Robot convenient to steer

Abstract

The utility model relates to the technical field of robots, and discloses a robot convenient to steer, which comprises a transport vehicle, an inner concave frame is fixedly connected to the middle of the top end of the transport vehicle, a base is arranged on the upper side of the inner concave frame, an oil tank is fixedly connected to the left side of the top end of a baffle, and a concave frame is fixedly connected to the top end of the base and located on the left side of the inner wall of a surrounding frame. The outer wall of the transmission column is fixedly connected with a cam on the right side of the sponge pad. Through cooperation of the concave frame, the first motor, the worm, the worm gear and the transmission column, operation of a steering mechanism in the device is achieved, meanwhile, when the cam rotates along with the steering mechanism, the protruding end of the cam can make contact with and extrude the sponge cushion, lubricating oil in the sponge cushion is extruded out and drips between the worm and the worm gear, and therefore the lubricating oil is prevented from falling off. And by means of transmission contact between the worm and the worm gear, lubricating oil can be evenly smeared on the meshing position, abrasion generated during meshing transmission is reduced, and the service life of parts is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot which is easy to turn. Background Art

[0002] A robot is a device that integrates multiple disciplines such as mechatronics, mechanics, materials science, and bionics. It can perform certain specific functions by setting or controlling, identifying targets, and so on. In the existing technology, inspection equipment is combined with robotic technology to create a robot that can replace manual inspection work and reduce the workload of inspection personnel.

[0003] However, during the movement of the inspection robot, within the prescribed inspection route, it will rely on the steering mechanism to adjust the line of sight that the inspection equipment can detect, thereby realizing multi-angle inspection and investigation. However, if the steering mechanism is used too frequently, it will cause wear on the components of the mechanism, thereby affecting the steering efficiency and also affecting the service life of the components.

[0004] In this regard, in order to ensure the efficiency of the robot's steering and reduce the wear of the steering mechanism components, the present application proposes a robot that is easy to steer. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a robot that is easy to steer, reduces wear on steering mechanism components, and increases the service life of the components.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot that is easy to turn, including a transport vehicle, a concave frame fixedly connected to the middle of the top of the transport vehicle, a base provided on the upper side of the concave frame, a transmission column rotatably connected to the middle of the top of the base, a worm gear fixedly connected to the lower side of the outer wall of the transmission column, a frame fixedly connected to the top of the base at the outside of the transmission column, a baffle fixedly connected to the top of the baffle, an oil tank fixedly connected to the left side of the top of the baffle, a concave frame fixedly connected to the top of the base at the left side of the inner wall of the frame, and the inner wall of the rear end of the concave frame rotatably connected to the transmission column. A worm is connected, the right end of the worm outer diameter is meshed with the left end of the worm wheel outer diameter, the front end of the concave frame is fixedly connected to motor 1, the driving end of the motor 1 passes through the inner wall of the concave frame and is fixedly connected to the front end of the worm, the middle of the top of the concave frame is fixedly connected to a support rod, the upper right end of the support rod is fixedly connected to a connecting frame, the inner wall of the connecting frame is fixedly connected to a sponge pad, the inner wall of the top of the connecting frame is fixedly connected to an oil pipe and passes through the inner and outer sides of the connecting frame, the outward end of the oil pipe is installed at the bottom of the right end of the oil tank, and the outer wall of the transmission column is located on the right side of the sponge pad and is fixedly connected to a cam.

[0007] Further description: A square groove is provided at the top of the transmission column, and hole grooves are provided on the lower sides of the left and right ends of the inner wall of the square groove. An insertion rod is provided on the inner wall of the square groove, and the shape of the lower side of the outer wall of the insertion rod matches the shape of the inner wall of the square groove. The top of the insertion rod is fixedly connected to a top plate, and the top of the top plate is fixedly connected to the inspection equipment body; here, the inspection equipment body has camera, locking, and infrared detection functions.

