Synchronous walking module mechanism used on flexible track

Abstract

The utility model relates to the field of synchronous walking modules, and discloses a synchronous walking module mechanism used on a flexible track. The device comprises a walking frame, a swing mechanism and a transmission mechanism, the walking frame is at least provided with a pair of walking wheels, and the walking wheels are used for clamping the flexible track to ensure that a driving gear can be normally meshed with the flexible track; the power transmission shaft provides power for the driving gear, the driving gear rotates, and synchronous walking of the upper and lower walking frames is achieved. The swing mechanism is connected with the walking frame shell and mainly comprises a swing shell and a pair of walking wheels, the interval between the pair of walking wheels is matched with the flexible track, and it is guaranteed that the swing mechanism can normally swing around a rotating shaft on the flexible track which is bent at will; the synchronous walking module mechanism can adapt to a large-curvature bent flexible track through structural connection and movement modes, the function of moving on the complex flexible track through a simple mechanism is achieved, and normal operation of the synchronous walking module mechanism is guaranteed.

Description

Technical Field

[0001] The present application belongs to the technical field of synchronous walking modules, and specifically relates to a synchronous walking module mechanism used on a flexible track. Background Art

[0002] The synchronous walking module mechanism is a mobile module that walks on a flexible track. It is mainly used to realize the autonomous walking of the machine under any deformed track. Compared with the walking module with fixed walking wheels, this module has better adaptability and flexibility. The following is some information about the synchronous walking module mechanism used on the flexible track:

[0003] The synchronous walking module mechanism used on the flexible track consists of two arbitrarily deformable tracks and a synchronous walking module. The module connects the upper and lower walking frames through an intermediate connecting rod and a transmission shaft to form a structure that is linked up and down; the upper and lower walking frames are combined with a swing mechanism, and the walking wheels in the combined mechanism clamp the flexible track to ensure that the synchronous walking module mechanism can swing flexibly along the deformed track on the flexible track with different curvature deformation to adapt to the track with different deformations, and avoid the fixed walking wheel from being locked on the deformed track due to the fixed relative position between the wheelbases. The flexible track in the structure can also be freely deformed according to different working environments and task requirements. The movement mode adopted by the synchronous walking module mechanism is: the driving gear meshing with the flexible track is driven by the power transmission shaft to realize the synchronous movement of the upper and lower walking frames. This movement mode can realize the synchronous movement of the mechanism in a track with arbitrary spatial deformation. Utility Model Content

[0004] The purpose of the present application is to provide a synchronous walking module mechanism for use on a flexible track in order to solve the above-mentioned problems.

[0005] The technical solution adopted in the present application is as follows: a synchronous walking module mechanism used on a flexible track, the synchronous walking module mechanism comprising a walking frame, a flexible track, a swing mechanism, a power transmission shaft, a connecting rod 1, a connecting rod 2, two walking module monomers and a flexible track;

[0006] The traveling frame is provided with a pair of traveling wheels, and the traveling frame is also provided with a universal transmission mechanism, the outside of the universal transmission mechanism is meshed with a driving gear, and the driving gear is arranged inside the traveling frame and meshed with the flexible track to ensure normal mechanism movement;

[0007] The swing mechanism is connected to the rotating shaft on the walking frame housing.

[0008] By adopting the above technical scheme, the flexible track is clamped to ensure that the driving gear can normally engage with the flexible track; the power transmission shaft provides power to the driving gear, driving the gear to rotate, and realizing synchronous walking up and down; the swing mechanism is connected to the walking frame housing, and its mechanism mainly includes a swing housing and a pair of walking wheels, and the interval between the pair of walking wheels matches the flexible track to ensure that it can swing around the rotation axis normally on an arbitrarily curved flexible track; the utility model can adapt to flexible tracks with large curvatures through its structural connection and movement form, and realizes the function of using a simple mechanism to meet the movement on a complex flexible track, ensuring the normal operation of the synchronous walking module mechanism.

[0009] In a preferred embodiment, the spacing between the traveling wheels matches the width of the flexible track, and is used to clamp the flexible track to ensure that the driving gear can normally engage with the flexible track.

[0010] In a preferred embodiment, the walking module unit is composed of a walking frame and a walking frame.

[0011] In a preferred embodiment, the driving gear is meshed with the flexible track, and the universal transmission mechanism is connected to the power transmission shaft.

[0012] In a preferred embodiment, the swing mechanism is provided with a pair of running wheels, and the running wheels installed on the swing mechanism are arranged at opposite distances to match the flexible track.

[0013] In a preferred embodiment, both ends of the connecting rod 1 and the connecting rod 2 are fixedly connected to the two walking frame shells respectively.

[0014] In a preferred embodiment, the power transmission shaft is connected to the two universal joints respectively.

