Multi-functional robot and its walking mechanism

Abstract

This application relates to the field of tracked walking mechanism technology and discloses a walking mechanism for a multi-functional robot, mainly composed of a driven wheel assembly. The driven wheel assembly is movably arranged at the left end of the chassis. The driven wheel assembly consists of a driven wheel, a guide plate, a support column, and a support plate. The middle part of the guide plate is movably sleeved with the driven wheel, and a tensioning device is fixedly arranged at the right end of the guide plate. In this invention, the tensioning device elongates by pumping in grease, and simultaneously shortens by the slow overflow of grease. When the tensioning device shortens, the tension of the track assembly decreases, allowing the driven wheel and guide plate to slide left and right on the support column. This effectively facilitates the removal and detachment of the track assembly from the drive assembly, enabling rapid replacement of components in the multi-functional robot's walking mechanism. Compared to the traditional operation of removing the articulated track plates of the track assembly, this effectively reduces maintenance time and labor intensity.

Description

Technical Field

[0001] This application relates to the field of tracked walking mechanism technology, and in particular to a multifunctional robot and its walking mechanism. Background Technology

[0002] A tracked traveling mechanism is a mechanism used to move heavy machinery and vehicles. It typically consists of a track assembly and a drive assembly. The track assembly is composed of a series of hinged track plates that can adapt to the terrain by bending and changing. The drive assembly consists of drive wheels, driven wheels, track rollers, and support rollers. The drive assembly effectively supports the track assembly and propels the track assembly forward or backward through driving force. Tracked traveling mechanisms have strong mobility and stability, and can adapt to harsh terrain and rugged ground, so they are widely used in various fields.

[0003] When replacing or maintaining parts of existing multi-functional robot walking mechanisms, the track assembly needs to be removed from the drive wheel, which requires disassembling the track plates and hinges. Only after removing the track assembly can replacement and maintenance be performed. This method consumes a lot of manpower and time. Therefore, there is an urgent need for a new mechanism to achieve rapid replacement of track walking mechanism parts. Summary of the Invention

[0004] This application proposes a walking mechanism for a multi-functional robot, which has the advantage of using a tensioning device to change the disassembly method of the track assembly, thereby enabling rapid replacement of the components of the multi-functional robot walking mechanism, and solving the problem of high manpower and time consumption caused by traditional disassembly methods.

[0005] To achieve the above objectives, this application adopts the following technical solution: a walking mechanism for a multifunctional robot, comprising:

[0006] Track assembly, which is movably fitted onto the outside of the drive assembly;

[0007] A drive assembly for driving a track assembly to move, the drive assembly including a chassis, and the cross-sectional shape of the chassis is an inverted "U" shape;

[0008] Driven wheel assembly: A driven wheel assembly is movably mounted on one end of the chassis to control the tension of the track assembly. The driven wheel assembly consists of a driven wheel, a guide plate, support columns, and a support plate. The support plate is fixedly mounted between the front and rear inner walls of the chassis. Four support columns are fixedly connected to the inner wall of the chassis on the left side of the support plate, and the four support columns are evenly arranged in a rectangle. The gap between the upper and lower support columns on the same side of the chassis is called a guide groove, and the guide plate is slidably connected to the support columns through the guide groove. A tensioning device is fixedly mounted on the right end of the guide plate.

[0009] Furthermore, the drive assembly also includes:

[0010] The chassis has a drive wheel and a travel motor fixedly mounted on the other end, with the travel motor being fixedly connected to the drive wheel by bolts.

[0011] Support rollers: Three support rollers are fixedly installed at the bottom of the chassis;

[0012] A chain roller is fixedly installed at the top center of the chassis.

[0013] Furthermore, the guide plate has a top view shape that is an "I" shape with equal lengths at both ends, and the middle part of the guide plate is movably connected to the driven wheel.

[0014] Furthermore, the tensioning device includes:

[0015] A tensioning plate, which is fixedly connected to the right end of a guide plate by bolts;

[0016] A tensioning rod, one end of which is fixedly connected to a tensioning plate;

[0017] A tensioning tube, one end of which is movably connected to the other end of a tensioning rod;

[0018] A grease nipple, one end of which is fixedly connected to the other end of the tensioning tube, is used to pump grease into the tensioning tube to achieve the extension of the tensioning device. An oil inlet hole is provided on the outer wall of the chassis corresponding to the grease nipple.

[0019] A one-way valve is fixedly installed at the other end of the grease nipple. The shortening of the tightening device is achieved by loosening the one-way valve to allow grease to slowly overflow from the grease nipple.

[0020] A tension spring is used to fix the tension plate and the tension tube together.

[0021] Furthermore, the driven wheel assembly also includes:

[0022] The support plate is fixedly provided with a fixing device;

[0023] A shielding device is fixedly installed at the left end of the fixing device, and the shielding device is located below the tensioning device.

[0024] Furthermore, the fixing device includes:

[0025] The fixed body has a support groove in the upper half of the support plate, and the support plate is movably engaged with the fixed body through the support groove. The cross-sectional shape of the fixed body is a rectangle in the upper half and a triangle in the lower half, and the height of the fixed body corresponds to the tensioning device.

