CN219257549U

CN219257549U - Robot walking mechanism

Info

Publication number: CN219257549U
Application number: CN202320196662.5U
Authority: CN
Inventors: 赵芒; 张旭; 王如如; 赵民安; 周伟康; 李舜; 李馥璨; 杨晟; 李永丽
Original assignee: Shandong Century Longhao Information Technology Co ltd
Current assignee: Shandong Century Longhao Information Technology Co ltd
Priority date: 2023-02-13
Filing date: 2023-02-13
Publication date: 2023-06-27
Anticipated expiration: 2033-02-13

Abstract

The utility model discloses a robot walking mechanism, which comprises a walking mechanism main body, wherein the walking mechanism main body comprises a base and driving wheels, the driving wheels are arranged on two sides of one end of the base, and the walking mechanism main body is also provided with: the reinforcing support mechanism comprises a mounting assembly and a reinforcing support assembly; through the design strengthening support mechanism, when running gear main part uses, when running gear main part walking is in the unstable ground in pipeline maintenance position, when the action wheel drive drives the track operation this moment, when track and action wheel constantly move the walking, will roll the back-up wheel through the connecting axle and rotate and with the back-up wheel contact in the inside both sides strengthening support of track this moment, and make from the driving wheel and the action wheel be convenient for strengthen the support to both sides when driving the track walking, the running gear main part walking is convenient for strengthen the support when the unstable ground.

Description

Robot walking mechanism

Technical Field

The utility model belongs to the technical field of travelling mechanisms, and particularly relates to a robot travelling mechanism.

Background

The robot is an automatic machine, the robot is used for walking at a pipeline maintenance place, the robot needs to be moved when in use, the robot normally walks through a walking mechanism when in use, the existing walking mechanism is contacted with the ground through a crawler belt and driven by a driving motor to drive a driving wheel and a driven wheel to rotate, the driving wheel and the driven wheel drive the crawler belt to move for walking, and the stability of the robot during walking is enhanced through the walking mechanism;

when the existing running mechanism is installed on the lower surface of the robot to drive the robot to run at a pipeline maintenance position for use, the driving wheel is driven by the driving motor to rotate with the crawler belt to run, and the running mechanism is driven by the driving wheel and the driven wheel, when the running mechanism runs on uneven ground, the crawler belt is wider, the driving wheel and the driving wheel are narrower, so that the running mechanism is inconvenient to strengthen the support on two sides inside the crawler belt when running, the running mechanism is easy to damage the crawler belt when running, the running mechanism is influenced, the running mechanism is installed to run at the pipeline maintenance position for maintenance use, and the using effect of the running mechanism is reduced.

Disclosure of Invention

The utility model aims to provide a robot travelling mechanism, which solves the problems that when the travelling mechanism is lifted to travel on uneven ground in the prior art, a crawler belt is wider, a driving wheel and the driving wheel are narrower, so that the travelling mechanism is inconvenient to strengthen the support on two sides of the inside of the crawler belt when traveling, the travelling mechanism is easy to damage the crawler belt when traveling, and the using effect of the travelling mechanism is reduced.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a robot running gear, includes the running gear main part, the running gear main part includes base and action wheel, the action wheel sets up the one end both sides at the base, still be provided with in the running gear main part:

the reinforcing support mechanism comprises a mounting assembly and a reinforcing support assembly, and the reinforcing support mechanism is arranged at the edges of two sides of the driving wheel;

the cleaning mechanism comprises a driving assembly and a mud scraping assembly, and the cleaning mechanism is arranged on the lower surface of the base.

Preferably, the upper surface of base passes through bolt fixed mounting has the casing, the both sides other end of base is all installed three from the driving wheel, the side of base passes through the action wheel with from the driving wheel and install the track, the tip both sides of base pass through bolt fixed mounting has driving motor B, just driving motor B with the tip of action wheel passes through bolt fixed connection.

Preferably, the mounting assembly comprises five connecting shafts mounted at two side edges of the driving wheel through bearings, and the ends of the connecting shafts are embedded into the driving wheel.

Preferably, the reinforcing support assembly comprises rolling support wheels fixedly mounted at the end parts of the connecting shafts through bolts, and the two rolling support wheels are symmetrically arranged through the driving wheels.

Preferably, the driving assembly comprises a chute arranged at the middle position inside the base, a screw rod is connected with an internal rotating wheel of the chute, and the driving assembly comprises a driving motor A arranged at the end part of the chute and positioned on the surface of the base.

Preferably, the mud scraping assembly comprises a movable sliding table arranged on the outer surface of the screw rod and mud scraping plates fixedly arranged at two ends of the movable sliding table through bolts.

Preferably, the scrapers are symmetrically arranged, and the surfaces of the scrapers are contacted with the lower surface of the base.

