The walking robot of claim 1,

further comprising: a guide block (37) for guiding the guide block,

the guide block (37) is fixedly coupled to the extension arm (31), and the guide block (37) has a guide surface (371) facing the inner side wall of the corrugated plate.

7. The walking robot of claim 6,

the guide surface (371) is an arc-shaped surface, and the distance from the arc-shaped surface to the box body (10) in the second direction (S) is gradually increased from one side close to the first guide wheel (32) to one side far away from the first guide wheel (32).

8. The walking robot of claim 1,

further comprising: a connecting frame (35),

the connecting bracket (35) is coupled to the housing (10) in a second direction (S) in an adjustable manner, and the second guide wheel (33) is pivotably arranged on the connecting bracket (35).

9. The walking robot of claim 1,

a sliding groove (311) is arranged in the third direction (T) of one of the extension arm (31) and the box body (10), and a sliding rail (11) matched with the sliding groove (311) is arranged on the other one of the extension arm and the box body.

10. The walking robot of claim 1,

the extension arms (31) comprise two groups and are symmetrically arranged on two sides of the box body (10) along a first direction (F);

wherein each group comprises two extension arms (31) arranged along a third direction (T) of the box body (10) and respectively connected with the upper end edge and the lower end edge of the corrugated plate.

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