[0008] Further description: The lower parts of the left and right sides of the inner wall of the insertion rod are slidably connected with movable plates, and the bottoms of the opposite ends of the movable plates are fixedly connected with limit bolts. The outer walls of the limit bolts are slidably connected to the inner walls of the bottoms of the left and right ends of the insertion rod, and the shapes of the opposite ends of the limit bolts are consistent with the shapes of the inner walls of the hole groove; here, one end of the limit bolt is circular, and the limit bolt moves with the movable plate and disengages from the hole groove.

[0009] Further description: The tops of the opposite ends of the movable plates are fixedly connected to push rods, the outer walls of the push rods are slidably connected to the middle parts of the left and right sides of the inner walls of the insertion rods, and the opposite ends of the push rods are fixedly connected to pressure plates; here, when the push rods slide into the insertion rods, they will drive the corresponding movable plates to move toward each other.

[0010] Further description: The pressure plate is fixedly connected to a spring at one end relative to the outside of the push rod, and the spring is fixedly connected to the inner wall in the middle of the left and right ends of the insertion rod at one end relative to the other; here, the spring gives the pressure plate an elastic supporting force, and when the pressure plate is not pressed, the pressure plate will remain in place and not move.

[0011] Further description: The inner walls on both sides of the rear end of the inner recessed frame are rotatably connected to rotating rods, and the middle part of the outer wall of the rotating rod is fixedly connected to gears, and the gears are meshed with each other; here, under the meshing relationship between the gears on both sides, when one side of the gear rotates, the other side will rotate in the opposite direction.

[0012] Further description: The front and rear sides of the outer wall of the rotating rod are fixedly connected with connecting rods, and the upper inner wall of the opposite end of the connecting rod is rotatably connected with a slide, and the outer wall of the slide is slidably connected to the left and right inner walls of the bottom end of the base respectively; here, the connecting rod and the bottom of the slide are effectively connected through an adapter structure to achieve a rotating connection.

[0013] Further description: Motor 2 is fixedly connected to the left side of the front end of the inner recessed frame, and the driving end of motor 2 passes through the inner wall of the inner recessed frame and is fixedly connected to the front end of the left rotating rod; here, motor 2 serves as an electric driving source and can provide rotational power for the corresponding connected rotating rod.

[0014] Beneficial effects:

[0015] 1. In the utility model, the lubricating oil in the oil tank is discharged into the sponge pad through the oil pipe and the discharge valve connected to the oil pipe. After it absorbs a part of it, the steering mechanism in the device is operated by the cooperation of the concave frame, the motor, the worm, the worm wheel and the transmission column. At the same time, as the steering mechanism rotates, the raised end of the cam contacts and squeezes the sponge pad, causing the lubricating oil in the sponge pad to be squeezed out and drip between the worm and the worm wheel. Then, relying on the transmission contact between the worm and the worm wheel, the lubricating oil can be evenly applied to the meshing part, thereby reducing the wear between the meshing transmission and improving the service life of the components.

[0016] 2. In the present invention, through the cooperation of the inner recessed frame, rotating rod, gear, connecting rod, motor 2 and slide plate, when the connecting rods on both sides are rotated and lifted, they will push the base upward, thereby increasing the horizontal height of the inspection equipment body, thereby improving the wide-angle range of the inspection of the inspection equipment body.

[0017] 3. In the present invention, the limit bolts on both sides can be disengaged from the hole grooves through the cooperation of the push rod, the pressure plate, the movable plate, the limit bolts and the spring, thereby realizing the removal of the insertion rod from the square groove, making it easier to perform maintenance operations on the inspection equipment body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a three-dimensional diagram of a robot that is easy to turn according to the utility model;

[0019] Figure 2 This is a cross-sectional view of a frame of a robot that is easy to turn;

[0020] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0021] Figure 4 This is a cross-sectional view of a connecting frame of a robot that is easy to turn;

[0022] Figure 5 This is a cross-sectional view of the base of a robot that is easy to turn;

[0023] Figure 6 This is a schematic diagram of the inner concave frame structure of a robot that is easy to turn in the utility model;

[0024] Figure 7 This is a cross-sectional view of a rod of a robot that is easy to turn;

[0025] Figure 8 The utility model is a schematic diagram of the transmission column structure of a robot that is easy to turn.