[0026] Furthermore, the blocking device includes:

[0027] A shielding frame, one end of which is fixedly connected to the lower left half of the fixing body, and the cross-sectional shape of the shielding frame is V-shaped;

[0028] The shielding component has a shielding hole inside the shielding frame, and the shielding frame is movably connected to two shielding components through the shielding hole. The shielding component is made of rubber and can be filled with air. The upper end of the shielding component is fixedly connected to the upper inner wall of the shielding hole, and the lower end of the shielding component is in movable contact with the lower inner wall of the shielding hole. The right end of the shielding component is sleeved with the shielding frame, and the left end of the shielding component can contact the tensioning plate.

[0029] Furthermore, the shielding device also includes:

[0030] The limiting component is fixedly sleeved inside both the upper and lower ends of the blocking component, which is used to push the blocking component to retract and expand.

[0031] Furthermore, the limiting member includes:

[0032] The limiting ball is a sphere and is located inside the shielding frame. The limiting ball is located outside the right end of the shielding component. The diameter of the limiting ball is larger than the thickness of the shielding component, and the diameter of the limiting ball is adapted to the diameter of the shielding hole of the shielding frame.

[0033] A limiting tube, one end of which is fixedly connected to a limiting ball, and the outer surface of the limiting tube is fixedly sleeved with a blocking component;

[0034] A limiting rod, one end of which is movably sleeved with the other end of a limiting tube, and the end of the limiting rod is connected to the inner wall of the limiting tube by a limiting spring; the outer surface of the limiting rod is movably sleeved with a blocking component.

[0035] A limiting ball, wherein the limiting ball is a sphere, and the outer surface of the limiting ball is fixedly sleeved with the left end of the blocking member. The limiting ball is fixedly connected to the other end of the limiting rod, and the diameter of the limiting ball is larger than that of the limiting rod.

[0036] Furthermore, the driven wheel assembly also includes:

[0037] The exhaust device is located on the front and rear sides of the tensioning device and is fixedly installed on the left end of the fixing device. The exhaust device is also fixedly installed on the top of the shielding device, and the airflow is used to clean the tensioning device.

[0038] Furthermore, the exhaust device includes:

[0039] The main tube is located diagonally above the tensioning device, and one end of the main tube is fixedly connected to the fixing body. The side wall of the main tube is provided with air holes, and the air holes of the main tube face the tensioning device.

[0040] A secondary tube, one end of which is movably connected to the other end of the main tube, and the end of the secondary tube is connected to the inner wall of the main tube by an exhaust spring. The other end of the secondary tube can contact the tensioning plate. An air hole is provided on the side wall of the secondary tube, and the air hole of the secondary tube faces the tensioning device.

[0041] The air pipe has one end passing through the shielding frame and being fixedly connected to the interior of the shielding component, and the other end being fixedly connected to the main pipe. It is used to discharge the air inside the shielding component into the exhaust device. The air pipe is bent in shape.

[0042] Furthermore, a multi-functional robot includes a walking mechanism for the multi-functional robot.

[0043] This application has the following beneficial effects:

[0044] This application provides a walking mechanism for a multi-functional robot. A guide plate movably mounts the driven wheel within a support column, and the guide plate is movably connected to a tensioning device. The tensioning device extends by pumping in grease, and simultaneously shortens by the slow overflow of grease. When the tensioning device shortens, the supporting force between the guide plate and the support plate weakens, reducing the tension of the track assembly. Consequently, the driven wheel and guide plate can slide left and right on the support column, effectively facilitating the removal of the track assembly from the drive assembly. This enables rapid replacement of components in the multi-functional robot's walking mechanism, significantly reducing maintenance time and labor intensity compared to the traditional method of removing the articulated track plates from the track assembly.

[0045] By setting a fixing device on the support plate and setting a shielding device on one side wall of the fixing device located below the tensioning device, the shielding device consists of a shielding frame, two shielding parts and four limiting parts. When the track walking mechanism moves normally, the two shielding parts are stretched out by the gravity of the limiting parts, thus forming two V-shaped shielding parts that effectively separate the tensioning device from the support roller and block dirt and dust from under the chassis, ensuring the overall cleanliness of the tensioning device and preventing the tensioning device from being contaminated with impurities and affecting the extension and contraction effect.

[0046] By connecting the shielding component to the exhaust device, and considering that the shielding component, limiting component, and exhaust device all have lateral telescopic functionality, when the tracked walking mechanism is in normal operation, the shielding component, limiting component, and exhaust device are stably positioned between the fixed body and the tensioning plate, further providing support to the driven wheel assembly. This effectively complements the use of the tensioning device, enhancing the guarantee of track assembly tension and further improving the working stability of the tracked walking mechanism. When the tracked walking mechanism is stopped for replacement, and the tensioning device is in a shortened state and moves towards the fixed body, the lateral contraction of the limiting component and exhaust device effectively reduces the lateral dimensions of the shielding component and exhaust device, and promotes the full discharge of air inside them. This not only allows the gas inside the shielding component to be discharged to the tensioning device through the exhaust device, effectively cleaning the moving tensioning device and preventing dust accumulation inside the tensioning device from affecting its subsequent use, but also enables the shielding component to have a self-cleaning effect during lateral contraction. This helps to dislodge dirt adhering to the lower surface of the shielding component due to the folds created by the contraction of the shielding component, thereby improving the dust removal effect inside the driven wheel assembly.

