Crawling structure and robot

Abstract

The utility model provides a crawling structure and a robot, the crawling structure comprises a first crawling assembly and a second crawling assembly, the first crawling assembly and the second crawling assembly are installed on two opposite sides of a robot main body, and the first crawling assembly and the second crawling assembly are arranged in parallel along the width direction of the robot main body; the driving advancing directions of the first crawling assembly and the second crawling assembly are the same. According to the robot, the driving advancing directions of the first crawling assembly and the second crawling assembly are the same, traction force can be concentrated, the climbing ability and traction efficiency of the robot on various terrains are improved, and the robot body is pulled to move in the target direction; when the first crawling assembly and the second crawling assembly are symmetrically arranged on the two opposite sides of the robot body, the robot body can keep better stability in the advancing process, the pressure exerted by the robot on the uneven ground can be dispersed, and the rolling risk caused by the uneven terrain is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a crawling structure and a robot. Background Art

[0002] As an important part of public transportation, the subway system has an increasing passenger flow, and passengers' demands for subway services are becoming increasingly diversified. The tasks of inspecting subway equipment and key areas of the operating environment, checking for foreign objects in the gaps under the car, diagnosing equipment faults, monitoring the power supply system, monitoring the fire system, guiding passenger flow, and providing information consultation are huge. In addition to manual work, robots are now used to replace manual work for inspection and maintenance. However, robots often encounter obstacles or uneven terrain during their movement. If the robot cannot stably climb over the obstacles or uneven terrain, the inspection work will inevitably be terminated, greatly reducing work efficiency. Utility Model Content

[0003] The utility model aims to overcome the deficiencies of the prior art and to provide a crawling structure and a robot to achieve stability in the robot crossing obstacles or uneven terrain.

[0004] The purpose of the utility model is achieved through the following technical solutions:

[0005] A crawling structure includes a first crawling component and a second crawling component installed on opposite sides of a robot body, the first crawling component and the second crawling component are arranged in parallel along the width direction of the robot body, and the first crawling component and the second crawling component have the same driving direction.

[0006] Optionally, it also includes a mounting plate connected to the side wall of the robot body, and the first crawling component and the second crawling component are both rotatably mounted on the mounting plate.

[0007] Optionally, the crawling structure further comprises a first driving motor mounted on the first side wall of the mounting plate, a first driving gear mounted on the second side wall of the mounting plate, and a first driven gear meshing with the first driving gear;

[0008] The output shaft of the first driving motor is connected to the first driving gear, the first driven gear is installed on the second side wall of the mounting plate through the first rotating shaft, and the first crawling assembly is provided with a first driving gear meshing with the first driven gear.

[0009] Optionally, the crawling structure further comprises a second driving motor mounted on the first side wall of the mounting plate, a second driving gear mounted on the second side wall of the mounting plate, and a second driven gear meshing with the second driving gear;

[0010] The output shaft of the second driving motor is connected to the second driving gear, the second driven gear is installed on the second side wall of the mounting plate through a second rotating shaft, and the second crawling assembly is provided with a second driving gear meshing with the second driven gear.

[0011] Optionally, the first crawling assembly and the second crawling assembly are crawling tracks.

[0012] Optionally, it further includes a walking component arranged outside the first crawling component and the second crawling component, the number of the walking component is at least one, and the number of the walking components on opposite sides of the robot body is equal.

[0013] Optionally, the walking assembly includes a driving wheel, and the driving wheel is mounted on the mounting plate via a third driving motor.

[0014] Optionally, it also includes a telescopic patrol component arranged on the head of the robot body, and the telescopic patrol component includes one or more of a camera, a depth camera, a 3D laser scanner, and a laser radar.

[0015] Optionally, the robot further includes arms disposed on opposite sides of the robot body, and the arms are provided with telescopic touch hands.

[0016] A robot comprises the above-mentioned crawling structure.