[0015] In a preferred embodiment, the power transmission shaft drives the universal joint to rotate, further providing power for the driving gear, and the flexible track is installed in the walking module.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of this application are:

[0017] The present application includes a walking frame, a swinging mechanism, and a transmission mechanism. At least a pair of walking wheels are arranged on the walking frame, which are used to clamp the flexible track to ensure that the driving gear can normally engage with the flexible track; the power transmission shaft provides power to the driving gear, and the driving gear rotates to realize synchronous walking up and down; the swinging mechanism is connected to the walking frame shell, and its mechanism mainly includes a swinging shell and a pair of walking wheels. The interval between the pair of walking wheels matches the flexible track to ensure that it can swing normally around the rotation axis on an arbitrarily curved flexible track; the utility model can adapt to flexible tracks with large curvatures through its structural connection and movement form, and realize the function of using a simple mechanism to meet the movement on a complex flexible track, thereby ensuring the normal operation of the synchronous walking module mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of the walking module in the utility model;

[0019] Figure 2 It is an exploded view of the walking module in the utility model;

[0020] Figure 3 It is an assembly relationship diagram of the transmission mechanism, the swing arm and the flexible track in the walking module of the utility model;

[0021] Figure 4 It is a relationship diagram between the gear and the flexible track in the utility model;

[0022] Figure 5 It is a three-dimensional schematic diagram of the synchronous walking module mechanism in the utility model;

[0023] Figure 6 It is a schematic diagram of the synchronous walking module mechanism in the utility model being installed on a flexible track of any shape.

[0024] Markings in the figure: 1-flexible track; 20-travel frame; 21-travel frame housing; 22-driving gear; 23-universal transmission mechanism; 30-swing mechanism; 31-fixed cover plate; 32-fixing screw; 33-swing housing; 4-power transmission shaft; 5-connecting rod one; 6-connecting rod two; 7-travel wheel. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] Reference Figures 1 to 6.

[0027] Example:

[0028] A synchronous walking module mechanism used on a flexible track, the synchronous walking module mechanism comprises a walking frame 20, a flexible track 1, a swing mechanism 30, a power transmission shaft 4, a connecting rod 1 5, a connecting rod 2 6, two walking module monomers and the flexible track 1;

[0029] A pair of traveling wheels 7 are provided on the traveling frame 20, and a universal transmission mechanism 23 is also provided on the traveling frame 20. A driving gear 22 is meshed on the outside of the universal transmission mechanism 23. The driving gear 22 is provided inside the traveling frame 20 and meshes with the flexible track 1 to ensure normal movement of the mechanism.

[0030] The swing mechanism 30 is connected to the rotating shaft on the traveling frame housing 21 .

[0031] The distance between the running wheels 7 matches the width of the flexible track 1 , and is used to clamp the flexible track 1 to ensure that the driving gear 23 can normally engage with the flexible track 1 .

[0032] The walking module unit is composed of a walking frame 20 and a walking frame 20.

[0033] The driving gear 22 is meshed with the flexible track 1 , and the universal transmission mechanism 23 is connected with the power transmission shaft 4 .

[0034] The swing mechanism 30 is provided with a pair of running wheels 7 , and the running wheels 7 installed on the swing mechanism 30 are arranged at opposite intervals to match the flexible track 1 .

[0035] The two ends of the connecting rod 1 5 and the connecting rod 2 6 are fixedly connected to the two walking frame shells 21 respectively.

[0036] The power transmission shaft 4 is connected to two universal joints 23 respectively.

[0037] The power transmission shaft 4 drives the universal transmission mechanism 23 to rotate, further providing power for the driving gear 22. The flexible track 1 is installed in the walking module.

[0038] The implementation principle of an embodiment of a synchronous walking module mechanism used on a flexible track in the present application is as follows: it includes a walking frame, a swinging mechanism, and a transmission mechanism. At least a pair of walking wheels are arranged on the walking frame to clamp the flexible track to ensure that the driving gear can normally engage with the flexible track; the power transmission shaft provides power to the driving gear to rotate the driving gear to achieve synchronous walking up and down; the swinging mechanism is connected to the walking frame housing, and its mechanism mainly includes a swinging housing and a pair of walking wheels. The interval between the pair of walking wheels matches the flexible track to ensure that it can swing normally around the rotation axis on an arbitrarily curved flexible track; the utility model can adapt to flexible tracks with large curvatures through its structural connection and movement form, and realizes the function of moving on a complex flexible track using a simple mechanism, thereby ensuring the normal operation of the synchronous walking module mechanism.

[0039] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A synchronous walking module mechanism used on a flexible track, comprising: The walking frame housing (21) is characterized in that the synchronous walking module mechanism comprises a walking frame (20), a swing mechanism (30), a power transmission shaft (4), a connecting rod 1 (5), a connecting rod 2 (6), two walking module monomers and a flexible track (1); A pair of traveling wheels (7) is arranged on the traveling frame (20), and a universal transmission mechanism (23) is also arranged on the traveling frame (20). A driving gear (22) is meshed on the outside of the universal transmission mechanism (23), and the driving gear (22) is arranged inside the traveling frame (20) and meshed with the flexible track (1) to ensure normal movement of the mechanism; The swing mechanism (30) is connected to the rotating shaft on the walking frame housing (21); The spacing between the running wheels (7) matches the width of the flexible track (1), and is used to clamp the flexible track (1) to ensure that the driving gear (22) can normally engage with the flexible track (1); The driving gear (22) is meshed with the flexible track (1), and the universal transmission mechanism (23) is connected to the power transmission shaft (4); The swing mechanism (30) is provided with a pair of running wheels (7), and the running wheels (7) installed on the swing mechanism (30) are arranged at opposite intervals and matched with the flexible track (1); The two ends of the connecting rod 1 (5) and the connecting rod 2 (6) are respectively fixedly connected to the two walking frame housings (21); The power transmission shaft (4) is respectively connected to the two universal transmission mechanisms (23); the power transmission shaft (4) drives the universal transmission mechanism (23) to rotate, further providing power for the driving gear (22), and the flexible track (1) is installed in the walking module.

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