[0026] In the figure: 1. Transport vehicle; 2. Base; 3. Frame; 4. Baffle; 5. Drive column; 6. Insert rod; 7. Top plate; 8. Inspection equipment body; 9. Oil tank; 10. Cam; 11. Worm gear; 12. Concave frame; 13. Motor 1; 14. Worm; 15. Support rod; 16. Connecting frame; 17. Sponge pad; 18. Oil pipeline; 19. Inner concave frame; 20. Connecting rod; 21. Slide plate; 22. Rotating rod; 23. Gear; 24. Motor 2; 25. Movable plate; 26. Limit bolt; 27. Push rod; 28. Pressure plate; 29. ​​Spring; 30. Square groove; 31. Hole groove. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0028] Example 1

[0029] See also Figures 1-4 A robot that is easy to turn, including a transport vehicle 1, a top middle portion of the transport vehicle 1 is fixedly connected to an inner concave frame 19, a base 2 is provided on the upper side of the inner concave frame 19, a transmission column 5 is rotatably connected to the top middle portion of the base 2, a worm gear 11 is fixedly connected to the lower side of the outer wall of the transmission column 5, the top of the base 2 is located outside the transmission column 5 and is fixedly connected to a frame 3, the top of the frame 3 is fixedly connected to a baffle 4, the top left side of the baffle 4 is fixedly connected to an oil tank 9, the top of the base 2 is located on the left side of the inner wall of the frame 3 and is fixedly connected to a concave frame 12, the inner wall of the rear end of the concave frame 12 is rotatably connected to a worm 14, the right end of the outer diameter of the worm 14 is meshedly connected to the left end of the outer diameter of the worm gear 11, the front end of the concave frame 12 is fixedly connected to a motor 13, the driving end of the motor 13 passes through the inner wall of the concave frame 12 and is fixedly connected to At the front end of the worm 14, a support rod 15 is fixedly connected to the middle part of the top of the concave frame 12, and a connecting frame 16 is fixedly connected to the upper right end of the support rod 15. A sponge pad 17 is fixedly connected to the inner wall of the connecting frame 16. An oil pipe 18 is fixedly connected to the inner wall of the top of the connecting frame 16 and passes through the inner and outer sides of the connecting frame 16. The outward end of the oil pipe 18 is installed at the bottom of the right end of the oil tank 9. The outer wall of the transmission column 5 is located on the right side of the sponge pad 17 and is fixedly connected to the cam 10. A square groove 30 is provided at the top of the transmission column 5. Holes 31 are provided on the lower sides of the left and right ends of the inner wall of the square groove 30. A plug rod 6 is provided on the inner wall of the square groove 30. The shape of the lower side of the outer wall of the plug rod 6 matches the shape of the inner wall of the square groove 30. The top of the plug rod 6 is fixedly connected to the top plate 7, and the top of the top plate 7 is fixedly connected to the inspection equipment body 8;