[0017] Compared with the prior art, the utility model has the following advantages and beneficial effects:

[0018] In the utility model, since the first crawling component and the second crawling component in the middle crawling structure are arranged in parallel along the width direction of the robot body, and the first crawling component and the second crawling component are arranged symmetrically on the relatively two sides of the robot body, when the first crawling component and the second crawling component are in working state, the driving direction of the first crawling component and the second crawling component is the same, which helps to concentrate traction force, improve the robot's climbing ability and traction efficiency on various terrains, and pull the robot body to move in the target direction; when the first crawling component and the second crawling component are arranged symmetrically on the relatively two sides of the robot body, the robot body can maintain better stability during the movement, which helps to disperse the pressure exerted by the robot on the uneven ground and reduce the risk of rolling caused by uneven terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic structural diagram of a robot capable of climbing stairs according to an embodiment of the utility model;

[0020] Figure 2 This is a structural schematic diagram of a first crawling assembly according to an embodiment of the utility model;

[0021] Figure 3 It is a partial structural schematic diagram of the first crawling component of an embodiment of the utility model.

[0022] 1-main body, 2-first crawling component, 3-second crawling component, 4-mounting plate, 5-first driving motor, 6-first driving gear, 7-first driven gear, 8-second driving motor, 9-second driving gear, 10-second driven gear, 11-walking component, 12-telescopic patrol component, 13-arm, 1310-telescopic touch hand. DETAILED DESCRIPTION

[0023] The utility model is further described in detail below in conjunction with embodiments:

[0024] In one embodiment, if Figure 1-3 As shown, a crawling structure includes a first crawling component 2 and a second crawling component 3 installed on opposite sides of a robot body 1, the first crawling component 2 and the second crawling component 3 are arranged in parallel along the width direction of the robot body 1 (the first crawling component 2 and the second crawling component 3 are located on the same side of the robot body 1, and the first crawling component 2 and the second crawling component 3 are also arranged on the other side of the robot body 1), and the first crawling component 2 and the second crawling component 3 have the same driving direction. Among them, the first crawling component 2 and the second crawling component 3 in the crawling structure are arranged in parallel along the width direction of the robot body 1, and the first crawling component 2 and the second crawling component 3 are arranged symmetrically on the opposite sides of the robot body 1. When the first crawling component 2 and the second crawling component 3 are in working state, the driving directions of the first crawling component 2 and the second crawling component 3 are the same, which helps to concentrate traction force, improve the robot's climbing ability and traction efficiency on various terrains, and pull the robot body 1 to move in the target direction; when the first crawling component 2 and the second crawling component 3 are arranged symmetrically on the opposite sides of the robot body 1, the robot body 1 can maintain better stability during the movement, which helps to disperse the pressure exerted by the robot on the uneven ground and reduce the risk of rolling caused by uneven terrain.

[0025] Furthermore, the first crawling component 2 and the second crawling component 3 can be set to be independently driven, and the robot can perform steering operations when necessary. By adjusting the speed or direction of the first crawling component 2 and the second crawling component 3, the robot can achieve flexible and precise steering. The first crawling component 2 and the second crawling component 3 are symmetrically arranged on opposite sides of the robot body 1. If one of the crawling components fails, the other crawling component can still continue to work to ensure that the robot can return safely or complete the remaining tasks, thereby improving the reliability and fault tolerance of the robot.

[0026] In one embodiment, if Figure 2-3As shown, it also includes a mounting plate 4 connected to the side wall of the robot body 1, and the first crawling component 2 and the second crawling component 3 are both rotatably mounted on the mounting plate 4. It can be understood that the first crawling component 2 and the second crawling component 3 are mounted on the mounting plate 4 on the side wall of the body 1, and the mounting plate 4 can be connected to the lower position of the robot body 1 through a hub, and the first ends of the first crawling component 2 and the second crawling component 3 are rotatably connected to the mounting plate 4, and the second ends of the first crawling component 2 and the second crawling component 3 are free crawling ends; in the non-working state, the free crawling ends of the first crawling component 2 and the second crawling component 3 point to the height direction of the robot body 1 (the direction from the bottom to the top), and in the working state, the free crawling ends of the first crawling component 2 and the second crawling component 3 rotate to a position parallel to each other, and contact the ground or the uneven ground or stair surface of the pre-climbing.

