Efficient anti-skid wear-resistant walking rubber roller for robot

Abstract

The utility model relates to an efficient anti-slip wear-resistant walking rubber roller for a robot, which belongs to the technical field of walking robots and comprises a robot base, a rotating rod is rotatably connected to the inside of the robot base through a bearing, and the left side of the rotating rod penetrates through and extends to the left side of the robot base and is fixedly provided with a walking roller. The walking rollers are provided with dismounting mechanisms facilitating replacement, and the robot base is provided with a driving mechanism used for driving the walking rollers. According to the efficient anti-skid wear-resistant walking rubber roller for the robot, through cooperation of a rotating handle, a connecting rod can be driven to rotate, so that a first driving gear is driven to rotate, a first driven gear can be driven to rotate through rotation of the first driving gear, so that a threaded rod is driven to rotate, and a threaded plate can be driven to move through rotation of the threaded rod; and therefore, the supporting rod is driven to move so as to drive the supporting plate to support the rubber pad, and the rubber pad can be conveniently detached and replaced.

Description

Technical Field

[0001] The utility model relates to the technical field of walking robots, in particular to a highly efficient, anti-skid and wear-resistant walking rubber roller for robots. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It has basic characteristics such as perception, decision-making, and execution. It can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] For example, the Chinese utility model patent announcement number (CN217530834U) discloses a robot chassis walking device, which includes a chassis body, connecting shafts are installed on the four sides of the chassis body, and a roller is fixed on the other end of the connecting shaft, an installation box is arranged above the roller, scrapers are hinged on the left and right sides of the top of the inner wall of the installation box, and a plurality of first springs are fixed on the surface of the scraper facing each other, a lifting structure is arranged between the front and rear sides of the chassis body and between the installation boxes, a fixing plate is bolted on the left and right sides of the chassis body, and a buffer plate is arranged on the side of the fixing plate away from the chassis body, a fixing groove is opened on the surface of the fixing plate, and a buffer structure is arranged inside the fixing groove. This utility model solves the problem that the existing robot chassis walking device cannot provide buffer protection for the device during movement, resulting in the problem that the robot chassis is easily damaged after colliding with foreign objects during movement, but the wheels will wear out after long-term friction with the ground, and it is not very convenient to replace the wheels in this patent, resulting in the robot being unable to be efficient during walking, affecting practicality. Utility Model Content

[0004] In view of the shortcomings of the prior art, the utility model provides an efficient, non-slip and wear-resistant walking rubber roller for robots, which has the advantages of convenient and quick replacement of wheels to ensure the efficiency of robot walking and solves the problem of wear of wheels after long-term friction with the ground. However, the patent is not very convenient when replacing the wheels, resulting in the robot's inefficiency during walking, affecting the practicality.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an efficient, non-slip and wear-resistant walking rubber roller for a robot, comprising a robot base, wherein a rotating rod is rotatably connected to the inside of the robot base through a bearing, the left side of the rotating rod penetrates and extends to the left side of the robot base, and a walking roller is fixed thereon, a disassembly mechanism for facilitating replacement is provided on the walking roller, and a driving mechanism for driving the walking roller is provided on the robot base;

[0006] The disassembly mechanism includes a turning handle, which is rotatably connected to the left side of the walking roller through a bearing, and the other end of the turning handle penetrates and extends to the inside of the walking roller and is fixed with a connecting rod, a first driving gear is fixed to the outside of the connecting rod, a first driven gear is meshed with the outside of the first driving gear, a threaded rod is fixed to the inside of the first driven gear, both ends of the threaded rod are respectively rotatably connected to the inside of the walking roller through bearings, and a support assembly is arranged on the threaded rod.

[0007] Furthermore, there are two rotating rods, which are symmetrically distributed front to back about the central axis of the robot base. Two walking rollers are distributed on each rotating rod, which are symmetrically distributed left to right about the central axis of the rotating rod.

[0008] Furthermore, two threads in opposite directions are distributed on the outer side of the threaded rod and are symmetrically distributed up and down with respect to the central axis of the threaded rod.

[0009] Furthermore, the support assembly includes a threaded plate, which is threadedly connected to the outer side of the threaded rod, a support rod is fixed to the upper surface of the threaded plate, the other end of the support rod passes through and extends to the outer side of the walking roller and is fixed with a support plate, and a rubber pad is provided on the outer side of the walking roller.

