Walking unit and vibrating robot

Abstract

The utility model discloses a walking unit and a vibrating robot, and belongs to the technical field of construction machinery, the walking unit comprises a mounting shell, and the mounting shell extends in the length direction; the two transmission crawler wheels are arranged in the width direction of the mounting shell, and each transmission crawler wheel comprises a crawler, a driving wheel, a driven wheel, a baffle assembly, a transmission assembly and a plurality of auxiliary wheels; the driving wheel and the driven wheel are arranged at the two ends of the crawler belt in the length direction respectively, the auxiliary wheels are in transmission connection with the driving wheel through the transmission assembly, the baffle assembly and the crawler belt jointly define an installation space, and the transmission assembly is contained in the installation space. According to the walking unit designed by the utility model, the transmission assembly is arranged in the mounting space, so that transmission assembly faults caused by invasion of external substances can be effectively reduced, the reliability of the whole walking unit is improved, and the service life of the whole walking unit is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model belongs to construction instrument technical field, concretely relates to walking unit and vibrating robot. BACKGROUND

[0002] In the related art, the vibrating robot is used for vibrating concrete and the like at a construction site, and the vibrating robot is equipped with a walking unit, which mainly comprises track wheels, and the track wheels can adapt to a wider terrain, so that the vibrating robot can stably walk on the construction site, and in the prior art, stones and the like of the construction site are easily stuck in the walking unit, thereby causing a fault of the walking unit. SUMMARY

[0003] The utility model aims at solving one of the technical problems in the prior art.

[0004] The utility model further provides a vibrating robot with the walking unit.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0006] The utility model provides walking unit, include: installation shell, the installation shell extends in length direction;Transmission track wheel, the transmission track wheel is structured as being arranged in the two of installation shell width direction, the transmission track wheel includes track, driving wheel, driven wheel, baffle assembly, transmission assembly and a plurality of auxiliary wheels;Wherein the driving wheel and the driven wheel are arranged at the two ends of the track in the length direction respectively, a plurality of the auxiliary wheels are drivenly connected with the driving wheel through the transmission assembly, the baffle assembly and the track jointly define an installation space, and the transmission assembly is accommodated in the installation space.

[0007] According to the walking unit of the utility model, the transmission assembly can be effectively reduced due to the invasion of external material, so as to improve the reliability and service life of the whole walking unit, so as to allow the walking unit to work in a changeable or even bad environment, such as a construction site or a field exploration, and because the key components are effectively protected, the damaged transmission assembly does not need to be cleaned or repaired frequently, so that the daily maintenance of the walking unit becomes simpler.

[0008] Further, the transmission assembly is arranged between the driving wheel and the mounting shell, the baffle assembly comprises: a first baffle arranged between the transmission assembly and the mounting shell, the first baffle being fixedly connected with the mounting shell; and a second baffle arranged between the driving wheel and the transmission assembly, the second baffle being movably connected with the first baffle, and the second baffle being adapted to move relative to the first baffle in the width direction; wherein the first baffle, the second baffle and the track jointly define the mounting space.

[0009] Further, the baffle assembly further comprises: a reset member, one end of the reset member being connected with the first baffle, and the other end of the reset member being provided with a movable moving part, the moving part being adapted to move relative to the reset member in the width direction, and the moving part being connected with the second baffle.

[0010] Further, the reset member comprises: a sleeve connected with the first baffle; a reset spring arranged in the sleeve, and one end of the reset spring being connected with the sleeve; and a moving rod configured as the moving part, one end of the moving rod being movably arranged in the sleeve and connected with the other end of the reset spring.

[0011] Further, the reset member is configured as a plurality of reset members, one end of each of the plurality of reset members being connected with the first baffle, and the moving part of each of the plurality of reset members being connected with the second baffle.

[0012] Further, the driving wheel is rotatably connected with the mounting shell through a driving shaft, the driven wheel is rotatably connected with the mounting shell through a driven shaft, each of the plurality of auxiliary wheels is rotatably connected with the first baffle through an auxiliary shaft, and the transmission assembly comprises: a driving sprocket coaxially arranged with the driving shaft; and a plurality of auxiliary sprockets corresponding to the plurality of auxiliary wheels, each of the plurality of auxiliary sprockets being coaxially arranged with a corresponding auxiliary wheel, and the driving sprocket and the plurality of auxiliary sprockets being connected through a chain.

[0013] Further, the baffle assembly further comprises: a protective shell connected with the first baffle and located in the mounting space, each of the plurality of auxiliary sprockets being arranged in the protective shell, one end of the chain being connected with the driving sprocket, and the other end of the chain extending into the protective shell and being connected with the plurality of auxiliary sprockets.

[0014] The vibrating robot according to the present application is briefly described below.