[0030] Further explanation: the transport vehicle 1 has a built-in drive device and is electrically connected to the signal receiving and control integrated device. Before the transport vehicle 1 is started, the discharge valve connected to the oil pipeline 18 is opened first to allow the lubricating oil in the oil tank 9 to flow into the sponge pad 17. The sponge pad 17 only needs to absorb a certain amount and then close the discharge valve. Then the transport vehicle 1 is remotely controlled to move along the specified inspection route. When moving, the control motor 13 is started intermittently. When the motor 13 is started, the worm 14 is driven to rotate, and the worm wheel 11 engaged with the worm 14 will rotate with the transmission column 5. With the help of the connection between the plug rod 6 and the top plate 7, the inspection equipment body 8 also rotates accordingly. Synchronous rotation forms a multi-angle inspection. At the same time, the transmission column 5 rotates to drive the cam 10 to rotate. Every time the raised part of the cam 10 rotates to the side of the sponge pad 17 and contacts it, it squeezes the sponge pad 17, causing the lubricating oil therein to be squeezed out and dripping onto the meshing part of the worm 14 and the worm wheel 11. Through the transmission contact between the two, the lubricating oil can be evenly distributed, reducing the wear of the meshing transmission and extending the life of the components. Moreover, the lubricating oil can only drip out after the cam 10 rotates to the side of the sponge pad 17 and contacts and squeezes it each time. This method effectively saves the amount of lubricating oil and prevents excessive manual application of lubricating oil, which brings resistance to the transmission of the steering mechanism.

[0031] In addition, a signal receiving and controlling device is installed on the top front side of the base 2, which is used to receive instructions and operate the electric drive equipment. A laser radar is installed at the bottom right end of the transport vehicle 1 to detect whether there are obstacles on the road during operation. Motor 13 is electrically connected to the remote signal receiver, and after receiving the instruction, motor 13 will start.

[0032] Example 2

[0033] See also Figure 5-Figure 6 , further on the basis of embodiment 1, the inner walls on both sides of the rear end of the inner recessed frame 19 are rotatably connected to the rotating rod 22, and the middle part of the outer wall of the rotating rod 22 is fixedly connected to the gear 23, and the gears 23 are meshed with each other. The front and rear sides of the outer wall of the rotating rod 22 are fixedly connected to the connecting rod 20, and the upper inner wall of the opposite end of the connecting rod 20 is rotatably connected to the slide 21. The outer wall of the slide 21 is respectively slidably connected to the inner walls on both sides of the bottom end of the base 2, and the left side of the front end of the inner recessed frame 19 is fixedly connected to the motor 24. The driving end of the motor 24 passes through the inner wall of the inner recessed frame 19 and is fixedly connected to the front end of the left rotating rod 22;

[0034] To further explain, after receiving the corresponding instruction, the remote signal receiver will start motor 24, causing it to drive the corresponding rotating rod 22 to rotate, and then drive the side gear 23 to rotate. Since the gears 23 on both sides are engaged with each other, they will rotate in relative directions, causing the connecting rod 20 on the outer wall of the rotating rod 22 to rotate and lift up, and the slide 21 at the other end of the connecting rod 20 will slide in the relative direction at the bottom of the base 2. At the same time, the lifting process of the connecting rod 20 will push the base 2 to rise, thereby increasing the horizontal height of the inspection equipment body 8 and expanding its wide-angle range of inspection.

[0035] Example 3

[0036] See also Figure 7-Figure 8 , further on the basis of embodiment 1, the lower parts of the left and right sides of the inner wall of the insertion rod 6 are slidably connected with movable plates 25, and the bottom of the opposite end of the movable plate 25 is fixedly connected to the limit pin 26, and the outer walls of the limit pin 26 are respectively slidably connected to the inner walls of the bottom left and right ends of the insertion rod 6, and the shape of the opposite end of the limit pin 26 matches the shape of the inner wall of the hole groove 31. The top of the opposite end of the movable plate 25 is fixedly connected with a push rod 27, and the outer walls of the push rod 27 are respectively slidably connected to the middle parts of the left and right sides of the inner wall of the insertion rod 6, and the opposite end of the push rod 27 is fixedly connected to a pressure plate 28, and the opposite end of the pressure plate 28 is located on the outside of the push rod 27 and is fixedly connected to a spring 29, and the opposite end of the spring 29 is respectively fixedly connected to the inner wall of the middle part of the left and right ends of the insertion rod 6;

[0037] To explain further, if the inspection equipment body 8 needs to be inspected and repaired, it is only necessary to press the pressure plates 28 on both sides. At this time, the push rod 27 will slide into the insertion rod 6 and push the movable plate 25 to move. The spring 29 is compressed, and the limit bolt 26 at the bottom of one end of the movable plate 25 will retract into the insertion rod 6 and disengage from the hole groove 31, releasing the limiting relationship between the transmission column 5 and the insertion rod 6. Then, the insertion rod 6 is pulled out of the square groove 30 of the transmission column 5 to complete the disassembly of the insertion rod 6, making it convenient to carry out maintenance work on the inspection equipment body 8 on the top plate 7.