[0010] Furthermore, there are two threaded plates, which are symmetrically distributed up and down with respect to the central axis of the threaded rod. Two support rods are distributed on each threaded plate, which are symmetrically distributed left and right with respect to the central axis of the threaded plate.

[0011] Furthermore, the driving mechanism includes a dual-axis motor, which is fixed to the rear inner wall of the robot base, and second driving gears are fixed to the output shafts on both sides of the dual-axis motor, and second driven gears are meshed on the outer sides of the two second driving gears, and the two second driven gears are fixed to the outer side of the rear rotating rod, and a first transmission roller is fixed to the outer side of the rear rotating rod, and a transmission belt is connected to the outer side of the first transmission roller, and the other end of the transmission belt is connected to the second transmission roller, and the second transmission roller is fixed to the outer side of the front rotating rod.

[0012] Furthermore, the number of the first transmission rollers is two, and they are symmetrically distributed about the central axis of the rear rotating rod.

[0013] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0014] 1. The efficient, non-slip and wear-resistant walking rubber roller for robots can drive the connecting rod to rotate through the cooperation of the turning handle, thereby driving the first driving gear to rotate. The first driving gear can drive the first driven gear to rotate, thereby driving the threaded rod to rotate. The threaded plate can be driven to move through the rotation of the threaded rod, thereby driving the support rod to move, so as to drive the support plate to support the rubber pad, so that the rubber pad can be easily disassembled and replaced.

[0015] 2. The efficient, non-slip and wear-resistant walking rubber roller for robots can drive the second driving gears on both sides to rotate through the cooperation of the dual-axis motor, thereby driving the two second driven gears to rotate, so that the rear rotating rod can rotate. The rotation of the rear rotating rod can drive the first transmission roller to rotate, thereby driving the transmission belt transmission. The transmission of the transmission belt can drive the second transmission roller to rotate, thereby driving the front side to rotate, so as to drive the walking roller to move synchronously and improve the walking power of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the disassembly mechanism of the utility model;

[0018] Figure 3 It is a partial schematic diagram of the disassembly mechanism of the utility model;

[0019] Figure 4 It is a schematic diagram of the driving mechanism of the utility model.

[0020] In the figure: 1 robot base, 2 rotating rod, 3 walking roller, 4 disassembly mechanism, 401 turning handle, 402 connecting rod, 403 first driving gear, 404 first driven gear, 405 threaded rod, 406 threaded plate, 407 support rod, 408 support plate, 409 rubber pad, 5 driving mechanism, 501 dual-axis motor, 502 second driving gear, 503 second driven gear, 504 first transmission roller, 505 transmission belt, 506 second transmission roller. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] See also Figure 1The efficient, non-slip, and wear-resistant walking rubber roller for robots in this embodiment includes a robot base 1. The interior of the robot base 1 is rotatably connected to a rotating rod 2 through a bearing. The left side of the rotating rod 2 penetrates and extends to the left side of the robot base 1, and is fixed with a walking roller 3. The walking roller 3 is provided with a disassembly mechanism 4 for easy replacement, so that the robot maintains high efficiency during movement and walking. The robot base 1 is provided with a driving mechanism 5 for driving the walking roller 3, so that the robot has stronger power when moving.

[0023] There are two rotating rods 2, which are symmetrically distributed front and back with respect to the central axis of the robot base 1. Two walking rollers 3 are distributed on each rotating rod 2, which are symmetrically distributed left and right with respect to the central axis of the rotating rod 2, so that the robot can maintain balance and stability when walking.

[0024] See also Figure 2-3 In order to keep the robot efficient during the moving and walking process, the disassembly mechanism 4 in this embodiment includes a turning handle 401, which is rotatably connected to the left side of the walking roller 3 through a bearing, and the other end of the turning handle 401 penetrates and extends to the inside of the walking roller 3, and is fixed with a connecting rod 402, and the turning handle 401 drives the connecting rod 402 to rotate, and a first driving gear 403 is fixed to the outside of the connecting rod 402, and the connecting rod 402 drives the first driving gear 403 to rotate, and a first driven gear 404 is meshed on the outside of the first driving gear 403, and the first driving gear 403 drives the first driven gear 404 to rotate, and a threaded rod 405 is fixed to the inside of the first driven gear 404, and the first driven gear 404 drives the threaded rod 405 to rotate, and both ends of the threaded rod 405 are respectively rotatably connected to the inside of the walking roller 3 through bearings, and a support assembly is arranged on the threaded rod 405.

