CN217146193U

CN217146193U - Robot walking mechanism

Info

Publication number: CN217146193U
Application number: CN202220759922.0U
Authority: CN
Inventors: 侯龙; 冯晓静; 张昊; 丁国明; 王栋; 高淑婷; 王玉爽; 李平; 樊云阁
Original assignee: Henan Vocational College of Agriculture
Current assignee: Henan Vocational College of Agriculture
Priority date: 2022-04-01
Filing date: 2022-04-01
Publication date: 2022-08-09
Anticipated expiration: 2032-04-01

Abstract

The utility model discloses a robot walking mechanism, which comprises a walking bottom plate for mounting a robot, wherein a plurality of groups of walking rollers which are convenient to move are arranged at the bottom end of the walking bottom plate; one side of walking bottom plate is fixed with fixed box, the bottom of fixed box is equipped with the spout, the inside sliding connection of spout has the slider, the below of slider is connected with the movable block through elevating assembly, the bottom of movable block is equipped with the cleaning brush, be equipped with the removal subassembly that is used for driving the slider removal in the spout, one side that fixed box was kept away from to the walking bottom plate is equipped with the subassembly that prevents empting that is used for playing the hypsokinesis effect, the utility model discloses can realize cleaning ground, avoid the more normal work that influences the walking gyro wheel of subaerial impurity, through being equipped with elevating assembly, can utilize the spring to make the cleaning brush can contact with ground, avoid the ground unevenness to lead to the unable condition emergence with lower ground contact of cleaning brush, it is comparatively convenient to use.

Description

Robot walking mechanism

Technical Field

The utility model relates to a robot walking technical field specifically is a robot running gear.

Background

A Robot (Robot) is an intelligent machine capable of working semi-autonomously or fully autonomously, and a walking mechanism is an important component of the Robot and directly affects the stability, flexibility and operability of the Robot movement.

The current patent publication number is CN 209064224U's chinese utility model patent discloses a robot running gear, through setting up the sensor, utilizes sensor response surrounding environment, realizes that intelligence turns to, keeps away the barrier walking.

Above-mentioned running gear is when using, though can realize keeping away the barrier walking, can't realize the clearance to subaerial impurity, when subaerial having a large amount of stones, can influence robot running gear's normal work, to this problem, provides a robot running gear now.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a running gear of robot to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a robot walking mechanism comprises a walking bottom plate for mounting a robot, wherein a plurality of groups of walking rollers convenient to move are arranged at the bottom end of the walking bottom plate;

the anti-tipping device comprises a walking bottom plate, and is characterized in that a fixed box is fixed on one side of the walking bottom plate, a sliding chute is arranged at the bottom end of the fixed box, a sliding block is connected to the inside of the sliding chute in a sliding manner, a moving block is connected to the lower portion of the sliding block through a lifting assembly, a cleaning brush for cleaning impurities on the ground is arranged at the bottom end of the moving block, a moving assembly for driving the sliding block to move is arranged in the sliding chute, and an anti-tipping assembly for preventing tipping is arranged on one side, away from the fixed box, of the walking bottom plate.

As a further aspect of the present invention: the lifting assembly comprises a first telescopic rod fixed at the bottom end of the sliding block, the bottom end of the first telescopic rod is fixedly connected with the moving block, a spring is sleeved on the surface of the first telescopic rod, and two ends of the spring are fixedly connected with the sliding block and the moving block respectively.

As a further aspect of the present invention: the movable assembly comprises a threaded rod matched with the sliding block, the threaded rod is located inside the sliding groove, the two ends of the threaded rod are rotatably connected with the inner wall of the sliding groove, the threaded rod penetrates through the sliding block, and a motor used for driving the threaded rod to rotate is fixed to one end of the fixing box.

As a further aspect of the present invention: prevent empting the subassembly and keep away from two sets of back faggings of fixed box one side including being fixed in the walking bottom plate, the bottom mounting of back fagging has the fixed block, the bottom of fixed block is equipped with the mounting groove, the inside of mounting groove is rotated and is connected with and removes the wheel with mounting groove matched with.

As a further aspect of the present invention: one side of the fixed box, which is close to the walking bottom plate, is fixed with two groups of connecting rods, and the other ends of the connecting rods are fixedly connected with the walking bottom plate.

As a further aspect of the present invention: the two side walls of the fixed box are respectively provided with a guide groove, a guide block matched with the guide grooves is connected inside the guide grooves in a sliding mode, a second telescopic rod is fixed to the bottom end of the guide block, and the other end of the second telescopic rod is fixedly connected with the moving block.

