A walking mechanism of an intelligent robot

Abstract

The present invention relates to a walking mechanism of an intelligent robot, comprising a frame, a gear box and a driving motor, wherein the gear box is arranged on the frame, the driving motor is arranged in the gear box, and the driving motor drives the walking wheels to walk through the gear box; a cutting assembly is symmetrically arranged on both sides of the frame, the cutting assembly is located between the two walking wheels on the same side, and the cutting assembly is used to clean the wheel axles on the walking wheels; the present invention arranges the cutting assembly on the frame, and utilizes the cutting assembly to move relative to the cutting assembly while walking, so as to cut off and clean the sundries wound on the wheel axles, thereby reducing the occurrence of the walking wheel jamming, playing a role in ensuring the normal walking of the robot and the safety of the people around, and improving the practical application value of the walking mechanism of the intelligent robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a walking mechanism of an intelligent robot. Background Art

[0002] The walking mechanism of the intelligent robot is divided into wheel type, crawler type, walking type and other types according to its structure. Among them, the wheel type walking mechanism has the advantages of smooth movement, low energy consumption, and easy control of movement speed and direction, so it has been widely used, but these advantages can only be brought into play on flat ground. The wheel type walking mechanism currently used is mainly three-wheeled or four-wheeled.

[0003] Most of the shopping guide-type intelligent robots on the market use wheel-type walking mechanisms, which often encounter various problems during use. Among them, since the robot needs to maintain balance, the walking mechanism is closer to the ground as a whole, so silk threads and hair are easily entangled on the axle of the walking wheel, causing the walking wheel to get stuck, affecting the normal walking of the robot. In severe cases, the robot may even fall over or collide, which may easily cause accidental injuries to the public and affect the use of the robot. For example, in places with densely populated areas, such as shopping malls, there will be more hair, silk threads and other debris on the ground, which is more likely to cause such problems, so they need to be solved urgently. Summary of the invention

[0004] (1) Technical issues to be resolved

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art, meet practical needs, and provide a walking mechanism for an intelligent robot to solve the above-mentioned technical problems.

[0006] (2) Technical solution

[0007] In order to achieve the purpose of the present invention, the technical solution adopted by the present invention is:

[0008] A walking mechanism of an intelligent robot, comprising a frame, a gear box and a driving motor, wherein the gear box is arranged on the frame, the driving motor is arranged in the gear box, and the driving motor drives the walking wheels through the gear box to walk;

[0009] A cutting assembly is symmetrically arranged on both sides of the frame, and the cutting assembly is located between the two traveling wheels on the same side. The cutting assembly is used to clean the wheel axles on the traveling wheels.

[0010] Furthermore, the cutting assembly comprises:

[0011] A working room, wherein the working room is detachably connected to the bottom surface of the frame, and a cavity is arranged inside the working room;

[0012] A piston, the piston is slidably connected inside the cavity, and two pistons are provided;

[0013] A return spring, one side of the two pistons facing away from each other is fixedly connected with the return spring, and the other end of the return spring is respectively fixedly connected to the side wall of the corresponding working chamber;

[0014] A piston rod is fixedly connected to one side opposite to the two pistons.

[0015] A cleaning knife, the cleaning knife is fixedly connected to the end of the piston rod passing through the working chamber,

[0016] A power motor, the power motor is fixedly connected to the upper surface of the frame, and the output shaft of the power motor is vertically downwardly connected to the rotating shaft;

[0017] A rotating shaft, the rotating shaft passes through the frame and extends into the cavity;

[0018] A cam plate is fixedly connected to the bottom end of the rotating shaft, and the cam plate is located in the cavity between the two pistons.

[0019] Furthermore, the piston rod is bent into a bent rod, and a sealing gasket matching the piston rod is arranged inside the working chamber.

[0020] Furthermore, the blade of the cleaning knife is provided with two sides, and is symmetrically arranged up and down.

[0021] Furthermore, a charging port and a power module are also provided on the frame, contacts are provided inside the charging port, the power module is electrically connected to the contacts, and air pipes are respectively connected to the two ends of the working room, and the air pipes of the two working rooms are respectively connected to the interiors of both sides of the charging port.

[0022] Furthermore, a cleaning mechanism is provided inside the charging port, and the cleaning mechanism is used to clean the inside of the charging port.

[0023] Furthermore, the cleaning mechanism comprises:

[0024] Slide grooves are provided at four corners of the inner wall of the charging port;

[0025] Slide blocks, each of which is slidably connected to the corresponding slide groove;

[0026] The film has four corners which are detachably connected to four sliders.