[0025] In this example, two threads in opposite directions are distributed on the outer side of the threaded rod 405 and are symmetrically distributed up and down about the central axis of the threaded rod 405 .

[0026] It should be noted that the support assembly includes a threaded plate 406, which is threadedly connected to the outer side of the threaded rod 405, and the threaded rod 405 drives the threaded plate 406 to move. A support rod 407 is fixed to the upper surface of the threaded plate 406, and the threaded plate 406 drives the support rod 407 to move. The other end of the support rod 407 penetrates and extends to the outer side of the walking roller 3, and is fixed with a support plate 408. The support rod 407 drives the support plate 408 to move. A rubber pad 409 is provided on the outer side of the walking roller 3. The movement of the support plate 408 causes the rubber pad 409 to lose its supporting effect, so that the rubber pad 409 can be easily removed. The rubber pad 409 can make the robot have a non-slip and wear-resistant effect when walking. The threaded plate 4 There are two threaded plates 406, which are symmetrically distributed about the central axis of the threaded rod 405. Since a bidirectional thread is provided on the outer side of the threaded rod 405, the movement directions of the two threaded plates 406 are opposite, so that the support plates 408 on both sides move synchronously, so that the position supported by the rubber pad 409 can be located on the same straight line with the central axis of the walking roller 3 to avoid bumps during walking. Two support rods 407 are distributed on each threaded plate 406, and are symmetrically distributed about the central axis of the threaded plate 406. The two support rods 407 can limit the threaded plate 406 to prevent the threaded plate 406 from rotating due to the rotation of the threaded rod 405, so that the threaded plate 406 can move normally.

[0027] See also Figure 4 In order to make the robot have stronger power when moving, the driving mechanism 5 in this embodiment includes a dual-axis motor 501, and the dual-axis motor 501 is fixed to the rear inner wall of the robot base 1. The output shafts on both sides of the dual-axis motor 501 are fixed with second driving gears 502. The output shafts on both sides of the dual-axis motor 501 respectively drive the two second driving gears 502 to rotate. The outer sides of the two second driving gears 502 are meshed with second driven gears 503. The two second driving gears 502 drive the two second driven gears 503 to rotate. The two second driven gears 503 are fixed to the outer sides of the rear rotating rod 2. The two second driven gears 503 are simultaneously When the rear rotating rod 2 is driven to rotate, a first transmission roller 504 is fixed to the outer side of the rear rotating rod 2, and the rear rotating rod 2 drives the first transmission roller 504 to rotate. The outer side of the first transmission roller 504 is connected to the transmission belt 505, and the first transmission roller 504 drives the transmission belt 505 to transmit. The other end of the transmission belt 505 is connected to the second transmission roller 506, and the second transmission roller 506 is fixed to the outer side of the front rotating rod 2. The transmission belt 505 drives the second transmission roller 506 to rotate, and the second transmission roller 506 drives the front rotating rod 2 to rotate, so that all the walking rollers 3 rotate synchronously, so that the robot has stronger power during walking.

[0028] In this example, there are two first transmission rollers 504, which are symmetrically distributed about the central axis of the rear rotating rod 2, thereby increasing the load borne by the two rotating rods 2 when rotating, and being able to keep the robot working when one transmission belt 505 is damaged, thereby improving stability.

[0029] The working principle of the above embodiment is:

[0030] (1) When the robot is placed on the ground for walking, the dual-axis motor 501 is turned on, and the output shafts on both sides of the dual-axis motor 501 respectively drive the two second driving gears 502 to rotate, and the two second driving gears 502 drive the two second driven gears 503 to rotate, and the two second driven gears 503 simultaneously drive the rear rotating rod 2 to rotate, and the rear rotating rod 2 drives the first transmission roller 504 to rotate, and the first transmission roller 504 drives the transmission belt 505 to transmit, and the transmission belt 505 drives the second transmission roller 506 to rotate, and the second transmission roller 506 drives the front rotating rod 2 to rotate, so that all the walking rollers 3 rotate synchronously, so that the robot has stronger power during walking.