[0047] By adjusting the position of the shielding and limiting components within the shielding frame, after the tensioning device is disassembled, the operator can move the two limiting components located in the middle of the shielding device diagonally upwards, thereby causing the shielding component to be compressed diagonally. This effectively opens the middle space of the shielding device, allowing the dust accumulated above the shielding component to fall, thus preparing for further improvement in the efficiency and effectiveness of dust removal from the walking mechanism. At the same time, the shielding component also has a diagonal extension and retraction function, enabling it to generate further self-cleaning and further clean the shielding device in conjunction with the exhaust device, thereby further improving the overall dust removal effect within the driven wheel assembly. Attached Figure Description

[0048] The accompanying drawings, which form part of this specification, illustrate embodiments disclosed in this application and, together with the specification, serve to explain the principles disclosed in this application.

[0049] This application can be more clearly understood with reference to the accompanying drawings and the following detailed description, wherein:

[0050] Figure 1 This is a structural diagram of the present invention;

[0051] Figure 2 This is a front view structural diagram of the drive assembly and track assembly in this invention;

[0052] Figure 3 For the present invention Figure 2 A 3D diagram of the internal structure of a drive assembly that does not have a chassis.

[0053] Figure 4 This is a three-dimensional structural diagram of the driven wheel assembly and support wheel in this invention;

[0054] Figure 5 This is a three-dimensional structural diagram of the driven wheel, guide plate, and tensioning device in this invention;

[0055] Figure 6 This is a three-dimensional cross-sectional view of the tensioning device in this invention that does not have a tension spring.

[0056] Figure 7 This is a three-dimensional structural diagram of the fixing device, the shielding device, and the exhaust device in this invention;

[0057] Figure 8 This is a three-dimensional structural diagram of the fixing device in this invention;

[0058] Figure 9 This is a three-dimensional structural diagram of the partial shading device in this invention;

[0059] Figure 10 This is a three-dimensional structural diagram of one shielding member and two limiting members in this invention;

[0060] Figure 11 This is a three-dimensional structural diagram of the partial shielding device and the partial exhaust device in this invention;

[0061] Figure 12 This is a top perspective view of the support roller, tensioning device, fixing device, shielding device, and venting device in this invention.

[0062] Figure 13 This invention does not have a tensioning plate. Figure 12 Left view of the component structure;

[0063] Figure 14 This invention does not have a tensioning device. Figure 12 Left view of the component structure;

[0064] Figure 15 This is a three-dimensional structural diagram of the multifunctional robot with a walking mechanism in this invention.

[0065] In the diagram: 1. Drive assembly; 11. Chassis; 12. Drive wheel; 13. Travel motor; 14. Track roller; 15. Carrier roller; 2. Driven wheel assembly; 21. Driven wheel; 22. Guide plate; 23. Support column; 24. Support plate; 3. Tensioning device; 31. Tensioning plate; 32. Tensioning rod; 33. Tensioning tube; 34. Grease nipple; 35. One-way valve; 36. Tensioning spring; 4. Fixing device; 41. Fixing body; 5. Covering device; 51. Covering frame; 52. Covering component; 6. Limiting component; 61. Large limit ball; 62. Limiting tube; 63. Limiting rod; 64. Small limit ball; 7. Exhaust device; 71. Main pipe; 72. Secondary pipe; 73. Air pipe; 8. Track assembly. Detailed Implementation

[0066] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0067] Example 1

[0068] A walking mechanism for a multi-functional robot includes:

[0069] Please see Figures 1-2 Track assembly 8 is movably sleeved on the outside of drive assembly 1, and track assembly 8 is composed of multiple track plates hinged together. Track assembly 8 can adjust its state according to the flatness of the ground to improve its adaptability to various terrains.

[0070] Please see Figures 1-3 The drive assembly 1 is used to drive the track assembly 8 to move. The drive assembly 1 consists of a chassis 11, a drive wheel 12, a travel motor 13, support rollers 14, a track roller 15, and a driven wheel set 2. The cross-sectional shape of the chassis 11 is an inverted "U" shape, that is, the bottom of the chassis is open, which helps to place the components of the drive assembly 1. The travel motor 13 is fixedly installed at one end of the chassis 11, and the travel motor 13 is fixedly connected to the drive wheel 12 by bolts to provide power for the movement of the track assembly 8. Three support rollers 14 are fixedly installed at the bottom of the chassis 11, and the three support rollers 14 are horizontally and evenly arranged. A track roller 15 is fixedly installed at the top center of the chassis 11 to support the track assembly 8.

