Robot walking structure

Abstract

The utility model discloses a robot walking structure, and relates to the technical field of robots. The robot comprises a robot body, a moving base is arranged at the lower end of the robot body, a rotating shaft penetrates through the interior of the moving base, the two ends of the rotating shaft movably penetrate through the outer side of the robot body and are provided with mounting discs, and a driving motor drives the rotating shaft to rotate through two gears. The mounting discs at the two ends of the rotating shaft can drive the moving wheels to rotate through the connecting structures, so that the robot body can move, in the moving process, under the action of the sweeping strips, the surfaces of the moving wheels can be swept, and sundries adhering to the surfaces of the moving wheels are removed; and an air pump blows air to the cleaning box through a connecting hose, and the blown air is discharged through an air blowing opening, so that the surface of the action wheel is conveniently cleaned, and stable movement of the action wheel and the robot main body is facilitated.

Description

TECHNICAL FIELD

[0001] The utility model belongs to robot technical field, especially robot walking structure. BACKGROUND

[0002] "Robot" is a kind of machine system that can automatically execute task. They are usually designed to have certain degree of perception ability, decision-making ability and action ability to complete specific work or task without human intervention, and robot is a complex system integrated with sensor, controller, actuator and other components;

[0003] The existing robot moves by the action wheel on both sides, when the surface of the action wheel of the robot adheres some sundries, then will cause the robot to move to produce the sway, influence the stable movement of robot, also can cause robot to dump, influence the normal use of robot, and the wheel for walking of the existing robot is installed bolt and installation nut and is installed fixed, and it is very inconvenient to replace.

[0004] Therefore, we provide robot walking structure to solve the above problems. INVENTION CONTENTS

[0005] The utility model aims at providing robot walking structure, can solve the existing robot and move by the action wheel on both sides, when the surface of the action wheel of the robot adheres some sundries, then will cause the robot to move to produce the sway, influence the stable movement of robot, also can cause robot to dump, influence the normal use of robot, and the wheel for walking of the existing robot is installed bolt and installation nut and is installed fixed, and it is very inconvenient to replace problem.

[0006] To solve the above technical problems, the utility model is realized by the following technical schemes:

[0007] The utility model discloses a robot walking structure, including robot main body, the lower end of robot main body is provided with action base, the inside of action base is penetrated with rotating shaft, both ends of rotating shaft are all movably inserted in the outside of robot main body and are installed with mounting disc, the one side of mounting disc is detachably installed with action wheel, be provided with connecting structure between action wheel and mounting disc, the upper end in the inside of action base is provided with driving motor, the output of driving motor is connected with rotating shaft transmission, both sides of action base are provided with cleaning structure.

[0008] The utility model further sets up, the cleaning structure includes cleaning frame, the cleaning frame fixed mounting is in the both sides of action base upper end, and the upper end of action wheel movably inserts in the inside of cleaning frame.

[0009] The utility model further sets up, the upper end fixed mounting has the cleaning box in the inside of cleaning frame, the lower extreme of cleaning box evenly has the air outlet, the lower extreme of cleaning box evenly fixed mounting has the cleaning strip, the lower extreme of cleaning strip and the action wheel are pasted, the cleaning strip and air outlet are staggered distribution.

[0010] The utility model further sets up, one side of cleaning box is provided with the connecting air pipe, one side fixed mounting has the air pump in the inside of cleaning frame, the output of air pump is connected with one end of connecting air pipe.

[0011] The utility model further sets up, the connecting structure includes the mounting hole, the mounting hole sets up in one side of action wheel, the movable insertion of mounting hole inside has the mounting block, one end of mounting block is fixedly connected with the mounting disc, the surface of mounting block is provided with the slot.

[0012] The utility model further sets up, the inside of mounting hole is provided with the movable slot, the movable slot is coincident with the slot, the movable installation of movable slot inside has the plug, the plug and movable slot are all square shape, the movable insertion of plug is in the inside of slot, the both sides of action wheel inner wall are provided with the assembly groove, the rotatory mounting of assembly groove inside has the rotatory screw sleeve, one end of rotatory screw sleeve movable insertion is in clamping screw rod, one end of clamping screw rod movable insertion is in the inside of movable slot and is fixedly connected with plug.

[0013] The utility model further sets up, the inside of action wheel is provided with the installation groove, the rotatory mounting of installation groove inside has the rotatory tooth disc, one end of rotatory screw sleeve movable insertion is in the inside of installation groove and is provided with the different gear, the different gear is engaged with rotatory tooth disc.

