CN210653424U

CN210653424U - Walking mechanism suitable for indoor inspection robot

Info

Publication number: CN210653424U
Application number: CN201921508462.9U
Authority: CN
Inventors: 王子巍; 王哲; 陆滨
Original assignee: Shanghai Launchbyte Intelligent Technology Co ltd
Current assignee: Shanghai Launchbyte Intelligent Technology Co ltd
Priority date: 2019-09-09
Filing date: 2019-09-09
Publication date: 2020-06-02
Anticipated expiration: 2029-09-09

Abstract

The utility model discloses an adapt to indoor running gear who patrols and examines robot, the on-line screen storage device comprises a base, the top fixedly connected with installation piece of base, be equipped with the mounting groove on the installation piece, first motor of fixedly connected with and second motor respectively in the mounting groove, the first gear of the terminal fixedly connected with of output shaft of first motor, one side of base slides and inserts and be equipped with the worm, the both ends of worm all are fixed the cup jointed the drive wheel, one side top fixedly connected with that the worm was kept away from to the base puts the thing board, it puts the thing chamber to be equipped with on the thing board, it inserts and is equipped with the movable plate to put thing intracavity slide, a plurality of teeth of a. The utility model discloses a two-wheeled independently drives and the cooperation structure that turns to sets up makes the device can possess the pivot and turns to ability and certain obstacle-surmounting ability, and sets up the life who improves the robot through damper.

Description

Walking mechanism suitable for indoor inspection robot

Technical Field

The utility model relates to a relevant goods field of robot specifically is an adaptation is indoor to patrol and examine running gear of robot.

Background

Along with the development of science and technology, more and more work can be accomplished by the robot for use manpower sparingly, the robot of patrolling and examining mainly is through carrying on cloud platform camera, realizes that the collection and the visual identification of image accomplish the work of patrolling and examining, and the robot of patrolling and examining need be through adjusting cloud platform camera height in order to look for more suitable field of vision scope on the one hand, and on the other hand needs steady walking, in order to improve the efficiency and the rate of accuracy of the work of patrolling and examining.

But the running gear of the robot is comparatively simple to have in the existing room to turn to and hinder the ability relatively poor more in the room, greatly reduced mobility, and do not possess damper, lead to easily patrolling and examining robot inner structure and take place the damage, have certain defectiveness.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an adaptation is indoor to patrol and examine running gear of robot to it is comparatively simple to provide the running gear of current indoor robot of patrolling and examining among the above-mentioned background art, turns to and hinders the ability relatively poor in indoor, greatly reduced mobility, and do not possess damper, leads to easily patrolling and examining the inner structure of robot and takes place the damage problem.

In order to achieve the above object, the utility model provides a following technical scheme: a walking mechanism suitable for an indoor inspection robot comprises a base, wherein a mounting block is fixedly connected to the top of the base, a mounting groove is formed in the mounting block, a first motor and a second motor are fixedly connected to the inside of the mounting groove respectively, a first gear is fixedly connected to the tail end of an output shaft of the first motor, a worm is inserted into one side of the base in a sliding mode, driving wheels are fixedly sleeved at two ends of the worm, a storage plate is fixedly connected to the top of one side, away from the worm, of the base, a storage cavity is formed in the storage plate, a moving plate is inserted into the storage cavity in the sliding mode, a plurality of gear teeth are fixedly connected to the top of the moving plate, a second gear meshed with the gear teeth is fixedly connected to the tail end of the output shaft of the second motor, two ends of the moving plate penetrate through the inner wall of the storage cavity and extend outwards, the bottom of the connecting block is fixedly connected with a connecting rod, one side of the base far away from the worm is fixedly connected with an extension plate, grooves are arranged at both ends of the extension plate, a rotating shaft is rotationally connected in the grooves, a supporting rod is fixedly connected on the outer wall of one side of the rotating shaft, the end of the support rod far away from the rotating shaft is rotatably sleeved with a driven wheel, the end of the connecting rod far away from the connecting block is fixedly connected with the outer wall of the support rod, four installation cavities which are distributed in a rectangular shape are arranged on the base, a sliding block is connected in the installation cavities in a sliding way, a mounting plate is arranged above the base, the bottom of the mounting plate is fixedly connected with a supporting block corresponding to the mounting cavity, the one end that the mounting panel was kept away from to the supporting shoe runs through the outer wall of base and with slider fixed connection, one side fixedly connected with resilient means that the supporting shoe was kept away from to the slider, the one end that resilient means kept away from the slider is with the inner wall fixed connection of installation cavity.

Preferably, the elastic means is a spring.

Preferably, support grooves are formed in the inner walls of the two sides of the object placing cavity, a pair of fixing blocks is inserted in the support grooves in a sliding mode, and one ends, far away from the support grooves, of the fixing blocks are fixedly connected with the moving plate.

Preferably, the inner walls of the two sides of the mounting cavity are provided with sliding grooves, and the two ends of the sliding block are inserted into the sliding grooves in a sliding manner.