[0071] Please see Figures 2-5 Driven wheel assembly 2 is movably mounted at the other end of chassis 11 to control the tension of track assembly 8. Driven wheel assembly 2 consists of driven wheel 21, guide plate 22, support column 23, and support plate 24. Support plate 24 is fixedly mounted between the front and rear inner walls of chassis 11 and is located to the left of track roller 15. Four support columns 23 are fixedly connected to the inner wall of chassis 11 to the left of support plate 24. The four support columns 23 are evenly arranged in a rectangle between the upper and lower support columns 23 on the same side of chassis 11. The gap is called the guide groove, and the guide plate 22 is slidably connected to the support column 23 through the guide groove. The top view of the guide plate 22 is an "I" shape with equal lengths at both ends. The driven wheel 21 is movably sleeved with the guide plate 22. The guide plate 22 and the support column 23 restrict the movement of the driven wheel 21, so that the driven wheel 21 can slide left and right, but cannot move up and down. This effectively simplifies the disassembly steps of the driven wheel group 2 and effectively ensures the stability of the driven wheel group 2 in the chassis 11, preventing the tracked walking mechanism from swaying up and down during operation.

[0072] Please see Figures 3-6 Tensioning device 3 is fixedly installed at the right end of guide plate 22. It is used to change the tension of track assembly 8, so as to realize quick replacement of track assembly 8 during maintenance. Tensioning device 3 includes:

[0073] The tensioning plate 31 is fixedly connected to the right end of the guide plate 22 by bolts. It is used to connect and fix the guide plate 22 and the tensioning device 3. When the tensioning device 3 is in the extended state, it helps to provide support force to the guide plate 22 and ensure the tension of the track assembly 8. When the tensioning device 3 is in the shortened state, it helps the guide plate 22 to drive the tensioning device 3 to move left and right, which facilitates the disassembly and replacement of parts.

[0074] The tensioning rod 32 has one end fixedly connected to the tensioning plate 31 and is used to adjust the length of the tensioning device 3, change the extension and contraction state of the tensioning device 3 at different times, and thus achieve different functions.

[0075] The tensioning tube 33 has one end movably connected to the other end of the tensioning rod 32. It is used to adjust the length of the tensioning device 3 in conjunction with the tensioning rod 32, thereby changing the tension of the track assembly 8. When grease is pumped into the tensioning tube 33, most of the tensioning rod 32 extends out of the tensioning tube 33, and the tensioning device 3 is stretched. When grease is withdrawn from the tensioning tube 33, most of the tensioning rod 32 retracts into the tensioning tube 33, and the tensioning device 3 is shortened. Thus, the driven wheel 21 and the guide plate 22 can slide left and right through the extension and retraction of the tensioning device 3.

[0076] The grease nipple 34 is fixedly connected at one end to the other end of the tensioning tube 33. Grease is pumped into the tensioning tube 33 through the grease nipple 34 to extend the tensioning device 3. The longer the tensioning device 3 extends, the higher the tension of the track assembly 8. The outer wall of the chassis 11 corresponding to the grease nipple 34 is provided with an oil inlet hole to facilitate the operator to pump grease into or out of the tensioning device 3.

[0077] One-way valve 35 is fixedly installed at the other end of grease nipple 34. By loosening one-way valve 35, grease is slowly overflowed from grease nipple 34 to shorten tensioning device 3. The more tensioning device 3 is shortened, the less tension the track assembly 8 is.

[0078] The tension spring 36 is fixedly connected to the tension plate 31 and the tension tube 33. The elastic force of the tension spring 36 helps the tensioning device 3 to shorten when the amount of grease inside it decreases.

[0079] When the track travel mechanism is working normally, the tensioning device 3 is filled with grease and extends. At this time, one end of the tensioning device 3 is fixed to the guide plate 22, and the other end abuts against the support plate 24, so that the driven wheel assembly 2 is stably set in the chassis 11, and at the same time, the tension of the track assembly 8 is effectively guaranteed to be large. At this time, the overall stability of the drive assembly 1 and the track assembly 8 is high. When the track travel mechanism is being maintained or replaced, first loosen the one-way valve 35, so that the grease slowly overflows from the grease nipple 34 until the tensioning device 3 is completely shortened, that is, the tensioning device 3... One end is no longer in contact with the support plate 24. At this time, the driven wheel assembly 2 slides to the right as a whole. After the track assembly 8 is completely relaxed, the track assembly 8 can be quickly replaced. If the bolts between the drive wheel 12 and the travel motor 13 are removed, the drive wheel 12 can be quickly replaced. If the parts in the driven wheel assembly 2 are replaced, the track assembly 8 only needs to be taken out from the rim of the driven wheel 21, and then the driven wheel assembly 2 is slid to the left along the guide groove to remove the driven wheel 21, the guide plate 22 and the tensioning device 3 for quick maintenance.

