Walking mechanism of mobile robot

Abstract

The utility model discloses a walking mechanism of a mobile robot. The walking mechanism comprises a pipeline robot body, a plurality of walking wheels, an adjusting support, a mounting base and a protection mechanism. The pipeline robot body is connected with the walking wheels through the adjusting support, the adjacent walking wheels located on the same axis are connected through the mounting base, and the protection mechanism is arranged on the face, in the advancing direction, of the walking wheels. The flexible plate is arranged in the advancing direction of the walking wheel, the flexible plate can clean impurities such as sludge on the inner wall of the pipeline relative to the position of the walking wheel, and the flexible plate is combined with the two-way threaded rod and the threaded block for use, so that the flexible plate can be correspondingly adjusted according to the width of the walking wheel; and it is ensured that the surface of the flexible plate can be tightly attached to the arc-shaped inner wall of the pipeline. According to the pipeline cleaning device, impurities such as sludge on the inner wall of the pipeline relative to the position of the walking wheel are cleaned, and the cleaning assembly can be correspondingly adjusted according to the width of the walking wheel.

Description

TECHNICAL FIELD

[0001] The utility model relates to walking mechanism technical field, especially a walking mechanism of mobile robot. BACKGROUND

[0002] When the maintenance personnel carry out the repair and investigation to the pipeline, the automatic mobile pipeline robot is assisted to use, the pipeline robot moves in the pipeline through the walking wheel arranged on it and the driving equipment controlling the walking wheel to move, so that through the assistance of the pipeline robot, the problem that the internal space of the pipeline limits the operation space of the maintenance personnel can be effectively solved.

[0003] For the circular pipeline, the inner wall of the pipeline is in the arc state, in order to increase the stability of the pipeline robot moving in the pipeline, the setting quantity of the walking wheel is increased, so that the contact area between the walking wheel and the inner wall of the pipeline is increased, and in order to be suitable for the pipeline size of different sizes, the distance between the adjacent two groups of walking wheels can be adjusted, but for the pipeline such as conveying sewage, the sludge and other impurities are accumulated in the pipeline, when the walking wheel walks on the inner wall of the pipeline, the sludge is inevitably accumulated at the walking wheel, when the walking wheel walks for a long time, the sludge and other impurities are gathered into a pile, so that the smooth movement of the pipeline robot in the pipeline through the walking wheel is affected, and the timely and convenient investigation of the internal condition of the pipeline is affected, in view of the deficiency of the prior art, a walking mechanism of mobile robot is provided to solve the above problems. SUMMARY

[0004] The technical problem to be solved by the utility model is that in view of the deficiency of the prior art, a walking mechanism of mobile robot is provided, which solves the problem that for the circular pipeline such as conveying sewage, the sludge and other impurities are accumulated in the pipeline, when the walking wheel walks on the inner wall of the pipeline, the sludge is inevitably accumulated at the walking wheel, when the walking wheel walks for a long time, the sludge and other impurities are gathered into a pile, so that the smooth movement of the pipeline robot in the pipeline through the walking wheel is affected, and the timely and convenient investigation of the internal condition of the pipeline is affected.

[0005] To solve the above technical problems, the utility model adopts the technical scheme of:

[0006] A walking mechanism of mobile robot, including pipeline robot main body, a plurality of walking wheels, adjusting support, mounting seat and protection mechanism, the pipeline robot main body is connected with the walking wheel through the adjusting support, the adjacent walking wheels on the same axis are connected through the mounting seat, and the protection mechanism is arranged on one side of the walking wheel advancing direction.

[0007] Preferably, the protection mechanism comprises an adjustable cleaning assembly.

[0008] Preferably, the cleaning assembly comprises a protective shell, a flexible plate and a bidirectional threaded rod; the protective shell is arranged at the end of the mounting seat and covers the outer periphery of the walking wheel; the flexible plate is arranged on the side wall of the protective shell and is connected with threaded blocks at both ends; the bidirectional threaded rod is rotatably arranged on the protective shell; the threaded blocks are provided with threaded holes; and the threaded blocks are threadedly connected with the bidirectional threaded rod.

[0009] Preferably, the protective shell is connected with a guide rod, the threaded blocks are provided with through holes, and the threaded blocks are slidably connected with the guide rod.

[0010] Preferably, the cleaning assembly further comprises a supporting seat connected with the protective shell, and the supporting seat is internally provided with a locking assembly.

[0011] Preferably, the locking assembly comprises a gear arranged on the outer wall of the bidirectional threaded rod, an internal gear ring slidably arranged in the supporting seat, and an adjusting screw rod rotatably arranged on one side of the internal gear ring, and the internal gear ring is sleevedly arranged on the outer wall of the gear.

[0012] Preferably, one side of the internal gear ring is connected with a bearing, and one end of the outer wall of the adjusting screw rod is connected with the inner wall of the bearing.

[0013] Preferably, the outer wall of the internal gear ring is connected with a sliding block, and the inner wall of the supporting seat is provided with a sliding channel for limiting sliding of the sliding block.

[0014] Preferably, the mounting seat is hingedly connected with the adjusting support.

