CN215851216U

CN215851216U - Walking mechanism of feeding inspection robot

Info

Publication number: CN215851216U
Application number: CN202122500047.2U
Authority: CN
Inventors: 王聪; 徐晨鑫; 张志坚; 张冯; 时国柱
Original assignee: Nanjing Beixin Intelligent Technology Co ltd
Current assignee: Nanjing Beixin Intelligent Technology Co ltd
Priority date: 2021-10-18
Filing date: 2021-10-18
Publication date: 2022-02-18
Anticipated expiration: 2031-10-18

Abstract

The utility model discloses a walking mechanism of a feeding inspection robot, which comprises a driving wheel, a driving walking support, a walking shaft, an intermediate connecting shaft, a driven wheel shaft, a profile rail and a driven extension spring, wherein the driving walking support is connected to the driving wheel, the walking shaft is arranged on the driving walking support, the walking shaft is provided with the walking wheel, the driving walking support is connected with a driving motor fixing block, the driving motor fixing block is connected with a driving clamping block, the driving clamping block is arranged on a driving base, and a suspension rod is arranged on the driving base. This raise running gear who patrols and examines robot, simple structure and easy installation and debugging make things convenient for later maintenance. The walking efficiency is high, the brushless gear motor directly drives the driving wheel, the installation, the maintenance and the replacement are also very convenient, the cost performance is high, and the walking mechanism of the feeding inspection robot has very high reliability, stability, safety, adaptive compatibility, maintainability and popularization and application.

Description

Walking mechanism of feeding inspection robot

Technical Field

The utility model relates to the technical field of inspection robots, in particular to a walking mechanism of a feeding inspection robot.

Background

The superposition of multiple pressures, such as the continuous increase of the livestock and poultry product demand, the rapid exit of small-sized breeding scattered households, the increasing shortage of labor resources and the like, promotes the green transformation and upgrade of the animal husbandry to the large-scale, intensive and standardized direction. Improve the breed environmental quality in the scale is bred, reduce the labour input, improve beasts and birds production efficiency, realize high efficiency, high yield, the rationalization of high environmental protection, standardized breed management, it is a big problem that present beasts and birds breed transformation upgrading faces, to scale, intensification and standardized plant, the mode that traditional manual work patrolled and examined each beasts and birds house can consume a large amount of manpowers, and efficiency is lower moreover, can not adapt to the current situation of development before. The intelligent monitoring system is arranged to monitor areas such as a heavy-spot production area, livestock and poultry manure treatment and the like in real time, so that the labor productivity, the resource conversion rate and the livestock and poultry productivity are more urgent and important. Many farms are patrolled by video monitoring, but a lot of cameras need to be added. Most of the conventional inspection robots in the current market mainly adopt two directions, namely a hoisting track rail hanging robot and a wheel type walking inspection robot. Most of the devices are heavy, fixed and high in manufacturing cost, cannot be suitable for various scenes, and are low in cost performance and inconvenient to use.

We have therefore proposed a walking mechanism for a feeding inspection robot in order to solve the problems set forth above.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a travelling mechanism of a feeding inspection robot, and aims to solve the problems that most of the existing inspection robots in the market in the background art are heavy in structure, fixed and high in manufacturing cost, cannot be suitable for various scenes, and are low in cost performance and inconvenient to use.

In order to achieve the purpose, the utility model provides the following technical scheme: a walking mechanism for feeding inspection robots comprises a driving wheel, a driving walking support, a walking shaft, an intermediate connecting shaft, a driven wheel shaft, a profile rail and a driven extension spring, wherein the driving walking support is connected to the driving wheel, the walking shaft is installed on the driving walking support, the walking shaft is provided with a walking wheel, the driving walking support is connected with a driving motor fixing block, the driving motor fixing block is connected with a driving clamping block, the driving clamping block is installed on a driving base, a suspension rod is installed on the driving base, a lifting ring screw is installed on the driving clamping block, the driving wheel is connected with a brushless speed reduction motor, the driving extension spring is installed on the lifting ring screw, the side surface of the driving walking support is provided with a driven wheel walking support, and a driven wheel is installed on the driven wheel walking support, the driven wheel is provided with a driven wheel support, the driven wheel walking support is arranged on a driven base, an intermediate connecting shaft is arranged on the driven base, a driven wheel shaft is arranged on the driven wheel, a section rail is arranged below the driving wheel, and the driving base is provided with a driven extension spring.

Preferably, the two driving walking supports are distributed on the driving base in a left-right mode, the two driving walking supports are symmetrically distributed about the center line of the driving base, and the height of the driving walking supports is equal to that of the driven wheel walking supports.

Preferably, the four walking wheels are distributed on the driving walking support and the driven wheel walking support and are positioned at the same height, and the walking wheels are positioned above the profile rails.

Preferably, four suspension rods are distributed on the driving base, the suspension rods are located on the bottom surface of the driving base, and the top surface of the driving base and the top surface of the driven base are located at the same height.

