Track mechanism of investigation robot

Abstract

The utility model discloses a track mechanism of an investigation robot, which relates to the technical field of robots and comprises a track wheel, a track sleeved outside the track wheel and a mounting cover plate fixed with a robot main body, and a support guide wheel contacted with the inner side of the track and used for supporting the track is mounted on the mounting cover plate; the crawler belt cleaning device comprises a crawler belt, an eccentric wheel is installed on the crawler belt, a cleaning structure is installed on the upper portion of the crawler belt, the cleaning structure comprises an outer side cleaning piece and an inner side auxiliary piece, and the outer side cleaning piece is used for cleaning outer side gaps of the crawler belt. When the crawler belt rotates, part of soil and sundries are directly separated from the crawler belt, and the other part of soil and sundries are cleaned by the cleaning brush, so that a good cleaning effect is achieved, the crawler belt can be cleaned in the rotating process of each circle, the walking stability of the investigation robot is guaranteed, and the good terrain adaptability of the investigation robot is kept.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a kind of track mechanism of investigation robot. BACKGROUND

[0002] Investigation robot is a kind of intelligent equipment specially designed for covert reconnaissance, dangerous environment detection and other tasks, which realizes real-time image transmission, environment monitoring and intelligence collection by carrying camera, sensor and other equipment;Investigation robot has multiple walking mechanisms, and track mechanism, as a walking mechanism with strong terrain adaptability and certain obstacle-crossing ability, is also assembled in investigation robot.

[0003] As disclosed in the patent document with announcement number "CN215942947U", a track type investigation robot includes an outer shell, a track type chassis mechanism, an environment perception mechanism, a camera lifting mechanism and a light and alarm mechanism;The track type chassis mechanism includes a chassis, a track damping suspension structure and a control structure, and is used to control the movement of the robot;The environment perception mechanism is arranged on the chassis and is used to collect information;The camera lifting mechanism is arranged on the chassis and is used to adjust the height of the camera;The light and alarm mechanism is installed on the outer shell and is used for lighting and warning.

[0004] Based on the above search, it is found that the track mechanism of the existing investigation robot does not have self-cleaning ability, and in the process of executing the investigation task (especially outdoor and field investigation task), a certain amount of soil, dust or debris is easily attached in the groove and gap of the track, which not only increases the load of the robot, but also reduces the terrain adaptability and walking ability of the track structure, which brings inconvenience to the execution of the investigation task by the investigation robot, so a track mechanism of investigation robot is needed. UTILITY MODEL CONTENT

[0005] The purpose of the present application is to provide a track mechanism of investigation robot to solve the problems raised in the background art.

[0006] To achieve the above purpose, the present application provides the following technical scheme: a track mechanism of investigation robot, comprising a track wheel, a track set on the outside of the track wheel, and a mounting cover plate fixed to the main body of the robot, the mounting cover plate is provided with a supporting guide wheel in contact with the inner side of the track and supporting the track;

[0007] The upper part of the track is provided with a cleaning structure, and the cleaning structure comprises an outer cleaning member and an inner auxiliary member, the outer cleaning member is used for cleaning the outer gap of the track, and the inner auxiliary member is used for assisting the outer cleaning member to clean the outer gap of the track;

[0008] The transmission structure is installed on the installation cover plate inside the investigation robot, the input end of the transmission structure is in transmission connection with the guide wheel shaft of the supporting guide wheel, and the output end of the transmission structure is provided with two and drives the outside cleaning member and the inside auxiliary member to move respectively.

[0009] Preferably, the outside cleaning member comprises a cleaning brush, the cleaning brush is located at the upper outside of the track, and the lower end of the cleaning brush extends into the outside gap of the track.

[0010] Preferably, the transmission structure comprises:

[0011] A driving gear, the driving gear is in transmission connection with the end of the guide wheel shaft of the supporting guide wheel;

[0012] A transmission gear, the transmission gear is in mesh with the driving gear, and the transmission gear is in rotary connection with the installation cover plate through the supporting shaft;

[0013] A transmission pulley set, the transmission pulley set is in transmission connection between the cleaning brush and the supporting shaft.

