CN216242969U - Traveling mechanism for cleaning robot - Google Patents
Traveling mechanism for cleaning robot Download PDFInfo
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- CN216242969U CN216242969U CN202122831551.0U CN202122831551U CN216242969U CN 216242969 U CN216242969 U CN 216242969U CN 202122831551 U CN202122831551 U CN 202122831551U CN 216242969 U CN216242969 U CN 216242969U
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- cleaning robot
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- 230000007246 mechanism Effects 0.000 title claims abstract description 28
- 238000004140 cleaning Methods 0.000 title claims abstract description 27
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims 5
- 238000007906 compression Methods 0.000 claims 5
- 238000005406 washing Methods 0.000 claims 2
- 239000000853 adhesive Substances 0.000 description 5
- 230000001070 adhesive effect Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 230000002572 peristaltic effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 241001233061 earthworms Species 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of robots, in particular to a travelling mechanism for a cleaning robot, which comprises a bottom shell, wherein a first motor in the left-right direction is arranged in the bottom shell, the output end of the first motor is coaxially and fixedly connected with a screw rod, the right end of the bottom shell is hinged with a plurality of left connecting rods which are uniformly distributed along the circumferential direction of the screw rod, the right end of each left connecting rod is hinged with a right connecting rod, each right connecting rod is fixed with a first fixing frame, a travelling wheel is rotatably arranged on each first fixing frame, the right end of the screw rod penetrates through the bottom shell and is in threaded connection with a fixing plate, the right end of the fixing plate is rotatably connected with a rotating shell, the other end of each sliding rod is provided with a spiral travelling mechanism which can spirally roll along the inner wall of a pipeline, the travelling mechanism is convenient for the pipeline cleaning robot to stably attach to the inner wall of the pipeline and move, and can be suitable for pipelines with various apertures when the pipeline cleaning robot moves, has wide application prospect in the technical field of robots.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a walking mechanism for a cleaning robot.
Background
The pipeline transportation is a transportation mode for long-distance transportation of liquid and gas materials by using pipelines as transportation tools, and is a special component part for trunk line transportation in a unified transportation network, the pipeline transportation is large in transportation amount, continuous, rapid, economic, safe, reliable, stable, low in investment, small in occupied area and low in cost, and automatic control can be realized.
The existing pipeline cleaning robot mainly has the following structures according to the moving mode: (1) the wheel type structure is characterized in that a basic principle of walking of the mobile robot in the wheel type pipe is that a driving wheel is pressed on the inner wall of a pipeline by spring force, hydraulic pressure, pneumatic force, magnetic force and the like to support a robot body and generate certain positive pressure, and the driving force for walking the robot back and forth is generated by the adhesive force between the driving wheel and the pipe wall so as to realize the movement of the robot; (2) the crawler-type structure is characterized in that wheels in the wheel-type structure are replaced by tracks; (3) the peristaltic pipeline robot is realized by referring to the motion of organisms such as earthworms, caterpillars and the like based on the bionics principle, and peristaltic driving has the advantage of being suitable for the change of pipe diameters and curvatures.
The ubiquitous problem of present pipeline cleaning robot's running gear is that the adhesive force to the pipeline inner wall is little, lead to the translation rate unstable, when wasing the pipeline, often appear wasing thoroughly, the cleaning efficiency is low, present pipeline cleaning robot can not adapt to the pipeline in multiple different apertures simultaneously, it is very inconvenient to use, need a running gear who is used for cleaning robot for this reason urgently, the adhesive force is low when solving present pipeline cleaning robot and leads to moving unstably and can not be applicable to the problem of multiple aperture pipeline when removing.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a walking mechanism for a cleaning robot, which aims to solve the problems that the walking mechanism for the existing pipeline cleaning robot generally has the defects that the moving speed is unstable due to small adhesive force on the inner wall of a pipeline, the pipeline is often not thoroughly cleaned when being cleaned, the cleaning efficiency is low, and meanwhile, the existing pipeline cleaning robot cannot adapt to pipelines with different apertures and is very inconvenient to use.
The utility model adopts the technical scheme that the device comprises a bottom shell, wherein a first motor in the left-right direction is arranged in the bottom shell, the output end of the first motor is coaxially and fixedly connected with a screw rod, the right end of the bottom shell is hinged and connected with a plurality of left connecting rods which are uniformly distributed along the circumferential direction of the screw rod, the right end of each left connecting rod is hinged and connected with a right connecting rod, each right connecting rod is fixedly connected with a first fixing frame, each first fixing frame is rotatably connected with a travelling wheel, each first fixing frame is provided with a driving motor which can drive the travelling wheel to rotate, the right end of the screw rod penetrates through the bottom shell and is in threaded connection with a fixing plate, the right end of each right connecting rod is hinged and connected with the fixing plate, the right end of the fixing plate is rotatably connected with a rotating shell, the periphery of the rotating shell is provided with a plurality of through grooves which are uniformly distributed along the circumferential direction of the rotating shell, the right end of the screw rod is rotatably connected with a sliding block which can slide left and right in the through grooves, rotate the shell sliding connection have a plurality ofly with lead to the slide bar of groove one-to-one, every the slide bar all stretches out rather than the logical groove that corresponds and can slide from top to bottom leading to the inslot, every the other end of slide bar all is equipped with can follow pipeline inner wall spiral rolling spiral running gear, the right-hand member sliding connection of slide block has the second motor of direction about, the second motor with rotate shell fixed connection.