[0027] Furthermore, a through groove is provided in the middle of the film, and the inner and outer edges of the film are both configured as thick edges, and the thickness of the two thick edges is greater than the thickness in the middle of the film.

[0028] Furthermore, the through groove is in a shape of a rectangle, a circle, or a round hole. Beneficial Effects

[0029] The present invention solves the problem that since the robot needs to maintain balance, the overall distance between the walking wheels and the ground is close, and silk threads and hair are easily entangled on the wheel axles of the walking wheels, causing the walking wheels to get stuck, thereby affecting the normal walking of the robot. A cutting assembly is provided on the frame, and the walking mechanism is moved relative to the cutting assembly while walking, so as to cut off and clean up the debris entangled on the wheel axle, thereby reducing the occurrence of walking wheel jams, ensuring the normal walking of the robot and the safety of people around it, and improving the practical application value of the walking mechanism of the intelligent robot.

[0030] The present invention is provided with a cutting assembly, so that the power motor can be started intermittently while the robot is walking, and the power motor is used to drive the rotating shaft and the connected cam plate to rotate. The rotation of the cam plate will periodically squeeze the piston on one side, so that the piston rod on one side of the piston extends out of the working room, and the piston rod drives the cleaning knife to move until it hits the wheel axle of the walking wheel, and then resets under the action of the reset spring, and so on; on the one hand, when the walking wheel of the cutting assembly rotates, the cleaning knife will relatively cut, so that the fluff, silk thread, hair and other debris on the wheel axle can be separated and dropped, so that the situation of the wheel axle being stuck is reduced to the greatest extent, so that the smoothness of the robot's walking is improved, and on the other hand, by intermittently cleaning the wheel axles of the four walking wheels, the robot will not be blocked from walking due to too many debris entangled in a single walking wheel, and the safety of the robot will be further enhanced. At the same time, through the intermittent push of the cam plate, the time for the cleaning knife to conflict with the wheel axle is shortened, thereby reducing the relative wear of the cleaning knife and the wheel axle, and improving the service life of the wheel axle and the cleaning knife.

[0031] When the present invention cleans between cutting components, the cavity between the piston and the working room is intermittently compressed, so that the gas is ejected from the connected air pipe to the inside of the charging port, thereby cleaning the inside of the charging port, preventing dust from being deposited inside the charging port and affecting the charging efficiency of the robot when automatically charging. At the same time, the internal moisture can also be blown away to take away the water vapor, preventing the high indoor humidity from causing moisture at the charging port, avoiding short circuit problems caused by internal moisture at the charging port, and further improving the safety of the robot; the cutting component can not only intermittently clean the wheel axle when the robot is walking, but also can discharge the compressed gas in the working room in time, thereby cleaning the inside of the charging port and taking away the water vapor at the same time, ensuring the cleanliness of the charging port, enhancing the safety of the interface of the robot when automatically charging as much as possible, ensuring the normal use of the robot, and having strong linkage. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of the walking mechanism of the intelligent robot of the present invention;

[0033] Figure 2 Schematic diagram of a top view of the walking mechanism of the intelligent robot of the present invention;

[0034] Figure 3 It is a rear view schematic diagram of the walking mechanism of the intelligent robot of the present invention;

[0035] Figure 4 The walking mechanism of the intelligent robot of the present invention Figure 2 Schematic diagram of the internal structure of the cutting component;

[0036] Figure 5 It is a cross-sectional schematic diagram of a film in the walking mechanism of the intelligent robot of the present invention;

[0037] Figure 6 In the walking mechanism of the intelligent robot of the present invention Figure 5 Status diagram of .

[0038] The reference numerals are as follows:

[0039] 1. Travel wheel; 11. Axle; 2. Frame; 3. Gear box; 4. Power motor; 5. Cutting assembly; 51. Studio; 52. Cavity; 53. Piston; 54. Return spring; 55. Rotating shaft; 56. Cam plate; 57. Piston rod; 6. Cleaning knife; 7. Air pipe; 8. Charging port; 9. Cleaning mechanism; 91. Slide groove; 92. Slider; 93. Film; 94. Through groove; 95. Thick edge; 10. Power module; 11. Contact; 12. Blade; 13. Sealing gasket. DETAILED DESCRIPTION

[0040] The following is combined with Figure 1-6 The present invention is further described with examples:

[0041] A walking mechanism of an intelligent robot, comprising a frame 2, a gear box 3 and a driving motor, wherein the gear box 3 is arranged on the frame 2, the driving motor is arranged in the gear box 3, and the driving motor drives the walking wheel 1 through the gear box 3 to walk;

[0042] A cutting assembly 5 is symmetrically arranged on both sides of the frame 2, and the cutting assembly 5 is located between the two walking wheels 1 on the same side. The cutting assembly 5 is used to clean the wheel axle on the walking wheel 1. The present invention solves the problem that the walking wheel 1 is relatively close to the ground as a whole due to the need to maintain balance of the robot, and the axle of the walking wheel 1 is easily entangled with silk threads and hair, causing the walking wheel 1 to get stuck, affecting the normal walking of the robot. By arranging the cutting assembly 5 on the frame 2, the walking mechanism is used to move relative to the cutting assembly 5 while walking, so as to cut off and clean the debris wrapped around the wheel axle, thereby reducing the occurrence of the walking wheel 1 getting stuck, and ensuring the normal walking of the robot and the safety of the people around.

[0043] In this embodiment, the cutting assembly 5 includes:

[0044] A working room 51, wherein the working room 51 is detachably connected to the bottom surface of the frame 2, and a cavity 52 is provided inside the working room 51;

[0045] A piston 53, wherein the piston 53 is slidably connected to the interior of the cavity 52, and two pistons 53 are provided;

[0046] A return spring 54, wherein the two pistons 53 are fixedly connected to one side opposite to the other of the two pistons 53, and the other ends of the return springs 54 are respectively fixedly connected to the side walls of the corresponding working chambers 51;

[0047] The piston rod 57 is fixedly connected to the opposite side of the two pistons 53.

[0048] A cleaning knife 6, the cleaning knife 6 is fixedly connected to the end of the piston rod 57 passing through the working room 51,

[0049] A power motor 4, wherein the power motor 4 is fixedly connected to the upper surface of the frame 2, and an output shaft of the power motor 4 is vertically downwardly connected to the rotating shaft 55;

[0050] A rotating shaft 55, the rotating shaft 55 passes through the frame 2 and extends into the cavity 52;

[0051] A cam plate 56, the bottom end of the rotating shaft 55 is fixedly connected with the cam plate 56, and the cam plate 56 is located in the cavity 52 between the two pistons 53;

[0052] The piston rod 57 is bent into a bent rod, and a sealing pad 13 is provided inside the working chamber 51 to match the piston rod 57. The above arrangement enables the axle of the walking wheel 1 to be cleaned regardless of whether the robot moves forward or backward.

[0053] Furthermore, the blade 12 of the cleaning knife 6 is provided with two sides, and is symmetrically arranged in the upper and lower directions.

[0054] By setting the cutting assembly 5, the power motor 4 can be started intermittently while the robot is walking, and the power motor 4 is used to drive the rotating shaft 55 and the connected cam plate 56 to rotate. The rotation of the cam plate 56 will periodically squeeze the piston 53 on one side, so that the piston rod 57 on one side of the piston 53 extends out of the studio 51, and the piston rod 57 drives the cleaning knife 6 to move until it reaches the axle of the walking wheel 1, and then resets under the action of the reset spring 54, and so on; on the one hand, when the walking wheel 1 of the cutting assembly 5 rotates, the cleaning knife 6 will cut relatively, so that the hair on the axle can be cleaned. Woolen fibers, silk threads, hair and other debris are separated and fall off, thereby minimizing the possibility of axle jams, thereby improving the smoothness of the robot's walking. On the other hand, by intermittently cleaning the axles of the four walking wheels 1, the robot will not be hindered in walking due to too much debris entangled in a single walking wheel 1, and the safety of the robot is further enhanced. At the same time, through the intermittent push of the cam plate 56, the time that the cleaning knife 6 contacts the axle is shortened, thereby reducing the relative wear of the cleaning knife 6 and the axle, and increasing the service life of the axle and the cleaning knife 6.