[0014] Preferably, a supporting plate is fixed inside the installation cover plate, the lower end of the supporting plate is rotatably sleeved on the supporting shaft;

[0015] A hollow pipe shaft is arranged in the middle of the cleaning brush, one end of the hollow pipe shaft is rotatably connected to the upper end of the supporting plate, and the transmission pulley set is in transmission installation between the hollow pipe shaft and the supporting shaft.

[0016] Preferably, the inside auxiliary member comprises an eccentric wheel, one side of the eccentric wheel is rotatably connected to the installation cover plate through a transmission shaft, and the large-diameter end of the eccentric wheel knocks the steel belt inside the track in the process of rotation.

[0017] Preferably, an alloy wear-resistant plate is fixedly embedded on the side of the eccentric wheel in contact with the steel belt inside the track, and the surface of the alloy wear-resistant plate is a smooth surface.

[0018] Preferably, the transmission structure further comprises a driven gear, the driven gear is fixedly sleeved on the end of the transmission shaft away from the eccentric wheel, and the driven gear is in mesh with the transmission gear.

[0019] Preferably, the end of the hollow pipe shaft is communicated with a gas inlet pipe, the front end of the gas inlet pipe is provided with a sealing rotary joint rotatably connected to the end of the hollow pipe shaft and forming a seal, and a pressure relief valve is arranged at the tail end of the gas inlet pipe away from the hollow pipe shaft.

[0020] The gas inlet pipe is in communication with the cooling fan of the investigation robot, and the cooling fan of the investigation robot sends air into the hollow pipe shaft through the gas inlet pipe;

[0021] A plurality of gas outlets are arranged on the side of the hollow pipe shaft, the plurality of gas outlets are uniformly distributed along the side of the hollow pipe shaft, and the gas outlets are staggered with the bristle part of the cleaning brush.

[0022] In summary, the technical effects and advantages of the present application are as follows:

[0023] 1. In the present application, the eccentric wheel strikes the steel belt inside the track, so that the mud, debris and other impurities trapped in the gap on the outside of the track are shaken off and separated from the track. Some of the mud and debris are directly separated from the track, and the other part of the mud and debris is swept away by the cleaning brush. Thus, a good cleaning effect is achieved, and the track can be cleaned during each rotation, ensuring the stability of the investigation robot during walking and maintaining its good terrain adaptability.

[0024] 2. In the present application, the gas inlet pipe sends air into the hollow shaft, and the air is discharged through the air outlet holes on the hollow shaft. At the same time that the cleaning brush cleans the outer surface of the track, the airflow is used for synchronous cleaning, thereby further enhancing the cleaning effect and ensuring that the outer surface of the track is cleaner. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0026] Figure 1 It is a first perspective view of the structure of the embodiment.

[0027] Figure 2 It is a second perspective view of the structure of the embodiment.

[0028] Figure 3 It is a perspective view of the cleaning structure and transmission structure of the embodiment.

[0029] Figure 4 It is a connection structure diagram of the support guide wheel and the eccentric wheel of the embodiment.

[0030] Figure 5 It is a connection structure diagram of the cleaning brush, the gas inlet pipe and the transmission pulley set of the embodiment.

[0031] In the drawings: 1, track wheel; 2, track; 3, mounting cover plate; 4, support guide wheel; 41, guide wheel shaft; 5, cleaning brush; 51, hollow shaft; 511, air outlet hole; 6, transmission structure; 61, driving gear; 62, transmission gear; 621, support shaft; 63, transmission pulley set; 64, driven gear; 7, eccentric wheel; 71, transmission shaft; 72, alloy wear-resistant plate; 8, gas inlet pipe; 81, sealing rotary joint; 82, pressure relief valve; 9, support plate. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the utility model.