[0038] Working principle: First, before the transport vehicle 1 is started, the discharge valve connected to one end of the oil pipe 18 is opened, so that the lubricating oil in the oil tank 9 flows along the oil pipe 18 to the sponge pad 17. The sponge pad 17 only needs to absorb a small amount of lubricating oil, and does not need to be completely filled. Then the discharge valve is closed, and the transport vehicle 1 is remotely controlled to move on the prescribed inspection route. While moving, the control motor 13 is started intermittently. When starting, it will drive the worm 14 to rotate, causing the worm wheel 11 meshing with one side of the worm 14 to rotate with the transmission column 5, and then through the connection of the plug rod 6 and the top plate 7, the inspection equipment body 8 is rotated synchronously, thereby realizing multi-angle inspection of the inspection equipment body 8, and when the transmission column 5 rotates At the same time as the movement, the cam 10 is driven to rotate, and the raised end of the cam 10 will contact the sponge pad 17 each time it rotates to the side of the sponge pad 17, and squeeze the sponge pad 17, causing the lubricating oil in the sponge pad 17 to be squeezed out and dripped between the worm 14 and the worm wheel 11. Then, relying on the transmission contact between the worm 14 and the worm wheel 11, the lubricating oil can be evenly applied to the meshing part, reducing the wear generated between the meshing transmission and improving the service life of the components. In addition, the dripping of the lubricating oil occurs when the cam 10 is squeezed and dripped from the sponge pad 17 each time the transmission column 5 rotates to the side of the sponge pad 17, which effectively saves the amount of lubricating oil and avoids manual application of too much at one time, which causes a certain resistance to the transmission of the steering mechanism.

[0039] By starting the second motor 24, the corresponding end of the rotating rod 22 is driven to rotate, and the gear 23 on the side is driven to rotate. Under the relationship between the gears 23 on both sides, the gears 23 on both sides are meshed with each other, so that the gears 23 on both sides rotate in opposite directions, thereby driving the connecting rod 20 on the outer wall of the rotating rod 22 to rotate and lift, causing the slide 21 at the other end of the connecting rod 20 to slide in the opposite direction at the bottom of the base 2. In the process of rotating and lifting, the connecting rod 20 pushes the base 2 upward, prompting the horizontal height of the inspection device body 8 to be raised, thereby increasing the wide-angle range of the inspection of the inspection device body 8;

[0040] By pressing the pressure plates 28 on both sides, the push rod 27 slides into the insertion rod 6 and pushes the movable plate 25 to move. At the same time, the spring 29 is squeezed, and the limit bolt 26 at the bottom of one end of the movable plate 25 will be retracted into the insertion rod 6, so that one end of the limit bolt 26 will be disengaged from the hole groove 31, releasing the limiting relationship between the transmission column 5 and the insertion rod 6, and then the insertion rod 6 is pulled out of the square groove 30 of the dynamic transmission column 5 to realize the disassembly of the insertion rod 6, making it convenient to perform maintenance operations on the inspection equipment body 8 on the top of the top plate 7.