[0055] In this embodiment, the frame 2 is further provided with a charging port 8 and a power module 10. A contact 11 is provided inside the charging port 8. The power module 10 is electrically connected to the contact 11. The two ends of the studio 51 are respectively connected with an air pipe 7. The air pipes 7 of the two studios 51 are respectively connected to the interiors on both sides of the charging port 8. When cleaning between the cutting components 5, the cavity 52 between the piston 53 and the studio 51 is intermittently compressed, so that the gas is ejected from the connected air pipe 7 to the inside of the charging port 8, thereby cleaning the inside of the charging port 8 to prevent dust from being deposited inside the charging port 8, which affects the charging efficiency of the robot when it is automatically charged. At the same time, the internal moisture can also be blown away to take away the water vapor, so as to prevent the high indoor humidity from causing moisture at the charging port 8, and avoid the short circuit problem caused by internal moisture at the charging port 8, thereby further improving the safety of the robot;

[0056] The cutting assembly 5 can not only perform intermittent cleaning of the axle when the robot is walking, but also discharge the compressed gas in the working room 51 in time, thereby cleaning the inside of the charging port 8 and taking away the water vapor, ensuring the cleaning of the inside of the charging port 8, enhancing the safety of the interface when the robot is automatically charged as much as possible, ensuring the normal use of the robot, and having strong linkage;

[0057] In this embodiment, a cleaning mechanism 9 is further provided inside the charging port 8, and the cleaning mechanism 9 is used to clean the inside of the charging port 8; the cleaning mechanism 9 includes:

[0058] Slide grooves 91, slide grooves 91 are provided at four corners of the inner wall of the charging port 8;

[0059] Slide blocks 92, the slide blocks 92 are slidably connected to the corresponding slide grooves 91;

[0060] A film 93, wherein four corners of the film 93 are detachably connected to four sliders 92;

[0061] A through slot 94 is provided in the middle of the film 93, and the inner and outer edges of the film 93 are both set as thick edges 95, and the thickness of the two thick edges 95 is greater than the thickness in the middle of the film 93; the through slot 94 is in the shape of a rectangle, a circle, or a waist-round hole; the setting of the through slot 94 can avoid blocking the contact 11 inside the charging hole, thereby affecting the normal automatic charging behavior;

[0062] Since the air pipe 7 is tilted toward the position of the film 93, the gas will push the film 93 when it is ejected, so that the film 93 drives the slider 92 to move outward along the slide groove 91, and the film 93 scrapes the four sides of the charging port 8 and can scrape off the water droplets on the inner wall at the same time, so that the inside of the charging port 8 is more tidy and the safety of the robot during automatic charging is enhanced. At the same time, since the thickness of the film 93 is thicker on both sides, the middle part of the film 93 will bulge outward under the action of wind, so that the film 93 has a stronger wind-bearing effect and the film 93 moves faster, resulting in a better scraping effect and a cleaner and drier inside the charging port 8.

[0063] Beneficial effects of the present invention:

[0064] The present invention solves the problem that the walking wheel 1 is relatively close to the ground as a whole due to the need to maintain balance of the robot, and the axle of the walking wheel 1 is easily entangled with threads and hair, causing the walking wheel 1 to get stuck, thus affecting the normal walking of the robot. By arranging a cutting assembly 5 on the frame 2, the walking mechanism is used to move relative to the cutting assembly 5 while walking, so as to cut and clean the sundries entangled on the axle, thereby reducing the occurrence of the walking wheel 1 getting stuck, ensuring the normal walking of the robot and the safety of the people around it, and improving the practical application value of the walking mechanism of the intelligent robot.

[0065] By setting the cutting assembly 5, the power motor 4 can be started intermittently while the robot is walking, and the power motor 4 is used to drive the rotating shaft 55 and the connected cam plate 56 to rotate. The rotation of the cam plate 56 will periodically squeeze the piston 53 on one side, so that the piston rod 57 on one side of the piston 53 extends out of the studio 51, and the piston rod 57 drives the cleaning knife 6 to move until it reaches the axle of the walking wheel 1, and then resets under the action of the reset spring 54, and so on; on the one hand, when the walking wheel 1 of the cutting assembly 5 rotates, the cleaning knife 6 will cut relatively, so that the hair on the axle can be cleaned. Woolen wool, silk thread, hair and other debris are separated and fall off, so that the axle is minimized from being stuck, so that the robot can walk smoothly. On the other hand, by intermittently cleaning the axles of the four running wheels 1, the robot will not be blocked from walking due to too much debris entangled in a single running wheel 1, and the safety of the robot is further enhanced. At the same time, the intermittent push of the cam plate 56 shortens the time that the cleaning knife 6 contacts the axle, thereby reducing the relative wear of the cleaning knife 6 and the axle, and increasing the service life of the axle and the cleaning knife 6.