[0033] Embodiment: refer to Figures 1-5 The track mechanism of the investigation robot shown in the figure comprises a track wheel 1, a track 2 sleeved on the outside of the track wheel 1, and a mounting cover plate 3 fixed with the robot main body, the track wheel 1 is driven to rotate by the driving structure of the investigation robot (the driving structure of the investigation robot is prior art, which will not be described here), the mounting cover plate 3 is provided with a supporting guide wheel 4 in contact with the inner side of the track 2 and supporting the track 2;

[0034] The cleaning structure is installed on the upper part of the track 2, and the cleaning structure comprises an outer cleaning piece and an inner auxiliary piece, the outer cleaning piece is used for cleaning the outer gap of the track 2, and the inner auxiliary piece is used for assisting the outer cleaning piece to clean the outer gap of the track 2;

[0035] The mounting cover plate 3 located on the inner side of the investigation robot is provided with a transmission structure 6, the input end of the transmission structure 6 is in transmission connection with the guide wheel shaft 41 of the supporting guide wheel 4, and the output end of the transmission structure 6 is provided with two and drives the outer cleaning piece and the inner auxiliary piece to move respectively.

[0036] Based on the above structure, the supporting guide wheel 4 rotates with the movement of the track 2, the transmission structure 6 drives the outer cleaning piece and the inner auxiliary piece to move by using the power of the supporting guide wheel 4, the outer cleaning piece cleans the outer gap of the track 2 when moving, and the inner auxiliary piece assists the outer cleaning piece to clean the outer gap of the track 2 when moving, so that the purpose of cleaning the outer gap of the track 2 is achieved, and the power when the track 2 advances is fully utilized, and the function of green cleaning is realized.

[0037] Further, the outer cleaning piece comprises a cleaning brush 5, the cleaning brush 5 adopts a nylon brush, has excellent wear-resistant characteristics, is more suitable for cleaning the track 2, has slow wear, and can reduce maintenance cost, the cleaning brush 5 is located on the upper outer side of the track 2, and the lower end of the cleaning brush 5 extends into the outer gap of the track 2;

[0038] The inner auxiliary piece comprises an eccentric wheel 7, one side of the eccentric wheel 7 is in rotary connection with the mounting cover plate 3 through a transmission shaft 71, and the large-diameter end portion of the eccentric wheel 7 knocks the steel belt on the inner side of the track 2 in the rotary process.

[0039] The soil, sundries and the like clamped in the gap on the outside of the track 2 are shaken and separated from the track 2 by knocking the steel belt on the inside of the track 2 by the eccentric wheel 7, and part of the soil and sundries are directly separated from the track 2, and the other part of the soil and sundries are swept away by the cleaning of the cleaning brush 5, so that a good cleaning effect is achieved, and the track 2 can be cleaned in each rotation, thereby ensuring the stability of the detection robot when walking and maintaining the good terrain adaptability.

[0040] Further, the transmission structure 6 comprises:

[0041] The driving gear 61 is transmissionally sleeved on the end of the guide wheel shaft 41 supporting the guide wheel 4;

[0042] The transmission gear 62 is engaged with the driving gear 61, and the transmission gear 62 is rotationally connected with the installation cover plate 3 through the support shaft 621;

[0043] The support plate 9 is fixed on the inside of the installation cover plate 3, and the lower end of the support plate 9 is rotationally sleeved on the support shaft 621;

[0044] The hollow pipe shaft 51 is arranged in the middle of the cleaning brush 5, one end of the hollow pipe shaft 51 is rotationally connected to the upper end of the support plate 9, and the transmission belt pulley set 63 is transmissionally installed between the hollow pipe shaft 51 and the support shaft 621;

[0045] The transmission belt pulley set 63 is transmissionally connected between the cleaning brush 5 and the support shaft 621;

[0046] The driven gear 64 is fixedly sleeved on the end of the transmission shaft 71 away from the eccentric wheel 7, and the driven gear 64 is engaged with the transmission gear 62.