[0027] In one embodiment, if Figure 2-3 As shown, the crawling structure also includes a first driving motor 5 installed on the first side wall of the mounting plate 4, a first driving gear 6 installed on the second side wall of the mounting plate 4, and a first driven gear 7 meshing with the first driving gear 6; the output shaft of the first driving motor 5 is connected to the first driving gear 6, the first driven gear 7 is installed on the second side wall of the mounting plate 4 through a first rotating shaft (not shown), and the first crawling component 2 is provided with a first driving gear meshing with the first driven gear 7. It can be understood that when the first driving motor 5 is driven, it drives the first driving gear 6 to rotate, and the first driven gear 7 meshing with the first driving gear 6 rotates synchronously, and the first driving gear meshing with the first driven gear 7 on the first crawler component 2 rotates synchronously, and the rotation direction and angle of the first end of the first crawler component 2 are controlled to realize the storage and deployment of the first crawler component 2, and the gear transmission has a higher force transmission efficiency; further, the first crawler component 2 can adopt the solution of the existing technology, such as the first driving gear is installed on the shell of the first crawler component 2 through a rotating shaft, and the first end of the first crawler component 2 can be installed on the rotating shaft through a bearing, and the structure of the linked rotation is not limited to the above structure, as long as the structure can realize that the first driving gear drives the first end of the first crawler component 2 to rotate.

[0028] In one embodiment, if Figure 2-3 As shown, the crawling structure further includes a second driving motor 8 mounted on the first side wall of the mounting plate 4, a second driving gear 9 mounted on the second side wall of the mounting plate 4, and a second driven gear 10 meshing with the second driving gear 9;

[0029] The output shaft of the second driving motor 8 is connected to the second driving gear 9, and the second driven gear 10 is installed on the second side wall of the mounting plate 4 through a second rotating shaft (not shown in the figure), and the second crawling assembly 3 is provided with a second driving gear meshed with the second driven gear 10. It can be understood that when the second driving motor 8 is driven, it drives the second driving gear 9 to rotate, and the second driven gear 10 meshed with the second driving gear 9 rotates synchronously, and the second driving gear meshed with the second driven gear 10 on the second crawling assembly 3 rotates synchronously, and the second crawling assembly 3 is stored and unfolded by controlling the rotation direction and angle of the first end of the second crawling assembly 3, and the gear transmission has a higher power transmission efficiency; further, the second crawling assembly 3 can adopt the solution of the existing technology, such as the second driving gear can also be installed on the housing of the second crawling assembly 3 through a rotating shaft, and the first end of the second crawling assembly 3 can also be installed on the rotating shaft through a bearing, and the structure of the linkage rotation is not limited to the above structure, as long as the structure that can realize the second driving gear drives the first end of the second crawling assembly 3 to rotate is all right.

[0030] In one embodiment, if Figure 1-3 As shown, the first crawling component 2 and the second crawling component 3 are crawling tracks. It can be understood that the crawling tracks can adopt crawling tracks in the prior art, which can easily operate in complex terrains or even in steep slopes or rugged terrains. The crawling tracks can improve the robot's mobility on uneven terrains or terrains with obstacles, and enhance the robot's operating efficiency and adaptability in specific application scenarios.

[0031] Furthermore, the first crawling assembly 2 and the second crawling assembly 3 can adopt the structure of crawling tracks, and their structure and principle can refer to the prior art. The first crawling assembly 2 and the second crawling assembly 3 have the same structure, for example, both include a frame and a track, the frame is connected to the mounting frame, and a plurality of drive shaft wheels are arranged on the frame, at least one drive shaft wheel is driven by a motor, and the motor can adopt the prior art, for example, a stepping motor can be adopted. The track is mounted on the drive shaft wheel of the frame, and when the drive shaft wheel rotates, it can drive the track to rotate so that the first crawling assembly 2 and the second crawling assembly 3 can walk. The bottom end of the track is a walking surface, and the walking surface is mainly used to contact with steps and the like. When the track crawls along the steps, the walking surface contacts the edge of the steps. The contents or working principles not mentioned in the above structure can refer to the crawler ladder vehicle or mechanism in the prior art, and will not be repeated here.