[0031] (2) After the robot has walked for a long time, the anti-skid and wear-resistant rubber pad 409 on the walking roller 3 is worn. In order to maintain the high efficiency of the robot's walking, the rubber pad 409 needs to be replaced. The handle 401 is turned, and the handle 401 drives the connecting rod 402 to rotate. The connecting rod 402 drives the first driving gear 403 to rotate. The first driving gear 403 drives the first driven gear 404 to rotate. The first driven gear 404 drives the threaded rod 405 to rotate. The threaded rod 405 drives the threaded plate 406 to move. The threaded plate 406 drives the support rod 407 to move. The support rod 407 drives the support plate 408 to move. The movement of the support plate 408 causes the rubber pad 409 to lose its supporting effect and can be easily removed. After replacing the new rubber pad 409, the handle 401 is turned again to allow the support plate 408 to support the rubber pad 409 so that the robot remains stable during walking.

[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0033] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention.

Claims

1. An efficient, non-slip and wear-resistant walking rubber roller for a robot, comprising a robot base (1), characterized in that: The robot base (1) is rotatably connected to a rotating rod (2) via a bearing, the left side of the rotating rod (2) penetrates and extends to the left side of the robot base (1), and is fixed with a walking roller (3), the walking roller (3) is provided with a disassembly mechanism (4) for facilitating replacement, and the robot base (1) is provided with a driving mechanism (5) for driving the walking roller (3); The disassembly mechanism (4) comprises a turning handle (401), wherein the turning handle (401) is rotatably connected to the left side of the walking roller (3) via a bearing, and the other end of the turning handle (401) penetrates and extends into the interior of the walking roller (3) and is fixed with a connecting rod (402), a first driving gear (403) is fixed to the outer side of the connecting rod (402), a first driven gear (404) is meshed with the outer side of the first driving gear (403), a threaded rod (405) is fixed to the inner side of the first driven gear (404), and both ends of the threaded rod (405) are rotatably connected to the inner side of the walking roller (3) via bearings, and a support assembly is arranged on the threaded rod (405).

2. The high-efficiency, non-slip and wear-resistant robot walking rubber roller according to claim 1 is characterized in that: There are two rotating rods (2), which are symmetrically distributed frontward and rearward about the central axis of the robot base (1); and two walking rollers (3) are distributed on each rotating rod (2), which are symmetrically distributed leftward and rightward about the central axis of the rotating rod (2).

3. The high-efficiency, non-slip and wear-resistant robot walking rubber roller according to claim 2 is characterized in that: The outer side of the threaded rod (405) is provided with two threads in opposite directions, and the threads are symmetrically distributed up and down about the central axis of the threaded rod (405).

4. The high-efficiency, non-slip and wear-resistant robot walking rubber roller according to claim 3 is characterized in that: The support assembly comprises a threaded plate (406), the threaded plate (406) being threadably connected to the outer side of a threaded rod (405), a support rod (407) being fixed to the upper surface of the threaded plate (406), the other end of the support rod (407) passing through and extending to the outer side of a walking roller (3) and being fixed with a support plate (408), and a rubber pad (409) being provided on the outer side of the walking roller (3).

5. The high-efficiency, non-slip and wear-resistant walking rubber roller for robots according to claim 4 is characterized in that: There are two threaded plates (406) which are symmetrically distributed up and down about the central axis of the threaded rod (405). Two support rods (407) are distributed on each threaded plate (406) which are symmetrically distributed left and right about the central axis of the threaded plate (406).

6. The high-efficiency, non-slip and wear-resistant robot walking rubber roller according to claim 5 is characterized in that: The driving mechanism (5) comprises a dual-axis motor (501), the dual-axis motor (501) being fixed to the rear inner wall of the robot base (1), the output shafts on both sides of the dual-axis motor (501) being fixed with second driving gears (502), the outer sides of the two second driving gears (502) being meshed with second driven gears (503), the two second driven gears (503) being fixed to the outer side of the rear rotating rod (2), the outer side of the rear rotating rod (2) being fixed with a first transmission roller (504), the outer side of the first transmission roller (504) being transmission-connected with a transmission belt (505), the other end of the transmission belt (505) being transmission-connected with a second transmission roller (506), the second transmission roller (506) being fixed to the outer side of the front rotating rod (2).

7. The high-efficiency, non-slip and wear-resistant robot walking rubber roller according to claim 6 is characterized in that: The number of the first transmission rollers (504) is two, and they are symmetrically distributed about the central axis of the rear rotating rod (2).

Images