Preferably, spiral running gear includes fixed block, second mount, walking wheel, first pressure spring, every the slide bar is kept away from the equal fixedly connected with fixed block of one end of rotation shell, every the equal sliding connection of the other end of fixed block has the second mount, every all rotate on the second mount and be connected with the walking wheel, every the first pressure spring of the equal fixedly connected with in upper end of fixed block, every the upper end of first pressure spring all with second mount fixed connection, every the walking wheel is the incline direction setting.
Preferably, the sliding block is internally provided with a sliding groove with a right opening, the sliding block is internally and fixedly connected with a left and right axial second pressure spring which is positioned in the sliding groove, the right end of the second pressure spring is fixedly connected with a sliding rod, the right end of the sliding rod is fixedly connected with a second motor, and the sliding rod is inserted into the sliding groove and can slide left and right along the sliding groove.
Preferably, each side of the sliding block is a wedge-shaped inclined surface, and the lower end of each sliding rod is in contact with the wedge-shaped inclined surface of the corresponding side of the sliding rod.
Preferably, each wheel surface of each travelling wheel is provided with an anti-skid bulge.
Preferably, each fixing frame is positioned at the hinge joint of the left connecting rod and the right connecting rod.
The technical scheme of the utility model can achieve the following beneficial effects: (1) the left connecting rod, the right connecting rod, the screw and the fixing plate are arranged, the fixing plate is driven to move back and forth through the rotation of the screw, and the left connecting rod and the right connecting rod are driven to swing, so that the device can make adaptive change according to the diameter of a pipeline, the left walking wheel is favorably in close contact with the inner wall of the pipeline, and the stability during walking is improved; (2) the sliding block, the through groove and the spiral travelling mechanism are arranged, the sliding rod is driven to move towards the direction far away from the screw rod through the movement of the sliding block, the spiral travelling mechanism is driven to contact the inner wall of the pipeline, the right travelling wheel is in close contact with the inner wall of the pipeline, and meanwhile, the travelling wheel arranged on the spiral travelling mechanism is arranged in an inclined mode, so that the spiral travelling mechanism can roll spirally along the inner wall of the pipeline, and the stability of the pipeline cleaning robot in the movement of the pipeline cleaning robot in the pipeline is further improved; (3) the driving motor is arranged, the second motor and the rotating shell are arranged, the left travelling wheel is driven by the driving motor to move along the axial direction of the pipeline, the right travelling wheel is driven by the second motor to spirally roll along the inner wall of the pipeline, and meanwhile, the adhesion force to the inner wall of the pipeline is increased by utilizing two travelling modes with different friction force directions, so that the pipeline cleaning operation is convenient to realize, and the stability of the device during moving is facilitated; (3) the sliding rod and the second pressure spring are arranged, so that the second motor can drive the sliding rod to rotate, the rotating shell is driven to rotate, and the spiral travelling mechanism can move along the inner wall of the pipeline conveniently; the technical scheme of the utility model has wide application prospect in the technical field of robots.
Drawings
Fig. 1 is an isometric view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a right side view of the present invention.
Fig. 4 is a bottom full section isometric view of the present invention.
The device comprises a base shell 1, a bottom shell 2, a first motor 3, a screw rod 4, a left connecting rod 5, a right connecting rod 6, a first fixing frame 7, a walking wheel 8, a driving motor 9, a fixing plate 10, a rotating shell 11, a sliding block 12, a sliding rod 13, a second motor 14, a fixing block 15, a second fixing frame 16, a first pressure spring 17, a second pressure spring 18 and a sliding rod.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to 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 any creative effort belong to the protection scope of the present invention, and in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance in the description of the present invention, it being noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1-4, a traveling mechanism for a cleaning robot includes a bottom case 1, a first motor 2 fixedly connected to the bottom case 1 in a left-right direction, a screw 3 coaxially and fixedly connected to an output end of the first motor 2, specifically, a peripheral side of the first motor 2 is fixedly connected to the inside of the bottom case 1 via a fixing rod, an output shaft of the first motor 2 is fixedly connected to the screw 3, a right end of the screw 3 penetrates through the bottom case 1 and is provided with a thread, a plurality of left connecting rods 4 circumferentially and uniformly distributed along the screw 3 are hinged to a right end of the bottom case 1, a right connecting rod 5 is hinged to a right end of each left connecting rod 4, a first fixing frame 6 is fixedly connected to each right connecting rod 5, each fixing frame is located at a hinged position between the left connecting rod 4 and the right connecting rod 5, specifically, a traveling wheel 7 is rotatably connected to each first fixing frame 6, a driving motor 8 capable of driving the traveling wheel 7 to rotate is arranged on each first fixing frame 6, the walking wheels 7 on the first fixing frame 6 are driven to rotate through the driving motor 8, the right end of the screw rod 3 is in threaded connection with the fixing plate 9, the right end of each right connecting rod 5 is hinged to the fixing plate 9, the fixing plate 9 is driven to move rightwards through the screw rod 3, and then the left connecting rod 4 and the right connecting rod 5 are driven to stretch.