[0015] The utility model has the advantages of:

[0016] The utility model discloses a flexible plate is arranged in the advancing direction of walking wheel, and the flexible plate can clean the silt and other impurities in the position of the inner wall of pipeline relative to walking wheel, makes the moving path of walking wheel when walking wheel moves in the inner wall of pipeline, and the moving path of walking wheel is relatively smooth, and the flexible plate is used in combination with bidirectional threaded rod and threaded block, so that the flexible plate can be adjusted according to the width of walking wheel, to ensure that the surface of flexible plate can be closely attached to the arc inner wall of pipeline, so as to make the flexible plate effectively clean the impurities in the inner wall of pipeline. ACCURACY OF DRAWINGS

[0017] Figure 1 It is the structure schematic view of the walking mechanism of the utility model discloses a mobile robot.

[0018] Figure 2 It is the structure schematic view of walking wheel and protective shell in the utility model.

[0019] Figure 3 It is the structure schematic view of protective shell and flexible plate in the utility model.

[0020] Figure 4 It is the schematic view of the flexible plate and the bidirectional threaded rod connecting structure in the utility model.

[0021] Figure 5 It is the internal structure section view of the support seat in the utility model.

[0022] Figure 6 It is the exploded view of the gear and the inner tooth ring structure in the utility model.

[0023] Among them: 1. Pipeline robot main body; 2. Walking wheel; 3. Adjusting support; 4. Mounting seat; 5. Protection mechanism; 51. Protection shell; 52. Flexible plate; 53. Bidirectional threaded rod; 54. Threaded block; 55. Guide rod; 56. Support seat; 6. Locking assembly; 61. Gear; 62. Inner tooth ring; 63. Adjusting screw; 64. Bearing; 65. Sliding block; 66. Slide. DETAILED DESCRIPTION

[0024] The utility model will be further explained in detail in combination with the drawings and specific preferred embodiments.

[0025] As Figures 1 to 6 shown, a walking mechanism of a mobile robot, including pipeline robot main body 1, a plurality of walking wheels 2, adjusting support 3, mounting seat 4 and protection mechanism 5.

[0026] Pipeline robot main body 1 is connected with walking wheel 2 through adjusting support 3, and mounting seat 4 is hinged with adjusting support 3. Adjacent walking wheels 2 on the same axis are connected through mounting seat 4, and protection mechanism 5 is arranged on one side of the advancing direction of walking wheel 2. The inside of mounting seat 4 is provided with driving equipment for driving walking wheel 2 to move, and the driving equipment is not specifically shown in the drawings, and is referred to the drawings Figure 1 , the walking wheel 2 arranged at one end of mounting seat 4 is composed of two groups of rollers, and the two groups of rollers can be adjusted in distance through the control equipment inside mounting seat 4. Because it is an existing structure, it is not specifically shown in the drawings. The pipeline robot main body 1 controls adjusting support 3 to expand at different angles through the driving member arranged therein, so that the walking wheel 2 arranged at one end of adjusting support 3 can closely fit the inner wall of the sewage discharge pipeline, and then the driving equipment inside the mounting seat 4 is started, so that the walking wheel 2 is started, so that the pipeline robot moves inside the sewage discharge pipeline through the walking wheel 2.

[0027] Referring to the drawings Figures 2-4 , the protection mechanism 5 includes a cleaning assembly with adjustable radian. Through the protection mechanism 5 arranged, the moving path of walking wheel 2 inside the municipal sewage discharge pipeline can be cleaned and protected, so as to avoid that the impurities inside the municipal sewage discharge pipeline hinder the smooth movement of walking wheel 2.

[0028] The cleaning assembly comprises a protective shell 51, a flexible plate 52 and a bidirectional threaded rod 53.

[0029] The protective shell 51 is arranged at the end of the mounting seat 4 and covers the outer periphery of the walking wheel 2.

[0030] The flexible plate 52 is arranged on the side wall of the protective shell 51, and the material of the flexible plate 52 is a flexible metal plate or the like, which is selected according to actual needs. The two ends of the flexible plate 52 are fixedly connected with threaded blocks 54.

[0031] The bidirectional threaded rod 53 is rotationally arranged on the protective shell 51. The threaded blocks 54 are provided with threaded holes, and the threaded blocks 54 are threadedly connected with the bidirectional threaded rod 53. The two groups of threaded blocks 54 are threadedly sleeved on the outer wall of the bidirectional threaded rod 53. The opening degree of the flexible plate 52 is adjusted and controlled through the threaded connection between the bidirectional threaded rod 53 and the threaded blocks 54. The outer wall of the bidirectional threaded rod 53 is provided with two groups of threaded grooves with opposite groove directions. The two groups of threaded blocks 54 are threadedly sleeved on the outer wall of the bidirectional threaded rod 53 with opposite groove directions. When the bidirectional threaded rod 53 is rotated, the two groups of threaded blocks 54 can simultaneously move to both sides or simultaneously move to the middle, so as to adjust and control the opening degree of the flexible plate 52. The outer wall of the flexible plate 52 with the adjusted opening degree can be tightly fitted with the inner wall of the municipal sewage discharge pipeline, so that the flexible plate 52 can clean the impurities on the inner wall of the municipal sewage discharge pipeline. The inner wall of the cleaned municipal sewage discharge pipeline forms a path for smooth movement of the walking wheel 2.