[0015] The utility model discloses a vibrating robot, which comprises a walking unit, a base, and a mechanical arm.

[0016] Other advantages, objects, and features of the present utility model will become apparent from the following specification, and are pointed out in greater detail herein, or can be obvious from the present utility model to those skilled in the art. The objects and other advantages of the present utility model can be realized and obtained by means of the characterization. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to make the purpose, technical scheme and beneficial effect of the utility model more clear, the utility model provides the following drawings for explanation:

[0018] Figure 1 Figure 1 is a schematic view of the walking unit of the utility model;

[0019] Figure 2 Figure 2 is a partial cross-sectional view of the walking unit of the utility model;

[0020] Figure 3 Figure 3 is a cross-sectional view of the installation housing, the driving sprocket and the auxiliary sprocket of the utility model;

[0021] Figure 4 Figure 4 is a schematic view of the vibrating robot of the utility model.

[0022] The signs in the drawings are as follows:

[0023] 1000, vibrating robot; 1, walking unit; 2, base; 3, mechanical arm;

[0024] 10, installation housing;

[0025] 21, track; 22, driving wheel; 23, driven wheel; 24, auxiliary wheel;

[0026] 251, first baffle; 252, second baffle; 253, sleeve; 254, moving rod; 255, return spring;

[0027] 261, driving sprocket; 262, auxiliary sprocket; 263, chain;

[0028] 30, protective housing. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the following will be further described in detail in combination with the embodiment and drawings, the schematic embodiment of the utility model and its description are only used for explaining the utility model, and do not serve as the limitation of the utility model.

[0030] In the following description, numerous specific details are set forth to provide a thorough understanding of the present utility model. However, it will be apparent to one of ordinary skill in the art that the present utility model can be practiced without these specific details. In other instances, well-known structures, circuits, materials or processes have not been described in detail in order to avoid obscuring the present utility model.

[0031] In the entire description, the mention of "one embodiment", "an embodiment", "one example" or "an example" means that the specific feature, structure or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present utility model. Therefore, the phrases "one embodiment", "an embodiment", "one example" or "an example" appearing in various places throughout the description are not necessarily all referring to the same embodiment or example. In addition, specific features, structures or characteristics can be combined in any appropriate combination and / or subcombination in one or more embodiments or examples. In addition, those of ordinary skill in the art should understand that the drawings provided herein are for illustrative purposes only and are not necessarily drawn to scale. The term "and / or" used herein includes any and all combinations of one or more of the associated listed items.

[0032] In the description of the present utility model, it is understood that the orientation or positional relationship indicated by the terms "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the scope of protection of the present utility model.

[0033] Embodiment one:

[0034] As Figures 1-4As shown, the utility model provides a kind of walking unit 1, comprising: mounting shell 10 and transmission track wheel, mounting shell 10 extends in length direction, transmission track wheel is structured as being set to two in the width direction of mounting shell 10, transmission track wheel includes track 21, driving wheel 22, driven wheel 23, baffle assembly, transmission assembly and multiple auxiliary wheels 24;Wherein driving wheel 22 and driven wheel 23 are respectively set to two ends of track 21 in length direction, multiple auxiliary wheels 24 are respectively connected with driving wheel 22 by transmission assembly, baffle assembly and track 21 jointly define mounting space, transmission assembly is housed in mounting space.

[0035] In some embodiments, mounting shell 10 extends along the length direction to provide a platform for installing other components, two transmission track wheels are provided in the width direction of mounting shell 10, each transmission track wheel includes track 21, driving wheel 22, driven wheel 23, baffle assembly, transmission assembly and multiple auxiliary wheels 24, track 21 is a continuous annular belt covering driving wheel 22 and driven wheel 23, track 21 is used to contact the ground and realize movement, driving wheel 22 and driven wheel 23 are located at two ends of track 21 respectively, and driving wheel 22 and driven wheel 23 are arranged in the length direction, driving wheel 22 is responsible for driving track 21 movement, while driven wheel 23 assists to support track 21 and helps to maintain track 21 tension, baffle assembly cooperates with track 21 to form a closed mounting space, transmission assembly is responsible for transmitting power from driving wheel 22 to multiple auxiliary wheels 24, so that track 21 can run smoothly, transmission assembly is designed to be placed in the mounting space defined by baffle assembly and track 21, to prevent external impurities from entering, multiple auxiliary wheels 24 are connected with driving wheel 22 through transmission assembly, and multiple auxiliary wheels 24 are used to support track 21 and assist track 21 to rotate, so as to ensure that track 21 maintains appropriate tension and smoothness during movement.