[0032] In one embodiment, if Figure 1-2As shown, it also includes a walking assembly 11 arranged outside the first crawling assembly 2 and the second crawling assembly 3, and the number of the walking assembly 11 is set to at least one, and the number of the walking assemblies 11 on the opposite sides of the robot body 1 is equal. It can be understood that when the robot walks on a flat ground, it is not necessary to adopt a walking structure of crawling tracks, and then the walking assemblies 11 are set on the opposite sides of the robot body 1. The walking assemblies 11 can be set to one or two on the opposite sides of the human body 1. The equal number of walking assemblies 11 on the opposite sides of the robot body 1 helps the robot maintain a stable posture on various terrains; further, according to the power output of the crawling assembly or the walking assembly 11, the distance or position between them can be adjusted to optimize the power distribution so that the robot can move more efficiently; if the robot needs to turn, it can be achieved through differential drive, that is, by changing the speed or direction of the walking assemblies 11 on both sides, the robot can be turned.

[0033] In one embodiment, if Figure 1-2 As shown, the walking assembly 11 includes a driving wheel, and the driving wheel is mounted on the mounting plate 4 through a third driving motor (not shown). It can be understood that the third driving motor is mounted on the mounting plate 4 at a position different from the first driving motor 5 and the second driving motor 8, and the number of the third driving motors is determined according to the number of driving wheels. By controlling the third driving motor, the forward, backward and steering movements of the driving wheel can be realized.

[0034] In one embodiment, if Figure 1 As shown, the robot body 1 also includes a telescopic patrol component 12 arranged on the head of the robot body 1, and the telescopic patrol component 12 includes one or more of a camera, a depth camera, a 3D laser scanner, and a laser radar. It can be understood that the telescopic patrol component 12 can be configured on demand according to the working environment or specific needs of the robot to adapt to different detection scenarios and targets. In an environment where high-precision 3D modeling or complex structural analysis is required, the robot can be configured with a 3D laser scanner or a laser radar to obtain detailed spatial data; and when a detailed inspection of the surface of an object is required, a high-resolution camera and a depth camera can provide clear images and depth information to help identify equipment cracks, wear or other defects. In addition, the specific configuration of the telescopic patrol component 12 can be adjusted according to the specific requirements of the task, such as adding a thermal imaging camera to detect temperature anomalies, or configuring a special spectral sensor for detection, that is, the telescopic patrol component 12 can be designed according to different extensions of the detection scene to improve the applicability of the robot, so that the robot can provide efficient and accurate detection services in a changing working environment, thereby enhancing the safety and reliability of the subway system.

[0035] In one embodiment, if Figure 1As shown, the robot body 1 also includes arms 13 arranged on opposite sides of the robot body 1, and the arms 13 are provided with telescopic touch hands 1310. It can be understood that the arrangement of the arms 13 enables the robot to detect subway vehicles, tracks, operating environments and service environments from different angles. The telescopic touch hands 1310 are stored in the storage cavity of the arm 13 in a non-working state, and extend out of the storage cavity in a working state. For example, the telescopic touch hands 1310 can directly touch and detect the external and internal components of the subway vehicle, such as obtaining the flatness and temperature of the components. The cooperation of the telescopic touch hands 1310 can simulate some complex operations performed by human hands, such as tightening screws, adjusting the position of components, clearing obstacles, turning on and off lights, turning on and off fire hydrants, etc. The telescopic touch hands 1310 can also reduce the need for manual entry into dangerous or difficult-to-reach areas, reduce safety risks, and can also adapt to the characteristics of different environments, such as waterproof, dustproof or high temperature resistant, to adapt to various operating environments of the subway system.