[0080] Example 2

[0081] Based on Embodiment 1, the driven wheel assembly 2 also includes:

[0082] Please see Figures 7-8 , Figure 10 , Figures 12-14 The fixing device 4 is provided on the support plate 24 to cooperate with the support plate 24 to achieve stable support for the tensioning device 3. The fixing device 4 includes:

[0083] The upper half of the support plate 24 of the fixed body 41 has a support groove, and the support plate 24 is movably engaged with the fixed body 41 through the support groove. When the support plate 24 is removed from the inner wall of the chassis 11, the fixed device 4 can be detached from the support plate 24, so that the fixed device 4 and the shielding device 5 connected to the fixed device 4 can be removed as a whole, and these components can be replaced as a whole. The cross-sectional shape of the fixed body 41 is a rectangle in the upper half and a triangle in the lower half, and the height of the fixed body 41 corresponds to the tensioning device 3. It is used to provide a support point for the tensioning device 3 when the tensioning device 3 is extended, so as to ensure that the tension of the track assembly 8 is high and the driven wheel group 2 is stable and does not wobble, so that the track travel mechanism can travel normally.

[0084] Please see Figure 7 , Figures 9-14 The shielding device 5 is fixedly installed at the left end of the fixing device 4, and the shielding device 5 is located below the tensioning device 3. It is used to separate the tensioning device 3 and the support wheel 14 to block the dust and dirt below. The shielding device 5 includes:

[0085] The shielding frame 51 has one end fixedly connected to the lower left half of the fixing body 41, and the cross-sectional shape of the shielding frame 51 is V-shaped. The V-shaped design of the shielding frame 51 helps dust to drain downwards. At the same time, the shape of the shielding frame 51 corresponds to the shape of the lower half of the fixing body 41, which can effectively ensure the accuracy of the installation position of the shielding frame 51 and the effectiveness of its use.

[0086] The shielding component 52 has a shielding hole inside the shielding frame 51, and the shielding frame 51 is movably connected to the two shielding components 52 through the shielding hole. The shielding components 52 are made of rubber and can be filled with air. When the shielding component 52 is extended, air enters into the shielding component 52 for later use. When the shielding component 52 is retracted, the air inside the shielding component 52 is compressed and discharged, realizing the cleaning of other parts. The upper end of the shielding component 52 is fixedly connected to the upper inner wall of the shielding hole, and the shielding component... The lower end of 52 is in contact with the lower inner wall of the blocking hole. That is, the blocking part 52 will obliquely contract and expand due to the movement of its lower end during a certain period of time, thereby achieving different functions. The right end of the blocking part 52 is sleeved with the blocking frame 51, and the left end of the blocking part 52 can contact the tensioning plate 31. That is, the fixing point of the blocking part 52 is the right end rather than the left end. Thus, the blocking part 52 can completely cover the entire tensioning device 3, and can also disengage from the tensioning device 3, which facilitates the movement of the tensioning device 3.

[0087] Please see Figures 9-11 , Figures 13-14 The upper and lower ends of the blocking member 52 are both fixedly fitted with the limiting member 6, which is used to push the blocking member 52 to retract and expand, realizing different functions at different stages. The limiting member 6 includes:

[0088] The limiting ball 61 is a sphere located inside the shielding frame 51 and outside the right end of the shielding member 52. The diameter of the limiting ball 61 is larger than the thickness of the shielding member 52, and the diameter of the limiting ball 61 is adapted to the diameter of the shielding hole in the shielding frame 51. The limiting ball 61 can effectively drive the shielding member 52 to move, so that the shielding member 52 can change its shape according to the needs to achieve different functions. It also helps to reduce the friction between the shielding member 52 and the shielding frame 51 during the telescopic movement, thus extending the service life of the shielding member 52.

[0089] The limiting tube 62 has one end fixedly connected to the limiting ball 61, and the outer surface of the limiting tube 62 is fixedly sleeved with the shielding member 52 to ensure the position and oblique unfolding shape of the upper and lower ends of the shielding member 52, thereby improving the dust prevention effect of the shielding device 5 on the tensioning device 3.

[0090] The limiting rod 63 has one end movably connected to the other end of the limiting tube 62, and the end of the limiting rod 63 is connected to the inner wall of the limiting tube 62 by a limiting spring. The outer surface of the limiting rod 63 is movably connected to the blocking member 52. The setting of the limiting rod 63 enables the limiting member 6 to have a lateral telescopic function, so that the blocking member 52 can change its length according to the change of the tensioning device 3. This can effectively clean the tensioning device 3 and the blocking device 5, and also provide support for the driven wheel assembly 2, thereby increasing the protection of the tension of the track assembly 8.

[0091] The limiting ball 64 is a sphere, and its outer surface is fixedly sleeved with the left end of the blocking member 52. The limiting ball 64 is fixedly connected to the other end of the limiting rod 63, and the diameter of the limiting ball 64 is larger than that of the limiting rod 63. The use of the limiting ball 64 helps to reduce the friction between the limiting rod 63 and the blocking member 52, and facilitates the limiting member 6 to change its lateral extension and retraction state.