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

through designing strengthening support mechanism, when running gear main part uses, when running gear main part walking is in the unstable ground in pipeline maintenance position, at this moment when the action wheel drive drives the track operation, when track and action wheel constantly move the walking, rotate the rolling support wheel and strengthen the support with the rolling support wheel contact in the inside both sides of track through the connecting axle this moment, and be convenient for strengthen the support to both sides when making from driving wheel and action wheel drive track walking, the running gear main part walking is convenient for strengthen the support when the unstable ground, stable walking, be difficult for causing the track to damage, improve running gear main part installation robot and walk stability of use after.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is an enlarged schematic view of the portion A of FIG. 1 according to the present utility model;

FIG. 3 is a schematic side view of the driving wheel, connecting shaft and rolling support wheel of the present utility model;

FIG. 4 is a schematic view of the structure of the connecting shaft and the rolling support wheel of the present utility model;

FIG. 5 is a schematic side view of the present utility model;

FIG. 6 is a schematic view showing the bottom view of the base, the movable slipway and the scraper in the present utility model;

in the figure: 100. a running gear main body; 101. a housing; 102. a base; 1021. moving the sliding table; 1022. a mud scraping plate; 1023. a driving motor A; 1024. a screw rod; 1025. a chute; 103. driven wheel; 104. a driving wheel; 1041. a connecting shaft; 1042. a rolling support wheel; 105. a track; 106. and driving the motor B.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1 to 6, the present utility model provides a technical solution: the utility model provides a robot running gear, includes running gear main part 100, and running gear main part 100 includes base 102 and action wheel 104, and action wheel 104 sets up in the one end both sides of base 102, can walk the surface mounting robot of running gear main part 100 when running gear main part 100 uses and use, and the maintenance pipeline of being convenient for walk is used, still is provided with on the running gear main part 100:

the reinforced supporting mechanism comprises a mounting assembly and reinforced supporting assemblies, the reinforced supporting mechanism is arranged at the edges of the two sides of the driving wheel 104, and can be used for reinforcing the support of the two sides of the crawler 105 when the driving wheel 104 and the driven wheel 103 drive the crawler 105 to walk, and is convenient for stably supporting and walking, so that the stable supporting effect of the walking mechanism main body 100 during walking is improved;

the cleaning mechanism comprises a driving assembly and a mud scraping assembly, the cleaning mechanism is arranged on the lower surface of the base 102, when the robot is driven to walk through the travelling mechanism main body 100, the robot walks on uneven road surfaces to be stained with soil, the lower surface of the base 102 is cleaned by the cleaning mechanism, and the cleaning treatment convenience of the travelling mechanism main body 100 in use is improved.

In this embodiment, preferably, the upper surface of the base 102 is fixedly mounted with the casing 101 through bolts, the other ends of two sides of the base 102 are both mounted with three driven wheels 103, the side surface of the base 102 is mounted with the track 105 through the driving wheel 104 and the driven wheels 103, the two sides of the end of the base 102 are fixedly mounted with the driving motor B106 through bolts, the driving motor B106 is driven by the driving motor B106 to provide power operation, and the driving motor B106 is fixedly connected with the end of the driving wheel 104 through bolts, the robot is mounted in the casing 101, and when the travelling mechanism main body 100 moves to drive the robot to travel, the driving motor B106 is electrified to operate to drive the driving wheel 104 to rotate, and the driving wheel 104 is rotated to drive the track 105 to travel on the outer surface of the driving wheel 104 and the driven wheels 103.

In order to facilitate the installation and use of the rolling support wheel 1042 through the installation component and enable the rolling support wheel 1042 to be stably installed and used in a reverse support mode, in this embodiment, preferably, the installation component comprises five connecting shafts 1041 installed at two side edges of the driving wheel 104 through bearings, and the end portions of the connecting shafts 1041 are embedded into the driving wheel 104, so that the installation and the use are facilitated.

In order to facilitate the reinforcement of the side surface of the crawler 105 when the driving wheel 104 drives the crawler 105 through the reinforcement support assembly, and stably support the crawler 105 for walking, in this embodiment, preferably, the reinforcement support assembly comprises rolling support wheels 1042 fixedly installed at the end of the connecting shaft 1041 through bolts, and the two rolling support wheels 1042 are symmetrically arranged through the driving wheel 104, the rolling support wheels 1042 are installed through the connecting shaft 1041, and the support to two sides is reinforced when the driving wheel 104 drives the crawler 105 for walking.

In order to facilitate driving of the moving sliding table 1021 and the mud scraping plate 1022 to move and operate through the driving component, and cleaning is easy, in this embodiment, preferably, the driving component comprises a sliding groove 1025 formed in the middle position inside the base 102, a screw 1024 is connected to an internal rotating wheel of the sliding groove 1025, the screw 1024 is installed inside the sliding groove 1025, the screw 1024 is enabled to rotate in situ to be used for moving adjustment, a driving motor A1023 arranged at the end of the sliding groove 1025 and located on the surface of the base 102 is included, the driving motor A1023 is powered on to drive the screw 1024 to rotate in situ, and the screw 1024 is enabled to rotate in situ to be used for sliding adjustment.

In order to facilitate the cleaning process of the running mechanism main body 100 in use by the mud scraping assembly, in this embodiment, preferably, the mud scraping assembly includes a moving sliding table 1021 disposed on an outer surface of the screw 1024, and mud scraping plates 1022 fixedly installed at two ends of the moving sliding table 1021 by bolts, and the mud scraping plates 1022 can be driven to move when the moving sliding table 1021 moves to perform the cleaning process in use.