[0014] The utility model further sets up, the inside of action wheel is provided with the adjusting groove, one end movable insertion of adjusting groove is connected with the rotatory block of rotatory tooth disc, the fixed mounting of one end in adjusting groove inside has the clamping tooth ring, the both sides of rotatory block are provided with the sliding slot, the outside movable sleeve of rotatory block is provided with the adjusting clamping sleeve, one end movable insertion of adjusting clamping sleeve is in the outside of action wheel and is provided with the handle, the fixed mounting of one end in adjusting clamping sleeve inside has the sliding block, the sliding block is connected with sliding slot, one end of adjusting clamping sleeve is installed with the staggered gear, the staggered gear is connected with clamping tooth ring, the rotatory block is installed with the return spring between adjusting clamping sleeve.

[0015] The utility model has the following beneficial effects:

[0016] 1. In the utility model, the driving motor drives the rotating shaft to rotate through two gears, the installation disc at the both ends of the rotating shaft can drive the action wheel to rotate through the connecting structure, so that the robot main body can move, and in the moving process, the surface of the action wheel can be cleaned under the action of the cleaning strip, and the sundries adhered to the surface of the action wheel is removed, at the same time, the air pump operates, the air pump blows air to the cleaning box through the connecting hose, the blown gas is discharged through the air outlet, the surface of the action wheel is cleaned conveniently, and the stable movement of the action wheel and the robot main body is facilitated.

[0017] 2. In the utility model, the user drives the rotating toothed disc to rotate through the adjusting sleeve and the rotating block, the rotating toothed disc drives the rotating screw sleeve to rotate through the different gear, the insert block and the movable slot are square slots, the clamping screw rod can be prevented from rotating, the clamping screw rod moves to the inside of the rotating screw sleeve under the action of the screw thread along with the rotation of the rotating screw sleeve, the clamping screw rod drives the insert block to move, the insert block is extracted from the inside of the insertion slot of the mounting block, the mounting block can be extracted from the inside of the mounting hole, the installation disc is separated from the action wheel, so that the action wheel is conveniently and quickly installed and disassembled.

[0018] Of course, it is not necessary for any product implementing the utility model to simultaneously achieve all the advantages mentioned above. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description, obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without paying creative labor.

[0020] Figure 1 It is the three-dimensional structure schematic diagram of the device of the utility model;

[0021] Figure 2 It is the side surface structure schematic diagram of the device of the utility model;

[0022] Figure 3 It is the half cut structure schematic of the action wheel installation place in the device of the utility model;

[0023] Figure 4 It is the half cut structure schematic of the action wheel installation place in the device of the utility model; Figure 3 It is the enlarged structure schematic diagram of A place in the utility model;

[0024] Figure 5 It is the half cut structure schematic of the cleaning frame installation place in the device of the utility model;

[0025] Figure 6 It is the half cut structure schematic of the cleaning frame installation place in the device of the utility model; Figure 5Amplification structure schematic view at middle B.

[0026] In the drawings, the component list represented by each reference numeral is as follows:

[0027] 100, robot main body; 200, action base; 300, action wheel; 310, assembly slot; 311, rotating screw; 312, clamping screw; 313, plug; 314, movable slot; 315, odd gear; 320, mounting slot; 321, rotating tooth disc; 322, rotating block; 323, adjusting sleeve; 324, return spring; 325, misaligned gear; 326, handle; 330, adjusting slot; 331, clamping tooth ring; 400, drive motor; 410, rotating shaft; 420, mounting disc; 421, mounting block; 422, insertion slot; 500, cleaning frame; 510, cleaning box; 511, air outlet; 512, cleaning strip; 520, air pump; 521, connecting air pipe. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0029] As Figure 1 , Figure 5 and Figure 6As shown, the robot walking structure provided by the embodiment comprises a robot body 100, a moving base 200 is arranged at the lower end of the robot body 100, a rotating shaft 410 is arranged inside the moving base 200, both ends of the rotating shaft 410 are movably inserted outside the robot body 100 and are provided with mounting discs 420, the moving wheels 300 are detachably mounted on one side of the mounting discs 420, a connecting structure is arranged between the moving wheels 300 and the mounting discs 420, a driving motor 400 is arranged at the upper end inside the moving base 200, the output end of the driving motor 400 is in transmission connection with the rotating shaft 410, cleaning structures are arranged on both sides of the moving base 200, the cleaning structure comprises a cleaning frame 500, the cleaning frame 500 is fixedly installed on both sides of the upper end of the moving base 200, the upper end of the moving wheel 300 is movably inserted inside the cleaning frame 500, a cleaning box 510 is fixedly installed at the upper end inside the cleaning frame 500, air outlets 511 are uniformly arranged at the lower end of the cleaning box 510, cleaning strips 512 are uniformly fixedly installed at the lower end of the cleaning box 510, the lower end of the cleaning strip 512 is attached to the moving wheel 300, the cleaning strips 512 and the air outlets 511 are staggered, a connecting air pipe 521 is arranged on one side of the cleaning box 510, a gas pump 520 is fixedly installed on one side inside the cleaning frame 500, and the output end of the gas pump 520 is connected with one end of the connecting air pipe 521.