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

the utility model discloses a be equipped with the cleaning brush, can drive the removal piece through the removal subassembly and remove to drive the cleaning brush and remove, realize cleaning to ground, avoid the more normal work that influences the walking gyro wheel of subaerial impurity, through being equipped with lifting unit, can utilize the spring to make the cleaning brush can contact with ground, avoid the ground unevenness to lead to the condition emergence of the unable and lower ground contact of cleaning brush, it is comparatively convenient to use.

The utility model discloses a be equipped with and prevent empting the subassembly, can effectual increase area of contact between this mechanism and the ground, the condition of avoiding this mechanism to take place the back rake easily when going uphill takes place.

Drawings

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

Fig. 2 is a schematic structural view of the middle walking roller of the present invention.

Fig. 3 is an enlarged schematic structural view of a portion a in fig. 2 according to the present invention.

Wherein: 11. a walking bottom plate; 12. a walking roller; 13. a rear supporting plate; 14. a fixed block; 15. a moving wheel; 16. a fixing box; 17. a chute; 18. a slider; 19. a threaded rod; 20. a first telescopic rod; 21. a spring; 22. a moving block; 23. cleaning a brush; 24. a second telescopic rod; 25. a guide groove; 26. a guide block; 27. a motor; 28. a connecting rod.

Detailed Description

Example 1

Referring to fig. 1-3, in an embodiment of the present invention, a robot traveling mechanism includes a traveling base plate 11 for mounting a robot, a plurality of groups of traveling rollers 12 are disposed at a bottom end of the traveling base plate 11, and the traveling rollers 12 are driven by a driving motor, and a manner of driving the traveling rollers 12 by the driving motor is the prior art and is not specifically described herein;

the cleaning device comprises a walking bottom plate 11 and is characterized in that a fixed box 16 is fixed on one side of the walking bottom plate 11, specifically, the fixed box 16 is installed on one side of the walking bottom plate 11, a sliding groove 17 is formed in the bottom end of the fixed box 16, a sliding block 18 is slidably connected to the inside of the sliding groove 17, a moving block 22 is connected to the lower portion of the sliding block 18 through a lifting assembly, a cleaning brush 23 used for cleaning impurities on the ground is arranged at the bottom end of the moving block 22, a moving assembly used for driving the sliding block 18 to move is arranged in the sliding groove 17, the sliding block 18 can be driven to move through the moving assembly, the moving block 22 is driven to move by the sliding block 18, so that the cleaning brush 23 can be driven by the moving block 22 to move, the ground is cleaned, and an anti-tilting assembly used for preventing backward tilting is arranged on one side, away from the fixed box 16, of the walking bottom plate 11.

The lifting assembly comprises a first telescopic rod 20 fixed at the bottom end of a sliding block 18, the bottom end of the first telescopic rod 20 is fixedly connected with a moving block 22, a spring 21 is sleeved on the surface of the first telescopic rod 20, two ends of the spring 21 are respectively fixedly connected with the sliding block 18 and the moving block 22, and it is noted that when the cleaning brush 23 cleans horizontal ground, the spring 21 is in a compressed state but not completely compressed, and when the cleaning brush 23 cleans lower ground, the moving block 22 can be driven to move downwards under the action of the spring 21, so that the cleaning brush 23 is driven to move, the cleaning brush 23 can always contact with the ground, and the situation that the cleaning brush 23 cannot contact with the lower ground due to uneven ground is avoided.

The movable assembly comprises a threaded rod 19 matched with the sliding block 18, the threaded rod 19 is located inside the sliding groove 17, two ends of the threaded rod 19 are connected with the inner wall of the sliding groove 17 in a rotating mode, the threaded rod 19 penetrates through the sliding block 18, one end of the fixing box 16 is fixed with a motor 27 used for driving the threaded rod 19 to rotate, during use, the motor 27 drives the threaded rod 19 to rotate through the starting motor 27, and the threaded rod 19 drives the sliding block 18 to move inside the sliding groove 17.

Prevent empting the subassembly including being fixed in two sets of back faggings 13 that walking bottom plate 11 kept away from fixed box 16 one side, the bottom mounting of back fagging 13 has fixed block 14, the bottom of fixed block 14 is equipped with the mounting groove, the inside of mounting groove is rotated and is connected with and removes wheel 15 with mounting groove matched with, through removing the area of contact that wheel 15 can effectual increase between this mechanism and the ground, avoids this mechanism to take place the condition of heeling easily when going up a slope.