[0036] The utility model also provides a robot, comprising the above-mentioned crawling structure. In the robot in the above-mentioned embodiment of the utility model, the crawling structure comprises a first crawling component 2 and a second crawling component 3 installed on opposite sides of a robot body 1, the first crawling component 2 and the second crawling component 3 are arranged in parallel along the width direction of the robot body 1, and the first crawling component 2 and the second crawling component 3 have the same driving direction. In the robot in the above embodiment of the utility model, the first crawling component 2 and the second crawling component 3 in the crawling structure are arranged in parallel along the width direction of the robot body 1, and the first crawling component 2 and the second crawling component 3 are arranged symmetrically on the opposite sides of the robot body 1. When the first crawling component 2 and the second crawling component 3 are in working state, the driving directions of the first crawling component 2 and the second crawling component 3 are the same, which helps to concentrate traction force, improve the robot's climbing ability and traction efficiency on various terrains, and pull the robot body 1 to move in the target direction; when the first crawling component 2 and the second crawling component 3 are arranged symmetrically on the opposite sides of the robot body 1, the robot body 1 can maintain better stability during movement, which helps to disperse the pressure exerted by the robot on uneven ground and reduce the risk of rolling caused by uneven terrain.

[0037] The above are only embodiments of the subway inspection robot of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A crawling structure, characterized in that: The invention comprises a first crawling assembly (2) and a second crawling assembly (3) mounted on opposite sides of a robot body (1), wherein the first crawling assembly (2) and the second crawling assembly (3) are arranged in parallel along the width direction of the robot body (1), and the driving travel direction of the first crawling assembly (2) and the second crawling assembly (3) are the same; the invention also comprises a mounting plate (4) connected to the side wall of the robot body (1), wherein the first crawling assembly (2) and the second crawling assembly (3) are both rotatably mounted on the mounting plate (4), and the crawling structure further comprises a first driving motor (5) mounted on the first side wall of the mounting plate (4), a first driving gear (6) mounted on the second side wall of the mounting plate (4), and a first driven gear (7) meshed with the first driving gear (6); the output shaft of the first driving motor (5) is connected to the first driving gear (6), the first driven gear (7) is mounted on the second side wall of the mounting plate (4) via a first rotating shaft, and the first crawling assembly (2) is provided with a first driving gear meshed with the first driven gear (7).

2. The crawling structure according to claim 1, characterized in that: The crawling structure further comprises a second driving motor (8) mounted on a first side wall of the mounting plate (4), a second driving gear (9) mounted on a second side wall of the mounting plate (4), and a second driven gear (10) mounted in mesh with the second driving gear (9); The output shaft of the second drive motor (8) is connected to the second driving gear (9), the second driven gear (10) is mounted on the second side wall of the mounting plate (4) via a second rotating shaft, and the second crawling assembly (3) is provided with a second drive gear meshing with the second driven gear (10).

3. The crawling structure according to claim 1, characterized in that: The first crawling component (2) and the second crawling component (3) are crawling tracks.

4. The crawling structure according to claim 3, characterized in that: It also includes a walking component (11) arranged outside the first crawling component (2) and the second crawling component (3), the number of the walking component (11) is at least one, and the number of the walking components (11) on the opposite sides of the robot body (1) is equal.

5. The crawling structure according to claim 4, characterized in that: The walking assembly (11) comprises a driving wheel, and the driving wheel is mounted on the mounting plate (4) via a third driving motor.

6. The crawling structure according to claim 5, characterized in that: It also includes a telescopic patrol component (12) arranged on the head of the robot body (1), and the telescopic patrol component (12) includes a camera, a depth camera, a 3D laser scanner or a laser radar.

7. The crawling structure according to claim 1, characterized in that: It also includes arms (13) arranged on opposite sides of the robot body (1), and the arms (13) are provided with telescopic touch hands (1310).

8. A robot, characterized in that: The crawling structure comprises the crawling structure described in any one of claims 1 to 7.

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