Preferably, the lifting ring screws are distributed on the driving clamping block in two numbers, the lifting ring screws are in threaded connection with the driving clamping block, and the height of the lifting ring screws on the driving clamping block is equal to half of the height of the driving clamping block.

Preferably, the driven base is of a rotating structure on the driving base through an intermediate connecting shaft, the intermediate connecting shaft is located in the middle of the left portion and the right portion of the driven base, and the intermediate connecting shaft is connected to the middle of the left portion and the right portion of the driving base.

Compared with the prior art, the utility model has the beneficial effects that: the walking mechanism of the feeding inspection robot,

(1) be provided with succinct structure, raise and patrol and examine robot running gear and operate steadily and the reliability is higher, simple structure and easy installation and debugging make things convenient for later maintenance. The walking efficiency is high, the brushless gear motor directly drives the drive wheel, the installation, the maintenance and the replacement are also very convenient, and the cost performance is high. Meanwhile, the turning movement function can be realized, and various electrical parts such as a camera can be carried by the suspension. Generally, the walking mechanism of the feeding inspection robot has high reliability, stability, safety, adaptive compatibility, maintainability and popularization applicability;

(2) the driving and stretching mechanism is provided with lifting ring screws, a driving and stretching spring is stretched between the two lifting ring screws, and the left driving and stretching spring clamps the left driving and clamping block and the right driving and clamping block tightly, so that the driving and walking supporting mechanism is prevented from deviating during operation, and the running stability of the walking mechanism is improved.

Drawings

FIG. 1 is a general structural view of a robot traveling mechanism of the present invention;

FIG. 2 is a side view of the robot running gear of the present invention;

FIG. 3 is a top view of the robot running gear of the present invention;

FIG. 4 is an assembly view of the drive components of the robotic crawler of the present invention;

fig. 5 is an assembly view of the driven part of the robot running mechanism of the present invention.

In the figure: 1. a drive wheel; 2. driving to walk and support; 3. a traveling shaft; 4. a traveling wheel; 5. a drive motor fixing block; 6. driving the clamping block; 7. a drive base; 8. a suspension rod; 9. a lifting ring screw; 10. a brushless gear motor; 11. a drive extension spring; 12. a driven wheel is used for walking and supporting; 13. a driven wheel; 14. a driven wheel support; 15. a driven base; 16. a middle connecting shaft; 17. a driven axle; 18. a profile rail; 19. a driven extension spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, the present invention provides a technical solution: a walking mechanism of a feeding inspection robot comprises a driving wheel 1, a driving walking support 2, a walking shaft 3, a walking wheel 4, a driving motor fixing block 5, a driving clamping block 6, a driving base 7, a suspension rod 8, a lifting ring screw 9, a brushless speed reduction motor 10, a driving extension spring 11, a driven wheel walking support 12, a driven wheel 13, a driven wheel support 14, a driven base 15, an intermediate connecting shaft 16, a driven wheel shaft 17, a profile rail 18 and a driven extension spring 19, wherein the driving walking support 2 is connected onto the driving wheel 1, the walking shaft 3 is arranged on the driving walking support 2, the walking wheel 4 is arranged on the walking shaft 3, the driving motor fixing block 5 is connected onto the driving walking support 2, the driving clamping block 6 is connected onto the driving motor fixing block 5, the driving clamping block 6 is arranged on the driving base 7, the suspension rod 8 is arranged on the driving base 7, install rings screw 9 on the tight piece 6 of drive clamp, be connected with brushless gear motor 10 on the drive wheel 1, install drive extension spring 11 on rings screw 9, the side of drive walking support 2 is provided with from driving wheel walking support 12, install from driving wheel 13 on the driving wheel walking support 12, install from driving wheel support 14 on the driving wheel 13, install on driven base 15 from driving wheel walking support 12, install intermediate junction axle 16 on driven base 15, install driven wheel shaft 17 on the driven wheel 13, the below of drive wheel 1 is provided with section bar track 18, install driven extension spring 19 on the drive base 7.

Two driving walking supports 2 are distributed on the left and right of the driving base 7, the two driving walking supports 2 are symmetrically distributed about the central line of the driving base 7, the height of the driving walking supports 2 is equal to that of the driven wheel walking supports 12, and the driving walking supports 2 are used for supporting the running of the driven wheels 13.

Four walking wheels 4 are distributed on the driving walking support 2 and the driven wheel walking support 12, the four walking wheels 4 are located at the same height, and the walking wheels 4 are located above the section bar track 18 and are convenient to move on the section bar track 18 through the walking wheels 4.

Hang pole 8 and distribute on drive base 7 and have four, and hang pole 8 and be located drive base 7's bottom surface to drive base 7's top surface and driven base 15's top surface are located same height, conveniently hang the subassembly through hanging pole 8.

Two lifting eye screws 9 are distributed on the driving clamping block 6, the lifting eye screws 9 are in threaded connection with the driving clamping block 6, the height of the lifting eye screws 9 on the driving clamping block 6 is equal to half of the height of the driving clamping block 6, and the stretching state of the driving stretching spring 11 can be conveniently adjusted through the rotation of the lifting eye screws 9.