[0036] According to the walking unit 1 of the utility model, by placing the transmission assembly in the mounting space, the transmission assembly failure caused by external substances can be effectively reduced, thereby improving the reliability and service life of the entire walking unit 1, to allow the walking unit 1 to work in variable or even harsh environments, such as construction site or field exploration, and because the key components are effectively protected, frequent cleaning or repair of damaged transmission assembly is not required, thereby making the daily maintenance of the walking unit 1 more simple.

[0037] Embodiment two:

[0038] The embodiment is based on the embodiment one, the transmission assembly is arranged between the driving wheel 22 and the mounting shell 10, the baffle assembly comprises: a first baffle 251 and a second baffle 252, the first baffle 251 is arranged between the transmission assembly and the mounting shell 10, the first baffle 251 is fixedly connected with the mounting shell 10, the second baffle 252 is arranged between the driving wheel 22 and the transmission assembly, the second baffle 252 is movably connected with the first baffle 251, and the second baffle 252 is adapted to move relative to the first baffle 251 in the width direction; wherein the first baffle 251, the second baffle 252 and the track 21 jointly define a mounting space.

[0039] In some embodiments, the transmission assembly is arranged between the driving wheel 22 and the mounting shell 10 to help optimize space utilization and provide more layout flexibility for other components, the first baffle 251 is located between the transmission assembly and the mounting shell 10 and is fixedly connected with the mounting shell 10, the first baffle 251 provides basic protection for the internal transmission assembly and serves as a fixed part of the entire baffle assembly, the second baffle 252 is arranged between the driving wheel 22 and the transmission assembly, the second baffle 252 is movably connected with the first baffle 251 and allows the second baffle 252 to move relative to the first baffle 251 in the width direction, so that when foreign matter is stuck between the second baffle 252 and the driving wheel 22, the driven wheel 23 or the plurality of auxiliary wheels 24, the obstacle can be removed by moving the second baffle 252, and the mounting space is configured to be jointly defined by the first baffle 251, the second baffle 252 and the track 21 as a closed space, and the mounting space is used to accommodate and protect the transmission assembly from the external environment.

[0040] It can be understood that the movable second baffle 252 mechanism allows the second baffle 252 to move relative to the first baffle 251 when a stone or other obstacle is stuck in a critical position, thereby helping to clear the obstacle and avoiding the need to disassemble the entire transmission track wheel or perform complex maintenance work, simplifying the maintenance process, and at the same time, placing the transmission assembly in a protective mounting space can effectively prevent external impurities (such as mud, stones, etc.) from affecting the operation of the transmission assembly, thereby reducing the risk of mechanical failure.

[0041] According to some embodiments of the present application, the baffle assembly further comprises: a reset member, one end of the reset member is connected with the first baffle 251, the other end of the reset member is provided with a movable moving part, the moving part is adapted to move relative to the reset member in the width direction, and the moving part is connected with the second baffle 252.

[0042] It can be understood that the reset member is suitable for connecting the first baffle 251 and the second baffle 252, and the second baffle 252 can move relative to the first baffle 251 through the reset member. When foreign matter is stuck between the second baffle 252 and the driving wheel 22 or the driven wheel 23, the second baffle 252 can move in the width direction by means of the moving part of the reset member, thereby helping to remove the obstacle, so that the walking unit 1 has better adaptability and can cope with potential problems in various complex environments.

[0043] Of course, once the obstacle is removed, the reset member will pull the second baffle 252 back to its original position by its own elastic properties (such as spring action), ensuring that the normal operation of the baffle assembly will not be affected for a long time. The automatic reset mechanism reduces the need for manual adjustment, improving the degree of automation and use convenience of the walking unit 1.

[0044] Therefore, when the walking unit 1 faces a sudden situation (stones or other obstacles are stuck between the second baffle 252 and the driving wheel 22, the driven wheel 23 or the plurality of auxiliary wheels 24), it can self-adjust without frequent intervention, providing a smoother operation experience.

[0045] Embodiment three:

[0046] This embodiment is based on embodiment two, and the reset member includes a sleeve 253, a reset spring 255 and a moving rod 254. The sleeve 253 is connected to the first baffle 251, the reset spring 255 is arranged in the sleeve 253, and one end of the reset spring 255 is connected to the sleeve 253. The moving rod 254 is configured as a moving part, and one end of the moving rod 254 is movably arranged in the sleeve 253 and connected to the other end of the reset spring 255.

[0047] It can be understood that the axial direction of the sleeve 253 is parallel to the width direction, and the inner peripheral wall of the sleeve 253 is suitable for limiting the outer peripheral wall of the moving rod 254, so that the moving rod 254 can stably move along the axial direction of the sleeve 253, and the second baffle 252 can stably move relative to the first baffle 251 in the width direction.