Preferably, four mounting holes are formed in the mounting plate and distributed in a rectangular shape.

Preferably, the object placing plate is provided with a through hole, a wear-resistant ring is fixedly connected in the through hole, and an output shaft of the second motor penetrates through the wear-resistant ring.

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

1. the walking mechanism user of the indoor inspection robot can control the first motor to start to enable the first gear meshing worm on the output shaft of the first motor to rotate, the worm drives the driving wheels at two ends to rotate at the moment, so that the base is integrally moved, and when the robot needs to turn in situ, the second motor is controlled to start to drive the second gear to rotate so as to be meshed with the gear teeth on the moving plate;

2. thereby the movable plate takes place to remove and stimulates the connecting rod motion this moment, and the connecting rod will stimulate the bracing piece this moment, and the bracing piece drives the recess internal rotation of axis of rotation on the extension board under the tensile force effect of connecting rod to realize the angular deflection from the driving wheel, adjust the moving direction and slide the atress in the installation cavity when the moving motion process takes place to jolt, the slider will compress resilient means this moment and utilize resilient force of resilient means to effectively realize moving away to avoid possible earthquakes. The utility model discloses a two-wheeled independently drives and the cooperation structure that turns to sets up makes the device can possess the pivot and turns to ability and certain obstacle-surmounting ability, and sets up the life who improves the robot through damper.

Drawings

Fig. 1 is a schematic view of a base overlooking structure of a traveling mechanism of an indoor inspection robot of the utility model;

fig. 2 is a schematic side view of an extension plate of a traveling mechanism of an indoor inspection robot according to the present invention;

fig. 3 is the utility model discloses an adaptation is indoor to patrol and examine running gear's of robot installation cavity department inner structure schematic diagram.

In the figure: 1-base, 2-mounting block, 3-first motor, 4-second motor, 5-first gear, 6-worm, 7-driving wheel, 8-object placing plate, 9-moving plate, 10-gear teeth, 11-second gear, 12-connecting block, 13-connecting rod, 14-extending plate, 15-rotating shaft, 16-supporting rod, 17-driven wheel, 18-sliding block, 19-mounting plate, 20-supporting block, 21-elastic device and 22-fixing block.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Referring to fig. 1-3, the present invention provides an embodiment: a walking mechanism suitable for an indoor inspection robot comprises a base 1, wherein the top of the base 1 is fixedly connected with an installation block 2, the installation block 2 is provided with an installation groove, a first motor 3 and a second motor 4 are fixedly connected in the installation groove respectively and used for driving a first gear 5 and a second gear 11 to rotate, the tail end of an output shaft of the first motor 3 is fixedly connected with the first gear 5 and used for driving a worm 6 to rotate, one side of the base 1 is slidably inserted with the worm 6 and used for driving a driving wheel 7 to rotate, two ends of the worm 6 are fixedly sleeved with the driving wheel 7 and used for moving the base 1, the top of one side of the base 1, far away from the worm 6, is fixedly connected with an object placing plate 8, an object placing cavity is arranged on the object placing plate 8, a moving plate 9 is slidably inserted in the object placing cavity, the top of the moving plate 9 is fixedly connected with a plurality of gear teeth 10 and used for being meshed with the second, the tail end of an output shaft of the second motor 4 is fixedly connected with a second gear 11 meshed with the gear teeth 10, two ends of a movable plate 9 penetrate through the inner wall of the storage cavity and extend outwards, a connecting block 12 is slidably inserted at one end of the movable plate 9, and is used for connecting the connecting block 13 with the movable plate 9, a connecting rod 13 is fixedly connected at the bottom of the connecting block 12 and is used for pulling a supporting rod 16 to move when the movable plate 9 moves leftwards and rightwards, so that a rotating shaft 15 is driven to rotate in a groove, an extending plate 14 is fixedly connected at one side of the base 1, which is far away from the worm 6, two ends of the extending plate 14 are provided with grooves, a rotating shaft 15 is rotatably connected in the groove and is used for connecting the supporting rod 16, a supporting rod 16 is fixedly connected on the outer wall of one side of the rotating shaft 15 and is used for installing a driven wheel 17, be equipped with four installation cavities that are the rectangular distribution on base 1, sliding connection has slider 18 in the installation cavity, be used for compression spring 21, base 1's top is equipped with mounting panel 19, be used for installing the robot body, mounting panel 19's bottom fixedly connected with and the supporting shoe 20 that the installation cavity position corresponds, be used for being connected between mounting panel 19 and the slider 18, the one end that mounting panel 19 was kept away from to supporting shoe 20 runs through base 1's outer wall and with slider 18 fixed connection, one side fixed connection elastic device 21 that supporting shoe 20 was kept away from to slider 18, the inner wall fixed connection of one end and installation cavity that slider 18 was kept away from to elastic device 21.

Furthermore, the elastic device 21 is a spring, so that the acquisition degree is high and the damping effect is better.