As shown in fig. 1-4, a traveling mechanism for a cleaning robot, a rotating shell 10 is rotatably connected to the right end of a fixed plate 9, a plurality of through grooves are uniformly distributed along the circumference of the rotating shell 10 and are arranged in the left-right direction, a sliding block 11 capable of sliding in the through groove is rotatably connected to the right end of a screw rod 3, a plurality of sliding rods 12 corresponding to the through grooves one by one are slidably connected in the rotating shell 10, each sliding rod 12 extends out of the corresponding through groove and can slide up and down in the through groove, a spiral traveling mechanism capable of spirally rolling along the inner wall of a pipeline is arranged at the other end of each sliding rod 12, a second motor 13 in the left-right direction is slidably connected to the right end of the sliding block 11, the second motor 13 is fixedly connected with the rotating shell 10, the spiral traveling mechanism comprises a fixed block 14, a second fixed frame 15, a traveling wheel 7 and a first pressure spring 16, a fixed block 14 is fixedly connected to one end of each sliding rod 12 far away from the rotating shell 10, the other end of each fixed block 14 is connected with a second fixed frame 15 in a sliding way, each second fixed frame 15 is connected with a walking wheel 7 in a rotating way, the upper end of each fixed block 14 is fixedly connected with a first pressure spring 16, the upper end of each first pressure spring 16 is fixedly connected with the second fixed frame 15, each walking wheel 7 is arranged in an inclined direction and is provided with a sliding block 11, a through groove and a spiral walking mechanism, the sliding block 11 moves to drive the sliding rod 12 to move in a direction far away from the screw rod 3, thereby driving the spiral travelling mechanism to contact the inner wall of the pipeline, further realizing the close contact of the travelling wheel 7 at the right side to the inner wall of the pipeline, simultaneously, the walking wheels 7 arranged on the spiral walking mechanism are obliquely arranged, so that the spiral rolling along the inner wall of the pipeline is facilitated, and the stability of the pipeline cleaning robot in the pipeline moving process is further improved.
A running gear for cleaning robot as shown in fig. 1-4, a sliding groove with a right opening is formed in the sliding block 11, a second pressure spring 17 which is axially located in the sliding groove is fixedly connected to the left and right of the sliding block 11, a sliding rod 18 is fixedly connected to the right end of the second pressure spring 17, the right end of the sliding rod 18 is fixedly connected to the second motor 13, the sliding rod 18 is inserted into the sliding groove and can slide left and right along the sliding groove, the second motor 13 rotates to drive the sliding rod 18 to rotate, further, the electric sliding block 11 rotates, the sliding block 11 drives the sliding shell to rotate, each side surface of the sliding block 11 is a wedge-shaped inclined surface, the lower end of each sliding rod 12 is connected to the wedge-shaped inclined surface in a sliding manner, an anti-skid protrusion is formed on the wheel surface of each walking wheel 7, and the adhesive force on the inner wall of a pipeline is increased.