[0030] In the embodiment, the driving motor 400 drives the rotating shaft 410 to rotate through two gears, the mounting discs 420 at both ends of the rotating shaft 410 can drive the moving wheels 300 to rotate through the connecting structure, so that the robot body 100 can move, in the process of moving, the surface of the moving wheel 300 can be cleaned under the action of the cleaning strips 512, and the sundries adhered to the surface of the moving wheel 300 is removed, at the same time, the gas pump 520 operates, the gas pump 520 blows air to the cleaning box 510 through the connecting hose, the blown air is discharged through the air outlet, the surface of the moving wheel 300 is conveniently cleaned, and the stable movement of the moving wheel 300 and the robot body 100 is facilitated.

[0031] As Figures 1 to 4As shown in the figure, the robot walking structure provided by the embodiment comprises a connecting structure, the connecting structure comprises a mounting hole, the mounting hole is arranged on one side of the action wheel 300, a mounting block 421 is movably inserted into the mounting hole, one end of the mounting block 421 is fixedly connected with the mounting disc 420, a slot 422 is arranged on the surface of the mounting block 421, a movable slot 314 is arranged in the mounting hole, the movable slot 314 is coincided with the slot 422, a plug block 313 is movably arranged in the movable slot 314, the plug block 313 and the movable slot 314 are both square, the plug block 313 is movably inserted into the slot 422, assembly slots 310 are arranged on both sides of the inner wall of the action wheel 300, a rotating screw sleeve 311 is rotatably arranged in the assembly slot 310, one end of the rotating screw sleeve 311 is movably inserted into the clamping screw 312, one end of the clamping screw 312 is movably inserted into the movable slot 314 and is fixedly connected with the plug block 313, a mounting slot 320 is arranged in the action wheel 300, a rotating tooth disc 321 is rotatably arranged in the mounting slot 320, one end of the rotating screw sleeve 311 is movably inserted into the mounting slot 320 and is provided with a gear 315, the gear 315 is engaged with the rotating tooth disc 321;

[0032] In the embodiment, the user adjusts the rotating block 322 and the adjusting sleeve 323 to drive the rotating tooth disc 321 to rotate, the rotating tooth disc 321 drives the rotating screw sleeve 311 to rotate through the gear 315, the plug block 313 and the movable slot 314 are square slots, which can prevent the clamping screw 312 from rotating, the clamping screw 312 moves towards the inside of the rotating screw sleeve 311 under the action of the screw thread as the rotating screw sleeve 311 rotates, the clamping screw 312 drives the plug block 313 to move, the plug block 313 is extracted from the inside of the slot 422 of the mounting block 421, the mounting block 421 can be extracted from the inside of the mounting hole, the mounting disc 420 is separated from the action wheel 300, so that the action wheel 300 can be quickly installed and disassembled.

[0033] As shown in the figure, Figure 3 and Figure 4 As shown in the figure, the robot walking structure provided by the embodiment comprises a connecting structure, the connecting structure comprises a mounting hole, the mounting hole is arranged on one side of the action wheel 300, a mounting block 421 is movably inserted into the mounting hole, one end of the mounting block 421 is fixedly connected with the mounting disc 420, a slot 422 is arranged on the surface of the mounting block 421, a movable slot 314 is arranged in the mounting hole, the movable slot 314 is coincided with the slot 422, a plug block 313 is movably arranged in the movable slot 314, the plug block 313 and the movable slot 314 are both square, the plug block 313 is movably inserted into the slot 422, assembly slots 310 are arranged on both sides of the inner wall of the action wheel 300, a rotating screw sleeve 311 is rotatably arranged in the assembly slot 310, one end of the rotating screw sleeve 311 is movably inserted into the clamping screw 312, one end of the clamping screw 312 is movably inserted into the movable slot 314 and is fixedly connected with the plug block 313, a mounting slot 320 is arranged in the action wheel 300, a rotating tooth disc 321 is rotatably arranged in the mounting slot 320, one end of the rotating screw sleeve 311 is movably inserted into the mounting slot 320 and is provided with a gear 315, the gear 315 is engaged with the rotating tooth disc 321;

[0034] In the embodiment, when the action wheel 300 rotates, the adjusting sleeve 323 is in close contact with one side of the inner wall of the adjusting groove 330 under the action of the reset spring 324, so that the misaligned gear 325 at one end of the adjusting sleeve 323 is clamped with the clamping tooth ring 331 inside the adjusting groove 330, so that the adjusting sleeve 323 cannot rotate, under the action of the slider and the sliding groove, the rotating block 322 also cannot rotate, so that the rotating gear disc 321 cannot rotate, thereby limiting the rotating sleeve 311, which cannot rotate, and the plug 313 can be limited in the inside of the plug groove 422, thereby strengthening the connection between the mounting block 421 and the action wheel 300.