[0092] When the track travel mechanism is working normally, i.e., when the tensioning device 3 is in the extended state, one end of the tensioning device 3 is pressed against the fixed body 41. At this time, the blocking member 52 is stretched out under the gravity of the lower limiting member 6, so that the two blocking members 52 together form a V-shape, effectively blocking dust from below the blocking device 5, and preventing the track travel mechanism from bringing in dust and mud during operation, which would affect the normal use of the tensioning device 3. When the track travel mechanism is maintained or replaced, and the tensioning device 3 has shortened and moved to the right, the tensioning plate 31 will move horizontally to the right, so that the two blocking members 52 are pushed to the right as a whole. The effective push of the limiting rod 63 overcomes the elastic force of the limiting spring and continuously retracts into the limiting tube 62, thereby effectively driving the shielding part 52 to retract laterally, effectively cleaning the dust and impurities adhering to the surface of the shielding part 52, and improving the self-cleaning ability of the shielding part 52; when the track walking mechanism is maintained or replaced, and the tensioning device 3 is disassembled, the staff can apply an oblique pushing force to the two limiting parts 6 located below the middle of the shielding device 5, so that the two shielding parts 52 are obliquely compressed, thereby opening the gap between the two shielding parts 52, effectively providing space for the dust above the shielding device 5 to fall, which helps to further improve the dust removal effect.

[0093] Example 3

[0094] Based on Embodiment 2, the driven wheel assembly 2 further includes:

[0095] Please see Figure 7 , Figures 11-14 The exhaust device 7 is located on the front and rear sides of the tensioning device 3, and is fixedly installed on the left end of the fixing device 4. The exhaust device 7 is fixedly installed on the top of the shielding device 5. It uses airflow to clean the tensioning device 3. The exhaust device 7 includes:

[0096] The main pipe 71 is located diagonally above the tensioning device 3, and one end of the main pipe 71 is fixedly connected to the fixing body 41. The side wall of the main pipe 71 is provided with air holes, and the air holes of the main pipe 71 face the tensioning device 3. The setting of the main pipe 71 helps to discharge the air in the main pipe 71 through the air holes to the tensioning device 3, thereby cleaning the dust in the tensioning device 3.

[0097] The auxiliary pipe 72 has one end movably connected to the other end of the main pipe 71, and this end of the auxiliary pipe 72 is connected to the inner wall of the main pipe 71 by an exhaust spring. The other end of the auxiliary pipe 72 can contact the tensioning plate 31. The auxiliary pipe 72 can move inside the main pipe 71, that is, the exhaust device 7 has a lateral telescopic function, so that the exhaust device 7 can change its length according to the change of the tensioning device 3, further supporting the driven wheel assembly 2 and increasing the protection of the tension of the track assembly 8. The side wall of the auxiliary pipe 72 is provided with air holes, and the air holes of the auxiliary pipe 72 face the tensioning device 3. The setting of the auxiliary pipe 72 helps to discharge the air in the auxiliary pipe 72 through the air holes to the tensioning device 3, further realizing the cleaning of dust in the tensioning device 3.

[0098] The air pipe 73 has one end passing through the shielding frame 51 and being fixedly connected to the interior of the shielding member 52, and the other end being fixedly connected to the main pipe 71. It is used to discharge the air in the shielding member 52 into the exhaust device 7 so as to clean the tensioning device 3. The air pipe 73 is bent to help avoid the grease nipple 34 on the tensioning device 3 and prevent the grease nipple 34 from colliding with the air pipe 73 and affecting the use of both.

[0099] When the shield 52 is retracting, the shield 52 will discharge to the air pipe 73, the main pipe 71 and the auxiliary pipe 72, and discharge to the tensioning device 3 through the air hole on the exhaust device 7, effectively blowing the tensioning device 3, causing the dust on the tensioning device 3 to be discharged downward, and further ensuring the cleanliness of the working environment of the tensioning device 3.

[0100] Example 4

[0101] Based on Example 3, please refer to Figure 15 A multi-functional robot includes a walking mechanism as described above, a rotating mechanism located above the walking mechanism, and a control mechanism located on the rotating mechanism, so that the staff can control the multi-functional robot to perform various functions such as walking, rotating, and cleaning. A robotic arm is located in front of the control room for performing operations such as cleaning and dismantling.

[0102] The working principle of the method of using this invention is as follows:

[0103] When the track walking mechanism needs maintenance or replacement, first loosen the one-way valve 35 to allow grease to slowly overflow from the grease fitting 34. The tension rod 32 and tension tube 33 will contract under the tension of the tension spring 36 until the tension device 3 is completely shortened. One end of the tension device 3 is no longer in contact with the support plate 24. At this time, the driven wheel 21, guide plate 22, and tension device 3 can slide to the right, thereby reducing the tension of the track assembly 8. After the track assembly 8 is completely relaxed, the track assembly 8 can be quickly replaced without disassembling the track plates. Compared with traditional disassembly operations, the contraction method of the tension device 3 can effectively reduce maintenance time and labor intensity, and improve the replacement efficiency of the multi-functional robot walking mechanism parts. If the drive wheel 12 needs to be replaced... When replacing parts, simply remove the bolts connecting the drive wheel 12 to the travel motor 13 to quickly replace the drive wheel 12. If it is necessary to replace parts in the driven wheel assembly 2, simply remove the track assembly 8 from the rim of the driven wheel 21, and then slide the driven wheel assembly 2 to the left along the guide groove to remove the driven wheel 21, guide plate 22, and tensioning device 3 for quick maintenance. After the maintenance is completed, restore the drive assembly 1 and track assembly 8 to their original positions. The tensioning device 3 only needs to have grease pumped into the tensioning tube 33 through the grease nipple 34 to extend the tensioning device 3 until one end of the tensioning device 3 contacts and presses against the support plate 24, thus supporting and fixing the driven wheel assembly 2 with the tensioning device 3, increasing the tension of the track assembly 8, and ensuring the normal operation of the track travel mechanism.

[0104] When the tracked walking mechanism is working normally, one end of the tensioning device 3 contacts and presses against the fixing device 4. The blocking member 52 in the blocking device 5 is stretched out under the gravity of the lower limiting member 6, and the left end of the blocking member 52 contacts the tensioning plate 31. Thus, the two blocking members 52 together form a V-shape, effectively separating the tensioning device 3 from the support roller 14, preventing mud brought into the chassis 11 during travel from contacting the tensioning device 3 and affecting its normal use. When the tracked walking mechanism needs maintenance, the tensioning device 3 first retracts. A short operation is performed, followed by movement to the right to reduce the tension of the track assembly 8. During the movement of the tensioning device 3 to the right, the tensioning plate 31 applies a pushing force to the blocking member 52 in contact with it, causing the limiting rod 63 located inside the blocking member 52 to overcome the elastic force of the limiting spring and retract into the limiting tube 62. That is, the limiting rod 6 retracts, thereby effectively driving the blocking member 52 to retract laterally. This not only helps the blocking member 52 to produce a self-cleaning effect, making it easier to clean the dust and dirt generated on the outer surface of the blocking device 5 due to the blocking, but also effectively improves the blocking effect. The lifespan of device 5 is extended, reducing the frequency of replacement of the shielding device 5. Simultaneously, when the shielding device 5 retracts laterally, the air inside is discharged through the exhaust device 7 to the tensioning device 3, causing the moving tensioning device 3 to be impacted by the upward airflow, effectively removing dust and improving the cleanliness inside the tensioning device 3. After the tensioning device 3 is removed from the driven wheel assembly 2, the operator can push the two limiting pieces 6 located below the middle of the shielding device 5 to move upwards at an angle, effectively causing the shielding piece 52 to retract at an angle. This not only increases the self-cleaning effect of the shielding piece 52, further cleaning the dust and dirt generated on the outer surface of the shielding device 5 due to the shielding, but also creates an open space in the middle of the shielding device 5 due to the angled retraction of the shielding piece 52. Thus, when the shielding device 5 retracts at an angle and the air inside is discharged through the exhaust device 7, the dust above the shielding piece 52 moves downwards through the gap between the two shielding pieces 52, helping to remove the dust above the shielding device 5 in a timely manner, improving the cleanliness of the environment inside the driven wheel assembly 2, and further reducing the probability of the tensioning device 3 being affected by dust subsequently.

Claims

1. A walking mechanism for a multifunctional robot, characterized in that, include: Track assembly (8), said track assembly (8) being movably fitted onto the outside of drive assembly (1); A drive assembly (1) is used to drive the track assembly (8) to move. The drive assembly (1) includes a chassis (11), and the cross-sectional shape of the chassis (11) is an inverted "U" shape. Driven wheel assembly (2): Driven wheel assembly (2) is movably provided at one end of the chassis (11) to control the tension of the track assembly (8). The driven wheel assembly (2) consists of driven wheel (21), guide plate (22), support column (23) and support plate (24). The support plate (24) is fixedly provided between the front and rear inner walls of the chassis (11). Four support columns (23) are fixedly connected to the inner wall of the chassis (11) on the left side of the support plate (24). The four support columns (23) are evenly arranged in a rectangle. The gap between the upper and lower support columns (23) on the same side of the chassis (11) is called the guide groove. The guide plate (22) is slidably connected to the support column (23) through the guide groove. A tensioning device (3) is fixedly provided at the right end of the guide plate (22). The tensioning device (3) includes: Tensioner plate (31), which is fixedly connected to the right end of guide plate (22) by bolts; The driven wheel assembly (2) also includes: Fixing device (4), the fixing device (4) is fixedly installed on the support plate (24); A shielding device (5) is fixedly provided on the left end of the fixing device (4), and the shielding device (5) is located below the tensioning device (3); The fixing device (4) includes: The upper half of the support plate (24) of the fixed body (41) is provided with a support groove, and the support plate (24) is movably connected to the fixed body (41) through the support groove. The cross-sectional shape of the fixed body (41) is a rectangle in the upper half and a triangle in the lower half, and the height of the fixed body (41) corresponds to the tensioning device (3). The shielding device (5) includes: The shielding frame (51) has one end fixedly connected to the lower left half of the fixing body (41), and the cross-sectional shape of the shielding frame (51) is V-shaped. The shielding component (52) has a shielding hole in the shielding frame (51), and the shielding frame (51) is movably connected to the two shielding components (52) through the shielding hole. The shielding component (52) is made of rubber and can be filled with air. The upper end of the shielding component (52) is fixedly connected to the upper inner wall of the shielding hole, and the lower end of the shielding component (52) is in movable contact with the lower inner wall of the shielding hole. The right end of the shielding component (52) is connected to the shielding frame (51), and the left end of the shielding component (52) can contact the tensioning plate (31). The limiting member (6) is fixedly sleeved inside the upper and lower ends of the blocking member (52) to push the blocking member (52) to shrink and expand.