Driven base 15 is revolution mechanic through intermediate junction axle 16 on drive base 7, and intermediate junction axle 16 is located the middle part about driven base 15 to intermediate junction axle 16 connects the middle part about drive base 7, conveniently adjusts the walking direction through driven base 15's rotation.

The working principle is as follows: when the walking mechanism of the feeding inspection robot is used, the device is firstly installed on the robot, as shown in a driving wheel set component in fig. 4, a driving wheel 1 and a brushless speed reducing motor 10 are directly connected and fixed on a driving motor fixing block 5, the driving motor fixing block 5 and a driving clamping block 6 are fixed together, two driving extension springs 11 are arranged between the two driving clamping blocks 6, the driving wheels 1 on two sides are drawn to the middle through the driving extension springs 11, so that the driving wheel 1 can tightly hold a section rail 18, the two driving clamping blocks 6 can tighten bolts through waist slotted holes in a driving base 7 after the driving wheel 1 tightly holds the rail, and the driving wheel 1 can firmly tightly hold the section rail 18.

As shown in fig. 5, the driven wheels 13 on both sides are fixed between the driven wheel walking support 12 and the driven wheel support 14, and both ends are ball bearings; driven wheel walking support 12 is fixed with driven base 15, and driven wheel walking support 12 can be a small distance of translation about the slotted hole of driven base 15 to driven wheel 13 can hug closely section bar track 18.

As shown in fig. 1, the driving wheel set component and the driven wheel set component are fixed by a bearing in a base thereof and an intermediate connecting shaft 16, so that the driven wheel set can swing within a certain angle, and the robot can rotate and walk within a certain radius range. In addition, two light-load driven extension springs 19 are arranged between the driven wheel set and the driving base 7, so that the driven wheel set can be immediately restored to a vertical state when the robot enters a straight road after turning. Under the driving base 7 of the driving wheel set component, 4 suspension rods 8 are installed, and these suspension rods 8 can suspend a certain weight of electric control box, power supply, camera head, etc., and the content not described in detail in this specification is the prior art well known to those skilled in the art.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the utility model can be made, and equivalents and modifications of some features of the utility model can be made without departing from the spirit and scope of the utility model.

Claims

1. The utility model provides a raise running gear who patrols and examines robot, includes drive wheel (1), drive walking support (2), walking axle (3), intermediate junction axle (16), trailing axle (17), section bar track (18) and driven extension spring (19), its characterized in that: the driving device is characterized in that a driving walking support (2) is connected to the driving wheel (1), a walking shaft (3) is installed on the driving walking support (2), a walking wheel (4) is installed on the walking shaft (3), a driving motor fixing block (5) is connected to the driving walking support (2), a driving clamping block (6) is connected to the driving motor fixing block (5), the driving clamping block (6) is installed on a driving base (7), a suspension rod (8) is installed on the driving base (7), a lifting screw (9) is installed on the driving clamping block (6), a brushless speed reduction motor (10) is connected to the driving wheel (1), a driving tension spring (11) is installed on the lifting screw (9), a driven wheel walking support (12) is arranged on the side surface of the driving walking support (2), and a driven wheel (13) is installed on the driven wheel walking support (12), the driven wheel is characterized in that a driven wheel support (14) is mounted on the driven wheel (13), a driven wheel walking support (12) is mounted on a driven base (15), an intermediate connecting shaft (16) is mounted on the driven base (15), a driven wheel shaft (17) is mounted on the driven wheel (13), a section rail (18) is arranged below the driving wheel (1), and a driven extension spring (19) is mounted on the driving base (7).

2. The travel mechanism of the feeding inspection robot according to claim 1, wherein: two driving walking supports (2) are distributed on the left side and the right side of the driving base (7), the two driving walking supports (2) are symmetrically distributed about the central line of the driving base (7), and the height of the driving walking supports (2) is equal to that of the driven wheel walking supports (12).

3. The travel mechanism of the feeding inspection robot according to claim 1, wherein: the four walking wheels (4) are distributed on the driving walking support (2) and the driven wheel walking support (12), the four walking wheels (4) are located at the same height, and the walking wheels (4) are located above the section rail (18).

4. The travel mechanism of the feeding inspection robot according to claim 1, wherein: four suspension rods (8) are distributed on the driving base (7), the suspension rods (8) are located on the bottom surface of the driving base (7), and the top surface of the driving base (7) and the top surface of the driven base (15) are located at the same height.

5. The travel mechanism of the feeding inspection robot according to claim 1, wherein: the lifting ring screws (9) are distributed on the driving clamping block (6) in two numbers, the lifting ring screws (9) are in threaded connection with the driving clamping block (6), and the height of the lifting ring screws (9) on the driving clamping block (6) is equal to half of the height of the driving clamping block (6).

6. The travel mechanism of the feeding inspection robot according to claim 1, wherein: driven base (15) are rotating structure on drive base (7) through intermediate junction axle (16), and intermediate junction axle (16) are located driven base (15) middle part about to intermediate junction axle (16) are connected at drive base (7) middle part about.