[0041] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot that is easy to turn, comprising a transport vehicle (1), characterized in that: The transport vehicle (1) is fixedly connected to an inner concave frame (19) at the middle of the top, and a base (2) is provided on the upper side of the inner concave frame (19). The middle of the top of the base (2) is rotatably connected to a transmission column (5), and the lower side of the outer wall of the transmission column (5) is fixedly connected to a worm gear (11). The top of the base (2) is located outside the transmission column (5) and is fixedly connected to a frame (3). The top of the frame (3) is fixedly connected to a baffle (4). The left side of the top of the baffle (4) is fixedly connected to an oil tank (9). The top of the base (2) is located on the left side of the inner wall of the frame (3) and is fixedly connected to a concave frame (12). The inner wall of the rear end of the concave frame (12) is rotatably connected to a worm (14). The right end of the outer diameter of the worm gear (14) is meshed with the worm gear (11). 1) The left end of the outer diameter, the front end of the concave frame (12) is fixedly connected to a motor 1 (13), the driving end of the motor 1 (13) passes through the inner wall of the concave frame (12) and is fixedly connected to the front end of the worm (14), the middle part of the top end of the concave frame (12) is fixedly connected to a support rod (15), the upper side of the right end of the support rod (15) is fixedly connected to a connecting frame (16), the inner wall of the connecting frame (16) is fixedly connected to a sponge pad (17), the inner wall of the top end of the connecting frame (16) is fixedly connected to an oil delivery pipe (18) and passes through the inner and outer sides of the connecting frame (16), the outward end of the oil delivery pipe (18) is installed at the bottom of the right end of the oil tank (9), and the outer wall of the transmission column (5) is located on the right side of the sponge pad (17) and is fixedly connected to a cam (10).

2. The robot according to claim 1, wherein: A square groove (30) is provided at the top of the transmission column (5), and hole grooves (31) are provided on the lower sides of the left and right ends of the inner wall of the square groove (30). A plug rod (6) is provided on the inner wall of the square groove (30), and the shape of the lower side of the outer wall of the plug rod (6) matches the shape of the inner wall of the square groove (30). The top of the plug rod (6) is fixedly connected to a top plate (7), and the top of the top plate (7) is fixedly connected to the inspection equipment body (8).

3. The robot according to claim 2, wherein: The lower parts of the left and right sides of the inner wall of the insertion rod (6) are slidably connected to movable plates (25), and the bottom of the opposite end of the movable plate (25) is fixedly connected to a limit bolt (26), and the outer wall of the limit bolt (26) is slidably connected to the inner wall of the bottom of the left and right ends of the insertion rod (6), and the shape of the opposite end of the limit bolt (26) is consistent with the shape of the inner wall of the hole groove (31).

4. The robot according to claim 3, wherein: The top of the opposite end of the movable plate (25) is fixedly connected to a push rod (27), the outer wall of the push rod (27) is slidably connected to the middle of the left and right sides of the inner wall of the insertion rod (6), and the opposite end of the push rod (27) is fixedly connected to a pressure plate (28).

5. The robot according to claim 4, characterized in that: The pressure plate (28) has one opposite end located outside the push rod (27) and is fixedly connected to a spring (29). The spring (29) has one opposite end fixedly connected to the inner wall of the middle portion of the left and right ends of the insertion rod (6).

6. The robot according to claim 1, wherein: The inner walls on both sides of the rear end of the inner recessed frame (19) are rotatably connected to rotating rods (22), and the middle part of the outer wall of the rotating rod (22) is fixedly connected to a gear (23), and the gears (23) are meshed with each other.

7. The robot according to claim 6, characterized in that: The outer walls of the rotating rod (22) are fixedly connected to the connecting rod (20) on both the front and rear sides, and the inner wall of the upper side of the opposite end of the connecting rod (20) is rotatably connected to the slide plate (21), and the outer wall of the slide plate (21) is slidably connected to the inner walls on the left and right sides of the bottom end of the base (2).

8. The robot according to claim 1, wherein: The left side of the front end of the inner concave frame (19) is fixedly connected to a second motor (24), and the driving end of the second motor (24) passes through the inner wall of the inner concave frame (19) and is fixedly connected to the front end of the left rotating rod (22).

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