[0047] The support guide wheel 4 drives the driving gear 61 to rotate through the guide wheel shaft 41, the driving gear 61 drives the transmission gear 62 to rotate when rotating, the transmission gear 62 drives the driven gear 64 to rotate when rotating, and the hollow pipe shaft 51 is driven to rotate through the transmission belt pulley set 63 at the same time, so that the eccentric wheel 7 and the cleaning brush 5 are simultaneously rotated, and the purpose of driving the cleaning brush 5 and the eccentric wheel 7 to move simultaneously by using the power of supporting the track 2 is achieved.

[0048] Further, the alloy wear-resistant plate 72 is fixedly embedded on the side of the eccentric wheel 7 in contact with the steel belt on the inside of the track 2, and the surface of the alloy wear-resistant plate 72 is a smooth surface, thereby reducing the wear of the eccentric wheel 7 and the track 2 and prolonging the service life of the eccentric wheel 7.

[0049] Further, the end of the hollow pipe shaft 51 is communicated with the gas inlet pipe 8, the front end of the gas inlet pipe 8 is provided with a sealing rotary joint 81 rotationally connected with the end of the hollow pipe shaft 51 and forming a seal, and the tail end of the gas inlet pipe 8 away from the hollow pipe shaft 51 is provided with a pressure relief valve 82.

[0050] The gas access pipe 8 is communicated with the heat dissipation fan of the investigation robot, and the heat dissipation fan of the investigation robot sends air into the hollow pipe shaft 51 through the gas access pipe 8;

[0051] A plurality of air outlets 511 are arranged on the periphery of the hollow pipe shaft 51, and the plurality of air outlets 511 are uniformly distributed along the periphery of the hollow pipe shaft 51, and the air outlets 511 are staggered with the bristle parts of the cleaning brush 5.

[0052] The air is sent into the hollow pipe shaft 51 through the gas access pipe 8, and is discharged through the air outlets 511 on the hollow pipe shaft 51, so that the air flow is used for synchronous cleaning while the cleaning brush 5 cleans the outer surface of the track 2, thereby further enhancing the cleaning effect and ensuring that the outer surface of the track 2 is cleaner.

[0053] The working principle of the utility model is as follows: in the daily use process, the supporting guide wheel 4 rotates with the movement of the track 2, the supporting guide wheel 4 drives the driving gear 61 to rotate through the guide wheel shaft 41, the driving gear 61 drives the transmission gear 62 to rotate when rotating, the transmission gear 62 drives the driven gear 64 to rotate, and simultaneously drives the hollow pipe shaft 51 to rotate through the transmission belt pulley set 63, so that the eccentric wheel 7 and the cleaning brush 5 rotate at the same time, the soil, sundries and the like clamped in the gap of the track 2 are shaken and separated from the track 2 through the knocking of the steel belt on the inner side of the track 2 by the eccentric wheel 7, part of the soil and sundries directly separate from the track 2, and the other part of the soil and sundries are swept away under the cleaning of the cleaning brush 5, so that a good cleaning effect is achieved.

[0054] Meanwhile, the air is sent into the hollow pipe shaft 51 through the gas access pipe 8, and is discharged through the air outlets 511 on the hollow pipe shaft 51, so that the air flow is used for synchronous cleaning while the cleaning brush 5 cleans the outer surface of the track 2, thereby further enhancing the cleaning effect.

[0055] Finally, it should be pointed out that: the above-mentioned only for preferred embodiment of the utility model, and does not limit the utility model, although the utility model is described in detail with reference to the foregoing embodiments, for the person skilled in the art, it still can modify the technical scheme recorded in the foregoing each embodiment, or equivalent replacement to part of technical features, any modification, equivalent replacement, improvement etc. made within the spirit and principle of the utility model, should be included in the protection scope of the utility model.