Further, support grooves are formed in the inner walls of the two sides of the storage cavity, a pair of fixing blocks 22 are inserted in the support grooves in a sliding mode, one ends, far away from the support grooves, of the fixing blocks 22 are fixedly connected with the moving plate 9, and the stability of the moving plate 9 is improved when the moving plate 9 moves.

Further, all be equipped with the spout on the both sides inner wall of installation cavity, the both ends of slider 18 all slide and insert and establish in the spout, stability when increasing slider 18 and remove.

Furthermore, four mounting holes are arranged on the mounting plate 19 in a rectangular distribution, so that the robot body can be conveniently mounted.

Further, the object placing plate 8 is provided with a through hole, a wear-resistant ring is fixedly connected in the through hole, and the output shaft of the second motor 4 penetrates through the wear-resistant ring.

The working principle is as follows: the user can control the first motor 3 to start to enable the first gear 5 on the output shaft of the first motor 3 to be meshed with the worm 6 to rotate, at the moment, the worm 6 drives the driving wheels 7 at the two ends to rotate, thereby realizing the integral movement of the base 1, when the steering is needed in situ, the second motor 4 is controlled to start to drive the second gear 11 to rotate so as to be meshed with the gear teeth 10 on the moving plate 9, at the moment, the moving plate 9 moves so as to pull the connecting rod 13 to move, the connecting rod 13 pulls the supporting rod 16 at the moment, the supporting rod 16 drives the rotating shaft 15 to rotate in the groove on the extending plate 14 under the action of the pulling force of the connecting rod 13, so that the angular deviation of the driven wheel 17 is realized, the moving direction is adjusted, the sliding block 18 is forced to slide in the mounting cavity when the moving movement process bumps, and at the moment, the sliding block 18 compresses the spring 21 to effectively realize shock absorption by utilizing the resilience force of the spring 21.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides an adaptation is indoor patrols and examines running gear of robot, includes base (1), its characterized in that: the top of the base (1) is fixedly connected with an installation block (2), the installation block (2) is provided with an installation groove, the installation groove is internally and respectively fixedly connected with a first motor (3) and a second motor (4), the tail end of an output shaft of the first motor (3) is fixedly connected with a first gear (5), one side of the base (1) is slidably inserted with a worm (6), two ends of the worm (6) are fixedly sleeved with driving wheels (7), the top of one side of the base (1) far away from the worm (6) is fixedly connected with an object placing plate (8), the object placing plate (8) is provided with an object placing cavity, a movable plate (9) is slidably inserted in the object placing cavity, the top of the movable plate (9) is fixedly connected with a plurality of gear teeth (10), the tail end of the output shaft of the second motor (4) is fixedly connected with a second gear (11) meshed with the gear teeth, the both ends of movable plate (9) all run through the inner wall of putting the thing chamber and outwards extend, the one end that movable plate (9) extended is gone up to slide and is inserted and is equipped with connecting block (12), the bottom fixedly connected with connecting rod (13) of connecting block (12), one side fixedly connected with extension board (14) that worm (6) were kept away from in base (1), the both ends of extension board (14) all are equipped with the recess, the recess internal rotation is connected with axis of rotation (15), fixedly connected with bracing piece (16) on one side outer wall of axis of rotation (15), the one end that axis of rotation (15) were kept away from in bracing piece (16) rotates and has cup jointed from driving wheel (17), the one end that connecting block (12) were kept away from in connecting rod (13) and the outer wall fixed connection of bracing piece (16), be equipped with four installation cavities that are the rectangle and distribute on base, the top of base (1) is equipped with mounting panel (19), the bottom fixedly connected with of mounting panel (19) and supporting shoe (20) that the installation cavity position corresponds, the one end that mounting panel (19) were kept away from in supporting shoe (20) run through the outer wall of base (1) and with slider (18) fixed connection, one side fixed connection resilient means (21) of supporting shoe (20) are kept away from in slider (18), the one end that resilient means (21) kept away from slider (18) and the inner wall fixed connection of installation cavity.

2. The walking mechanism of the indoor inspection robot adapted according to claim 1, wherein: the elastic device (21) is a spring.

3. The walking mechanism of the indoor inspection robot adapted according to claim 1, wherein: support grooves are formed in the inner walls of the two sides of the storage cavity, a pair of fixing blocks (22) is inserted in the support grooves in a sliding mode, and one ends, far away from the support grooves, of the fixing blocks (22) are fixedly connected with the moving plate (9).

4. The walking mechanism of the indoor inspection robot adapted according to claim 1, wherein: the inner walls of the two sides of the mounting cavity are provided with sliding grooves, and the two ends of the sliding block (18) are inserted into the sliding grooves in a sliding mode.

5. The walking mechanism of the indoor inspection robot adapted according to claim 1, wherein: four mounting holes which are distributed in a rectangular shape are arranged on the mounting plate (19).

6. The walking mechanism of the indoor inspection robot adapted according to claim 1, wherein: the article placing plate (8) is provided with a through hole, a wear-resistant ring is fixedly connected in the through hole, and an output shaft of the second motor (4) penetrates through the wear-resistant ring.