[0066] When the cutting assembly 5 is intermittently cleaned, the cavity 52 between the piston 53 and the working chamber 51 is intermittently compressed, so that the gas is ejected from the connected air pipe 7 to the inside of the charging port 8, thereby cleaning the inside of the charging port 8 to prevent dust from being deposited inside the charging port 8 and affecting the charging efficiency of the robot when automatically charging. At the same time, the internal moisture can also be blown away to take away the water vapor, so as to prevent the high indoor humidity from causing moisture at the charging port 8, and avoid the short circuit problem caused by internal moisture at the charging port 8, thereby further improving the safety of the robot;

[0067] The cutting assembly 5 can not only perform intermittent cleaning of the axle when the robot is walking, but also discharge the compressed gas in the working room 51 in time, thereby cleaning the inside of the charging port 8 and taking away the water vapor, ensuring the cleaning of the inside of the charging port 8, enhancing the safety of the interface when the robot is automatically charged as much as possible, ensuring the normal use of the robot, and having strong linkage;

[0068] Since the air pipe 7 is tilted toward the position of the film 93, the gas will push the film 93 when it is ejected, so that the film 93 drives the slider 92 to move outward along the slide groove 91, and the film 93 scrapes the four sides of the charging port 8 and can scrape off the water droplets on the inner wall at the same time, so that the inside of the charging port 8 is more tidy and the safety of the robot during automatic charging is enhanced. At the same time, since the thickness of the film 93 is thicker on both sides, the middle part of the film 93 will bulge outward under the action of wind, so that the film 93 has a stronger wind-bearing effect and the film 93 moves faster, resulting in a better scraping effect and a cleaner and drier inside the charging port 8.

[0069] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments.

Claims

1. A walking mechanism of an intelligent robot, comprising a frame (2), a gear box (3) and a drive motor, wherein the gear box (3) is arranged on the frame (2), the drive motor is arranged in the gear box (3), and the drive motor drives the walking wheels (1) through the gear box (3) to walk; characterized in that: A cutting assembly (5) is symmetrically arranged on each side of the frame (2). The cutting assembly (5) is located between the two running wheels (1) on the same side. The cutting assembly (5) is used to clean the wheel axle on the running wheel (1). The cutting assembly (5) comprises a working room (51), a piston (53), a return spring (54), a piston rod (57), a cleaning knife (6), a power motor (4), a rotating shaft (55) and a cam plate (56). The working room (51) is detachably connected to the bottom surface of the frame (2). A cavity (52) is arranged inside the working room (51). The piston (53) is slidably connected inside the cavity (52). The piston (53) is provided with two The two pistons (53) are fixedly connected to the return spring (54) on the opposite sides, and the other ends of the return springs (54) are respectively fixedly connected to the side walls of the corresponding working chambers (51); the two pistons (53) are fixedly connected to the piston rods (57) on the opposite sides, and the cleaning knife (6) is fixedly connected to the end of the piston rod (57) passing through the working chamber (51); the power motor (4) is fixedly connected to the upper surface of the frame (2), and the output shaft of the power motor (4) is vertically downwardly connected to the rotating shaft (55); the rotating shaft (55) passes through the frame (2) and extends into the cavity (52); the bottom end of the rotating shaft (55) is fixedly connected to the cam plate ( 56), the cam plate (56) is located in the cavity (52) between the two pistons (53), the piston rod (57) is bent into a bent rod, a sealing gasket (13) matching the piston rod (57) is arranged inside the working room (51), the blade (12) of the cleaning knife (6) is provided with two sides, and is symmetrically arranged up and down, the frame (2) is also provided with a charging port (8) and a power module (10), the charging port (8) is provided with a contact (11), the power module (10) is electrically connected to the contact (11), the two ends of the working room (51) are respectively connected to the air pipe (7), and the air pipes (7) of the two working rooms (51) are respectively connected to the charging port ( 8) on both sides, the charging port (8) is further provided with a cleaning mechanism (9) inside, the cleaning mechanism (9) is used to clean the inside of the charging port (8), the cleaning mechanism (9) comprises a slide groove (91), a slider (92) and a film (93), the four corners of the inner wall of the charging port (8) are provided with slide grooves (91); the sliders (92) are respectively slidably connected to the corresponding slide grooves (91); the four corners of the film (93) are respectively detachably connected to the four sliders (92), the film (93) is provided with a through groove (94) in the middle, the inner and outer edges of the film (93) are both provided with thick edges (95), and the thickness of the two thick edges (95) is greater than the thickness of the middle of the film (93).

2. The walking mechanism of the intelligent robot according to claim 1, characterized in that: The through groove (94) is in the shape of a rectangle, a circle, or a waist-round hole.

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