Claims

1. A crawler mechanism of a reconnaissance robot, comprising a crawler wheel (1), a crawler belt (2) sleeved on the outside of the crawler wheel (1), and a mounting cover plate (3) fixed to the main body of the robot, wherein a support guide wheel (4) in contact with the inner side of the crawler belt (2) and supporting the crawler belt (2) is mounted on the mounting cover plate (3), characterized in that: a cleaning structure is mounted on the upper part of the crawler belt (2), wherein the cleaning structure comprises an outer cleaning member for cleaning the outer gap of the crawler belt (2) and an inner auxiliary member for assisting the outer cleaning member in cleaning the outer gap of the crawler belt (2); a transmission structure (6) is mounted on the mounting cover plate (3) on the inner side of the reconnaissance robot, the input end of the transmission structure (6) is in transmission connection with the guide wheel shaft (41) of the support guide wheel (4), and the output end of the transmission structure (6) is provided with two and drives the outer cleaning member and the inner auxiliary member to move, respectively. The outer cleaning member comprises a cleaning brush (5), the cleaning brush (5) is located on the outer side of the upper part of the crawler belt (2), and the lower end of the cleaning brush (5) extends into the outer gap of the crawler belt (2). The transmission structure (6) comprises:

2. The track mechanism of the investigation robot according to claim 1, wherein: a driving gear (61) which is in transmission connection with the end of the guide wheel shaft (41) of the support guide wheel (4); 3. The tracked mechanism of a reconnaissance robot according to claim 2, characterized in that: a transmission gear (62) which is in meshing connection with the driving gear (61) and is in rotary connection with the mounting cover plate (3) through a support shaft (621); a transmission pulley set (63) which is in transmission connection between the cleaning brush (5) and the support shaft (621). The inner side of the mounting cover plate (3) is fixedly provided with a support plate (9), the lower end of the support plate (9) is rotatably sleeved on the support shaft (621); a hollow tube shaft (51) is arranged in the middle of the cleaning brush (5), one end of the hollow tube shaft (51) is rotatably connected to the upper end of the support plate (9), and the transmission pulley set (63) is in transmission connection between the hollow tube shaft (51) and the support shaft (621).

4. The tracked mechanism of a reconnaissance robot according to claim 3, wherein: The inner auxiliary member comprises an eccentric wheel (7), one side of the eccentric wheel (7) is rotatably connected to the mounting cover plate (3) through a transmission shaft (71), and the large-diameter end of the eccentric wheel (7) knocks the steel belt on the inner side of the crawler belt (2) during rotation. An alloy wear-resistant plate (72) is fixedly embedded on the side of the eccentric wheel (7) in contact with the steel belt on the inner side of the crawler belt (2), and the surface of the alloy wear-resistant plate (72) is a smooth surface.

5. The tracked mechanism of a reconnaissance robot according to claim 4, characterized in that: The transmission structure (6) further comprises a driven gear (64) which is fixedly sleeved on the end of the transmission shaft (71) away from the eccentric wheel (7) and is in meshing connection with the transmission gear (62).

6. The tracked mechanism of a reconnaissance robot according to claim 5, characterized in that: The end of the hollow tube shaft (51) is communicated with a gas inlet pipe (8), the front end of the gas inlet pipe (8) is provided with a sealing rotary joint (81) which is rotatably connected to the end of the hollow tube shaft (51) and forms a seal, and a pressure relief valve (82) is mounted on the lower end of the tail of the gas inlet pipe (8) away from the hollow tube shaft (51).

7. The tracked mechanism of a reconnaissance robot according to claim 6, characterized in that: ​ 8. The tracked mechanism of a reconnaissance robot according to claim 4, wherein: ​ The gas access pipe (8) is communicated with a heat dissipation fan of the investigation robot, and the heat dissipation fan of the investigation robot sends air into the hollow pipe shaft (51) through the gas access pipe (8); A plurality of air outlet holes (511) are arranged on the periphery of the hollow pipe shaft (51), and the plurality of air outlet holes (511) are uniformly distributed along the periphery of the hollow pipe shaft (51), and the air outlet holes (511) are staggered with the bristle part of the cleaning brush (5).

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