One side of the fixed box 16 close to the walking bottom plate 11 is fixed with two sets of connecting rods 28, the other end of each connecting rod 28 is fixedly connected with the walking bottom plate 11, and the two sets of connecting rods 28 are symmetrically arranged, so that the walking bottom plate 11 and the fixed box 16 can be fixedly connected through the connecting rods 28.

Example 2

Referring to fig. 1 to fig. 3, the difference from embodiment 1 is: both sides wall of fixed box 16 all is equipped with guide way 25, the inside equal sliding connection of guide way 25 has guide block 26 with guide way 25 matched with, the bottom mounting of guide block 26 has second telescopic link 24, the other end of second telescopic link 24 with movable block 22 fixed connection, when movable block 22 is removing, can drive guide block 26 through second telescopic link 24 and remove in the inside of guide way 25 to stability when can increase movable block 22 and remove facilitates the use.

The utility model discloses a theory of operation is:

the utility model discloses when using, when walking gyro wheel 12 drives walking bottom plate 11 and removes, can drive the robot of walking bottom plate 11 top and remove, through starter motor 27, motor 27 drives threaded rod 19 and rotates, threaded rod 19 drives slider 18 and removes in spout 17's inside, thereby can drive movable block 22 and remove, movable block 22 drives clearance brush 23 and removes, realize cleaning to ground, avoid the more normal work that influences walking gyro wheel 12 of subaerial impurity, can drive movable block 22 and remove downwards under the effect of spring 21, thereby drive clearance brush 23 and remove, make clearance brush 23 can all the time with ground contact, avoid the ground unevenness to lead to the condition emergence of clearance brush 23 unable and lower ground contact.

Claims

1. A robot walking mechanism comprises a walking bottom plate (11) for mounting a robot, wherein a plurality of groups of walking rollers (12) which are convenient to move are arranged at the bottom end of the walking bottom plate (11);

the anti-tipping device is characterized in that a fixed box (16) is fixed on one side of the walking bottom plate (11), a sliding groove (17) is formed in the bottom end of the fixed box (16), a sliding block (18) is connected to the inside of the sliding groove (17) in a sliding mode, a moving block (22) is connected to the lower portion of the sliding block (18) through a lifting assembly, a cleaning brush (23) used for cleaning impurities on the ground is arranged at the bottom end of the moving block (22), a moving assembly used for driving the sliding block (18) to move is arranged in the sliding groove (17), and an anti-tipping assembly used for preventing tipping is arranged on one side, away from the fixed box (16), of the walking bottom plate (11).

2. The robot walking mechanism according to claim 1, wherein the lifting assembly comprises a first telescopic rod (20) fixed at the bottom end of a sliding block (18), the bottom end of the first telescopic rod (20) is fixedly connected with the moving block (22), a spring (21) is sleeved on the surface of the first telescopic rod (20), and two ends of the spring (21) are respectively fixedly connected with the sliding block (18) and the moving block (22).

3. The robot walking mechanism according to claim 1, wherein the moving assembly comprises a threaded rod (19) matched with the sliding block (18), the threaded rod (19) is located inside the sliding groove (17), two ends of the threaded rod (19) are rotatably connected with the inner wall of the sliding groove (17), the threaded rod (19) penetrates through the sliding block (18), and a motor (27) for driving the threaded rod (19) to rotate is fixed at one end of the fixing box (16).

4. The robot walking mechanism according to claim 1, wherein the anti-toppling assembly comprises two sets of rear supporting plates (13) fixed on one side of the walking bottom plate (11) far away from the fixing box (16), a fixing block (14) is fixed at the bottom end of each rear supporting plate (13), an installation groove is formed in the bottom end of each fixing block (14), and a moving wheel (15) matched with the installation groove is rotatably connected to the inside of the installation groove.

5. The robot walking mechanism according to claim 1, wherein two sets of connecting rods (28) are fixed on one side of the fixing box (16) close to the walking bottom plate (11), and the other ends of the connecting rods (28) are fixedly connected with the walking bottom plate (11).

6. The robot walking mechanism according to claim 1, wherein two side walls of the fixed box (16) are provided with guide grooves (25), guide blocks (26) matched with the guide grooves (25) are slidably connected inside the guide grooves (25), a second telescopic rod (24) is fixed at the bottom end of each guide block (26), and the other end of each second telescopic rod (24) is fixedly connected with the moving block (22).