[0035] In the description of the specification, the description of the terms "one embodiment", "example", "specific example" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are contained in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0036] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details, nor limit the utility model to the specific embodiments described. Obviously, according to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments in order to better explain the principles and practical application of the utility model, so that the skilled in the art can well understand and utilize the utility model. The utility model is limited by the claims and the entire scope and equivalents thereof.

Claims

1. A robot walking structure, comprising a robot body (100), wherein a motion base (200) is provided at the lower end of the robot body (100), characterized in that: The movable base (200) has a rotating shaft (410) running through its interior. Both ends of the rotating shaft (410) are movably inserted into the outside of the robot body (100) and are equipped with mounting plates (420). A movable wheel (300) is detachably installed on one side of the mounting plate (420). A connection structure is provided between the movable wheel (300) and the mounting plate (420). A drive motor (400) is provided at the upper end of the movable base (200). The output end of the drive motor (400) is connected to the rotating shaft (410) for transmission. Cleaning structures are provided on both sides of the movable base (200).

2. The robot walking structure according to claim 1, characterized in that: The cleaning structure includes a cleaning frame (500), which is fixedly installed on both sides of the upper end of the movable base (200), and the upper end of the movable wheel (300) is movably inserted inside the cleaning frame (500).

3. The robot walking structure according to claim 2, characterized in that: The cleaning box (510) is fixedly installed at the upper end of the cleaning frame (500). The lower end of the cleaning box (510) is evenly provided with air outlets (511). The lower end of the cleaning box (510) is evenly fixedly installed with cleaning strips (512). The lower end of the cleaning strips (512) is in contact with the driving wheel (300). The cleaning strips (512) and the air outlets (511) are staggered.

4. The robot walking structure according to claim 3, characterized in that: A connecting air pipe (521) is provided on one side of the cleaning box (510), and an air pump (520) is fixedly installed on one side inside the cleaning frame (500). The output end of the air pump (520) is connected to one end of the connecting air pipe (521).

5. The robot walking structure according to claim 1, characterized in that: The connection structure includes a mounting hole, which is located on one side of the moving wheel (300). A mounting block (421) is movably inserted inside the mounting hole. One end of the mounting block (421) is fixedly connected to the mounting plate (420). A slot (422) is provided on the surface of the mounting block (421).

6. The robot walking structure according to claim 5, characterized in that: The mounting hole has a movable groove (314) inside, which overlaps with the slot (422). A plug (313) is movably installed inside the movable groove (314). Both the plug (313) and the movable groove (314) are square in shape. The plug (313) is movably inserted into the slot (422). The inner walls of the moving wheel (300) have assembly grooves (310) on both sides. A rotating screw sleeve (311) is rotatably installed inside the assembly groove (310). One end of the rotating screw sleeve (311) is movably inserted into the clamping screw (312). One end of the clamping screw (312) is movably inserted into the movable groove (314) and fixedly connected to the plug (313).

7. The robot walking structure according to claim 6, characterized in that: The drive wheel (300) has an installation groove (320) inside, and a rotating gear (321) is rotatably installed inside the installation groove (320). One end of the rotating screw sleeve (311) is movably inserted inside the installation groove (320) and is equipped with a different gear (315). The different gear (315) meshes with the rotating gear (321).

8. The robot walking structure according to claim 7, characterized in that: The moving wheel (300) has an adjustment groove (330) inside. A rotating block (322) connected to a rotating gear disk (321) is movably inserted through one end of the adjustment groove (330). A locking gear ring (331) is fixedly installed inside one end of the adjustment groove (330). Sliding grooves are provided on both sides of the rotating block (322). An adjustment sleeve (323) is movably fitted on the outside of the rotating block (322). One end of the adjustment sleeve (323) is movably inserted through the outside of the moving wheel (300) and is equipped with a handle (326). A slider is fixedly installed inside one end of the adjustment sleeve (323). The slider is slidably connected to the sliding groove. A misaligned gear (325) is installed at one end of the adjustment sleeve (323). The misaligned gear (325) is engaged with the locking gear ring (331). A return spring (324) is installed between the rotating block (322) and the adjustment sleeve (323).

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