In order to facilitate the cleaning process when the traveling mechanism main body 100 is used by the mud scraping process of the lower surface of the base 102 by the mud scraping plate 1022 when moving, in this embodiment, it is preferable that two mud scraping plates 1022 are symmetrically disposed, and the surface of the mud scraping plate 1022 contacts the lower surface of the base 102, so that the cleaning process is facilitated.

The working principle and the using flow of the utility model are as follows: the robot walking mechanism is characterized in that the robot walking mechanism is directly contacted with the ground through the crawler belt 105 when in use, the robot is installed in the shell 101 for use, when the walking mechanism main body 100 moves to drive the robot to walk, the driving motor B106 is electrified to operate to drive the driving wheel 104 to rotate, and the driving wheel 104 is rotated to drive the crawler belt 105 to drive the outer surfaces of the driving wheel 104 and the driven wheel 103 to walk, so that the robot is conveniently installed through the walking mechanism main body 100 to walk when a pipeline is maintained;

then when the running mechanism main body 100 is used, when the running mechanism main body 100 runs on the uneven ground at the pipeline maintenance position, at the moment, when the driving wheel 104 drives the crawler 105 to run, and when the crawler 105 and the driving wheel 104 run continuously, the rolling support wheels 1042 are rotated through the connecting shaft 1041 and are contacted with the two inner sides of the crawler 105 to strengthen and support, and the driven wheel 103 and the driving wheel 104 are enabled to drive the crawler 105 to run so as to be convenient for strengthening and support the two sides, the running mechanism main body 100 is convenient for strengthening and supporting when running on the uneven ground, the running mechanism main body 100 is stable to run, the crawler 105 is not easy to damage, and the stability of the running mechanism main body 100 for running after the robot is installed is improved;

finally, the running mechanism main body 100 drives the robot to run at the position of the pipeline maintenance, when the lower surface of the running mechanism main body 100 runs the base 102 to contact with the ground of the pipeline maintenance, at the moment, when the surface of the base 102 contacts with the ground to be stained with excessive soil, the driving motor A1023 can be electrified to drive the screw 1024 to rotate in the chute 1025, and the chute 1025 is driven to rotate in situ to drive the movable sliding table 1021 to move on the outer surface of the chute 1025, and the surface of the movable sliding table 1021 is driven to contact with the lower surface of the base 102 to move, and soil stained with the lower surface of the base 102 is cleaned, so that the running mechanism main body 100 is convenient to clean when in use, and the convenience of cleaning when the running mechanism main body 100 drives the robot to run is improved.

Although embodiments of the present utility model have been shown and described in detail with reference to the foregoing detailed description, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations may be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a robot running gear, includes running gear main part (100), running gear main part (100) include base (102) and action wheel (104), action wheel (104) set up in the one end both sides of base (102), its characterized in that: the travelling mechanism main body (100) is also provided with:

the reinforcing support mechanism comprises a mounting assembly and a reinforcing support assembly, and is arranged at the edges of two sides of the driving wheel (104);

and the cleaning mechanism comprises a driving assembly and a mud scraping assembly, and is arranged on the lower surface of the base (102).

2. A robotic walking mechanism as claimed in claim 1, wherein: the upper surface of base (102) is through bolt fixed mounting has casing (101), three follow driving wheel (103) are all installed to the both sides other end of base (102), the side of base (102) is through action wheel (104) with follow driving wheel (103) and install track (105), the tip both sides of base (102) are through bolt fixed mounting there being driving motor B (106), just driving motor B (106) with the tip of action wheel (104) is through bolt fixed connection.

3. A robotic walking mechanism as claimed in claim 1, wherein: the mounting assembly comprises five connecting shafts (1041) which are mounted at the edges of two sides of the driving wheel (104) through bearings, and the end parts of the connecting shafts (1041) are embedded into the driving wheel (104).

4. A robotic walking mechanism as claimed in claim 3, wherein: the reinforced support assembly comprises rolling support wheels (1042) fixedly mounted at the end parts of the connecting shafts (1041) through bolts, and the two rolling support wheels (1042) are symmetrically arranged through the driving wheels (104).

5. A robotic walking mechanism as claimed in claim 1, wherein: the driving assembly comprises a chute (1025) arranged at the middle position inside the base (102), a screw rod (1024) is connected with an inner rotating wheel of the chute (1025), and a driving motor A (1023) arranged at the end part of the chute (1025) and positioned on the surface of the base (102) is included.

6. A robotic walking mechanism as claimed in claim 5, wherein: the mud scraping assembly comprises a movable sliding table (1021) arranged on the outer surface of the screw rod (1024), and mud scraping plates (1022) fixedly arranged at two ends of the movable sliding table (1021) through bolts.

7. A robotic walking mechanism as claimed in claim 6, wherein: the two scraping plates (1022) are symmetrically arranged, and the surface of the scraping plate (1022) is contacted with the lower surface of the base (102).