[0032] The protective shell 51 is fixedly connected with a guide rod 55. The threaded blocks 54 are provided with through holes, and the threaded blocks 54 are slidingly connected on the outer wall of the guide rod 55. The guide rod 55 can position the movement track of the threaded blocks 54.

[0033] Referring to the drawings Figures 4-6 Further comprising a support seat 56, which is fixedly connected with the protective shell 51 and used for supporting the middle part of the bidirectional threaded rod 53. The inside of the support seat 56 is provided with a locking assembly 6, which is used for locking the bidirectional threaded rod 53 and the protective shell 51, so as to lock the flexible plate 52 after adjusting the opening angle of the flexible plate 52.

[0034] The locking assembly 6 comprises a gear 61 fixedly arranged on the outer wall of the bidirectional threaded rod 53, an internal tooth ring 62 slidingly arranged in the inside of the support seat 56, and an adjusting screw rod 63 rotationally arranged on one side of the internal tooth ring 62. The gear 61 is located in the inside of the support seat 56, and the internal tooth ring 62 is sleeved on the outer wall of the gear 61.

[0035] One side of the inner tooth ring 62 is fixedly connected with a bearing 64, and an outer wall of one end of the adjusting screw 63 is fixedly connected with an inner wall of the bearing 64. By arranging the bearing 64, the adjusting screw 63 and the inner tooth ring 62 can always be kept in a connected state when the adjusting screw 63 drives the inner tooth ring 62 to move, and one end of the adjusting screw 63 extends to the outside of the support base 56.

[0036] An outer wall of the inner tooth ring 62 is fixedly connected with a sliding block 65, and an inner wall of the support base 56 is provided with a sliding channel 66 for limiting sliding of the sliding block 65. When the unfolding curvature adjustment of the flexible plate 52 is completed, the adjusting screw 63 is rotated at this time, so that the adjusting screw 63 drives the inner tooth ring 62 to move towards the gear 61, until the inner tooth ring 62 is sleeved on the outer wall of the gear 61, and specific reference can be made to the accompanying drawings. Figure 5 Therefore, the gear 61 and the bidirectional screw rod 53 fixedly connected with the gear 61 are fixed on the inner surface of the protective shell 51.

[0037] The preferred embodiments of the utility model are described in detail above, but the utility model is not limited to the specific details in the above embodiments, and various equivalent transformations can be made to the technical solutions of the utility model within the technical concept of the utility model, and these equivalent transformations all belong to the protection scope of the utility model.

Claims

1. A walking mechanism of a mobile robot, characterized in that: It includes a pipeline robot body, several walking wheels, an adjustment bracket, a mounting seat and a protective mechanism; The pipeline robot body is connected to the travel wheel through an adjustment bracket, adjacent travel wheels on the same axis are connected through a mounting seat, and the protective mechanism is arranged on the side of the travel wheel in the forward direction.

2. The walking mechanism of the mobile robot according to claim 1, characterized in that: The guard mechanism includes a cleaning assembly with an adjustable arc.

3. The walking mechanism of the mobile robot according to claim 2, characterized in that: The cleaning assembly includes a protective shell, a flexible plate and a bidirectional threaded rod; The protective shell is arranged at the end of the mounting seat, and the cover is arranged on the outer periphery of the running wheel; The flexible plate is arranged on the side wall of the protective shell, and is connected with threaded blocks at both ends; The bidirectional threaded rod is rotatably arranged on the protective shell, the threaded block is provided with a threaded hole, and the threaded block is threadedly connected with the bidirectional threaded rod.

4. The walking mechanism of the mobile robot according to claim 3, characterized in that: The protective shell is connected with a guide rod, the threaded block is provided with a through hole, and the threaded block is slidably connected to the guide rod.

5. The walking mechanism of the mobile robot according to claim 4, characterized in that: It also includes a support base, which is connected to the protective shell, and a locking component is provided inside the support base.

6. The walking mechanism of the mobile robot according to claim 5, characterized in that: The locking assembly includes a gear arranged on the outer wall of the bidirectional threaded rod, an inner gear ring slidably arranged inside the support seat, and an adjusting screw rotatably arranged on one side of the inner gear ring, and the inner gear ring is sleeved on the outer wall of the gear.

7. The walking mechanism of the mobile robot according to claim 6, characterized in that: One side of the inner gear ring is connected with a bearing, and the outer wall of one end of the adjusting screw is connected with the inner wall of the bearing.

8. The walking mechanism of the mobile robot according to claim 7, characterized in that: The outer wall of the inner gear ring is connected with a sliding block, and the inner wall of the support seat is provided with a slideway for limiting the sliding of the sliding block.

9. The walking mechanism of the mobile robot according to claim 1, characterized in that: The mounting base is hinged to the adjustment bracket.

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