The working principle of the device is as follows: when the device is used, firstly, the device is placed in a pipeline, the travelling wheels 7 are in contact with the inner wall of the pipeline, the first motor 2 is started, the first motor 2 drives the screw rod 3 to rotate, the screw rod 3 drives the fixing plate 9 to move, at the same time, the fixing plate 9 drives the right connecting rod 5 to swing, the first fixing frame 6 is moved through the swing between the left connecting rod 4 and the right connecting rod 5, the travelling wheels 7 on the first fixing frame 6 are driven to adhere to the inner walls of the pipelines with different apertures, simultaneously, under the action of the screw rod 3 and the rotating shell 10, the fixing plate 9 is moved to drive the rotating shell 10 to move, the rotating shell 10 drives the sliding rods 12 to move, the sliding rods 12 move along the wedge-shaped inclined planes of the sliding blocks 11, meanwhile, the sliding rods 12 drive the fixing blocks 14 to move, the fixing blocks 14 drive the second fixing frame 15 to be close to the inner wall of the pipeline, when the travelling wheels 7 on the second fixing frame 15 are in contact with the inner wall of the pipeline, along with the continuous movement of the fixed block 14, the fixed block 14 extrudes the first pressure spring 16, at the moment, the driving motor 8 and the second motor 13 are started, the driving motor 8 drives the travelling wheels 7 on the first fixing frame 6 to rotate, the second motor 13 drives the sliding rod 18 to rotate, the sliding rod 18 drives the sliding block 11 to rotate, the sliding block 11 drives the rotating shell 10 to rotate, the rotating shell 10 drives the sliding rod 12 to rotate, the sliding rod 12 drives the fixed block 14 to rotate, the fixed block 14 drives the second fixing frame 15 to rotate, the second fixing frame 15 drives the travelling wheels 7 at the upper end of the second fixing frame to rotate, and the travelling of the device in the pipeline can be realized at the moment.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. A traveling mechanism for a cleaning robot comprises a bottom shell (1) and is characterized in that a first motor (2) in the left-right direction is arranged in the bottom shell (1), a screw (3) is fixedly connected with the output end of the first motor (2) in a coaxial mode, a plurality of left connecting rods (4) are hinged to the right end of the bottom shell (1) and are circumferentially and uniformly distributed along the screw (3), a right connecting rod (5) is hinged to the right end of each left connecting rod (4), a first fixing frame (6) is fixedly connected to each right connecting rod (5), a traveling wheel (7) is rotatably connected to each first fixing frame (6), a driving motor (8) capable of driving the traveling wheel (7) to rotate is arranged on each first fixing frame (6), the right end of the screw (3) penetrates through the bottom shell (1) and is in threaded connection with a fixing plate (9), every the right-hand member of right side connecting rod (5) all is connected with fixed plate (9) are articulated, the right-hand member of fixed plate (9) is rotated and is connected with rotation shell (10), it just controls the logical groove of direction to set up a plurality of its circumference equipartitions of edge to rotate shell (10) week side, screw rod (3) right-hand member is rotated and is connected with can be at logical inslot horizontal slip sliding block (11), it has a plurality ofly and leads to the slide bar (12) of groove one-to-one, every slide bar (12) all stretch out rather than the logical groove that corresponds and can lead to the inslot and slide from top to bottom, every the other end of slide bar (12) all is equipped with can follow the rolling sliding block spiral running mechanism of pipeline inner wall spiral, the right-hand member sliding connection of right-hand member (11) has second motor (13) of direction about, second motor (13) with rotate shell (10) fixed connection.
2. The traveling mechanism for the cleaning robot is characterized by comprising a fixed block (14), a second fixed frame (15), traveling wheels (7) and first compression springs (16) according to claim 1, wherein each spiral traveling mechanism comprises a sliding rod (12), the fixed block (14) is fixedly connected to one end, away from a rotating shell (10), of each sliding rod (12), the second fixed frame (15) is slidably connected to the other end of each fixed block (14), each traveling wheel (7) is rotatably connected to the second fixed frame (15), each first compression spring (16) is fixedly connected to the upper end of each fixed block (14), each upper end of each first compression spring (16) is fixedly connected with the second fixed frame (15), and each traveling wheel (7) is arranged in an inclined direction.
3. The traveling mechanism for the cleaning robot is characterized in that a sliding groove with a rightward opening is formed in the sliding block (11), a second compression spring (17) which is in the left-right axial direction and is located in the sliding groove is fixedly connected in the sliding block (11), a sliding rod (18) is fixedly connected to the right end of the second compression spring (17), the right end of the sliding rod (18) is fixedly connected with the second motor (13), and the sliding rod (18) is inserted into the sliding groove and can slide left and right along the sliding groove.
4. A travelling mechanism for a washing robot according to claim 1, characterized in that each side of the sliding block (11) is a wedge-shaped slope, and the lower end of each sliding bar (12) is in contact with the wedge-shaped slope of its corresponding side.
5. The traveling mechanism for the cleaning robot as claimed in claim 1, wherein each traveling wheel (7) is provided with an anti-skid projection on the wheel surface.
6. A walking mechanism for a washing robot according to claim 1, characterized in that each of said mounts is located at the articulation of the left link (4) and the right link (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122831551.0U CN216242969U (en) | 2021-11-18 | 2021-11-18 | Traveling mechanism for cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122831551.0U CN216242969U (en) | 2021-11-18 | 2021-11-18 | Traveling mechanism for cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216242969U true CN216242969U (en) | 2022-04-08 |
Family
ID=80944557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122831551.0U Expired - Fee Related CN216242969U (en) | 2021-11-18 | 2021-11-18 | Traveling mechanism for cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216242969U (en) |
-
2021
- 2021-11-18 CN CN202122831551.0U patent/CN216242969U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220408 |