2. The walking mechanism of a multifunctional robot according to claim 1, characterized in that, The drive assembly (1) also includes: The other end of the chassis (11) is fixedly equipped with a drive wheel (12) and a walking motor (13), and the walking motor (13) is fixedly connected to the drive wheel (12) by bolts; Support wheels (14), three support wheels (14) are fixedly provided at the bottom end of the chassis (11). A chain roller (15) is fixedly installed at the top center of the chassis (11).

3. The walking mechanism of a multifunctional robot according to claim 1, characterized in that, The guide plate (22) has a top view shape of an "I" shape with equal lengths at both ends, and the middle part of the guide plate (22) is movably connected to the driven wheel (21).

4. The walking mechanism of a multifunctional robot according to claim 1, characterized in that, The tensioning device (3) further includes: Tensioning rod (32), one end of which is fixedly connected to tensioning plate (31); Tensioning tube (33), one end of which is movably connected to the other end of tensioning rod (32); The grease nipple (34) is fixedly connected to the other end of the tension tube (33). The tensioning device (3) is extended by pumping grease into the tension tube (33) through the grease nipple (34). The outer wall of the chassis (11) corresponding to the grease nipple (34) is provided with an oil inlet hole. One-way valve (35), the other end of the grease nipple (34) is fixedly provided with a one-way valve (35), and the shortening of the tensioning device (3) is achieved by loosening the one-way valve (35) so that the grease slowly overflows from the grease nipple (34); The tensioning spring (36) is used to fix the tensioning plate (31) and the tensioning tube (33) together.

5. The walking mechanism of a multifunctional robot according to claim 1, characterized in that, The limiting member (6) includes: A limiting ball (61) is located inside the shielding frame (51) and outside the right end of the shielding member (52). The diameter of the limiting ball (61) is greater than the thickness of the shielding member (52), and the diameter of the limiting ball (61) is adapted to the diameter of the shielding hole of the shielding frame (51). Limiting tube (62), one end of which is fixedly connected to the limiting ball (61), and the outer surface of the limiting tube (62) is fixedly sleeved with the shielding member (52); Limiting rod (63), one end of the limiting rod (63) is movably sleeved with the other end of the limiting tube (62), and the end of the limiting rod (63) is connected to the inner wall of the limiting tube (62) by a limiting spring, and the outer surface of the limiting rod (63) is movably sleeved with the blocking member (52); The limiting ball (64) has its outer surface fixedly sleeved with the left end of the blocking member (52). The limiting ball (64) is fixedly connected to the other end of the limiting rod (63), and the diameter of the limiting ball (64) is larger than the diameter of the limiting rod (63).

6. The walking mechanism of a multifunctional robot according to claim 1, characterized in that, The driven wheel assembly (2) also includes: The exhaust device (7) is located on the front and rear sides of the tensioning device (3), and the exhaust device (7) is fixedly installed on the left end of the fixing device (4). The exhaust device (7) is fixedly installed on the top of the shielding device (5) and is used to clean the tensioning device (3) by means of airflow.

7. The walking mechanism of a multifunctional robot according to claim 6, characterized in that, The exhaust device (7) includes: The main pipe (71) is located diagonally above the tensioning device (3), and one end of the main pipe (71) is fixedly connected to the fixing body (41). The side wall of the main pipe (71) is provided with air holes, and the air holes of the main pipe (71) face the tensioning device (3). A secondary tube (72) is provided, one end of which is movably connected to the other end of the main tube (71), and the other end of the secondary tube (72) is connected to the inner wall of the main tube (71) by an exhaust spring. The other end of the secondary tube (72) can contact the tensioning plate (31). The side wall of the secondary tube (72) is provided with an air hole, and the air hole of the secondary tube (72) faces the tensioning device (3). The air pipe (73) has one end passing through the shielding frame (51) and is fixedly connected to the interior of the shielding member (52), and the other end of the air pipe (73) is fixedly connected to the main pipe (71) for discharging the air in the shielding member (52) into the exhaust device (7). The air pipe (73) is bent.

8. A multifunctional robot, characterized in that, Including the walking mechanism of a multifunctional robot as described in any one of claims 1-7.

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