[0048] Of course, when the second baffle 252 encounters an obstacle (such as a stone), the moving rod 254 will compress the reset spring 255 into the sleeve 253 due to external force, while driving the second baffle 252 to move relative to the first baffle 251 in the width direction to avoid the obstacle. Once the obstacle is removed, the reset spring 255 tries to restore its original length due to its elastic properties, thereby pushing the moving rod 254 to move outward, so that the second baffle 252 returns to its original position, thereby realizing the automatic reset function and ensuring that the walking unit 1 can continue to operate normally without manual intervention.

[0049] According to some embodiments of the present application, the plurality of reset members are connected to the first baffle 251 at one end and to the second baffle 252 at the other end.

[0050] In some embodiments, the present application uses more than one reset member to connect the first baffle 251 and the second baffle 252, each reset member having a sleeve 253, a reset spring 255, and a moving rod 254, and the plurality of reset members are evenly distributed along the length or width direction of the baffle assembly to ensure that the second baffle 252 can move smoothly when encountering obstacles and can be uniformly stressed to return to the original position after the obstacles are removed.

[0051] It can be understood that when the second baffle 252 encounters an obstacle, the pressure is dispersed to each reset member due to the joint action of the plurality of reset members, so as to avoid failure of a single reset member due to excessive pressure, and once the obstacle is removed, the plurality of reset members act simultaneously, so that the second baffle 252 can be uniformly pushed at multiple points, thereby returning to the original position more stably and smoothly, which helps to prevent the phenomenon of deflection or jamming caused by a single reset point.

[0052] Embodiment four:

[0053] In this embodiment, the driving wheel 22 is rotatably connected to the mounting shell 10 through a driving shaft, the driven wheel 23 is rotatably connected to the mounting shell 10 through a driven shaft, and the plurality of auxiliary wheels 24 are rotatably connected to the first baffle 251 through auxiliary shafts, and the transmission assembly comprises: a driving sprocket 261 and an auxiliary sprocket 262, the driving sprocket 261 is coaxially arranged with the driving shaft, the auxiliary sprocket 262 is constructed as a plurality of one-to-one corresponding to the plurality of auxiliary wheels 24, the auxiliary sprocket 262 is coaxially arranged with the corresponding auxiliary wheel 24, and the driving sprocket 261 is drivingly connected to the plurality of auxiliary sprockets 262 through a chain 263.

[0054] In some embodiments, when the driving wheel 22 is driven to rotate by a driving device (such as a motor), the driving sprocket 261 rotates and transmits power to all auxiliary sprockets 262 through the chain 263, since each auxiliary wheel 24 has a corresponding auxiliary sprocket 262, and all auxiliary sprockets 262 are connected to the driving sprocket 261 through the same chain 263, to ensure that power is evenly distributed to each auxiliary wheel 24, so that the track 21 runs smoothly.

[0055] It is worth mentioning that the auxiliary wheel 24 is rotatably connected to the first baffle 251 through the auxiliary shaft, which not only provides necessary support, but also helps to maintain the proper tension of the track 21, and can avoid opening holes in the first baffle 251 for accommodating the auxiliary wheel 24, thereby improving the structural strength of the first baffle 251.

[0056] According to some embodiments of the utility model, walking unit 1 still includes: protective shell 30, protective shell 30 is connected with first baffle 251 and is located in the installation space, multiple auxiliary sprocket wheels 262 are arranged in protective shell 30 respectively, one end of chain 263 is connected with driving sprocket 261, the other end of chain 263 extends to protective shell 30 and is connected with multiple auxiliary sprocket wheels 262.

[0057] In some embodiments, protective shell 30 is connected with first baffle 251 and is located in the installation space defined by first baffle 251, second baffle 252 and track 21, multiple auxiliary sprocket wheels 262 are arranged in protective shell 30, so that multiple auxiliary sprocket wheels 262 can be additionally physically protected.

[0058] It can be understood that driving sprocket 261 transmits power to multiple auxiliary sprocket wheels 262 arranged in protective shell 30 through chain 263, chain 263 starts from driving sprocket 261, passes through a part of protective shell 30 and is finally connected to each auxiliary sprocket wheel 262, ensuring that power can be effectively transmitted to all auxiliary wheels 24.

[0059] Protective shell 30 not only provides a mounting position for auxiliary sprocket wheels 262, but also effectively prevents external impurities (such as soil, stones and the like) from entering the working area of chain 263 and sprocket, reducing the possibility of wear and failure, and also reducing the risk of external objects being stuck in the transmission assembly.

[0060] Embodiment five:

[0061] The utility model provides a kind of vibrating robot 1000, comprising: walking unit 1, the walking unit 1 is configured as the walking unit 1 described in any one of above embodiment;Base 2, the base 2 is connected with the top of the installation shell 10;Mechanical arm 3, the mechanical arm 3 is set to the side of the base 2 away from walking unit 1.Due to the vibrating robot 1000 according to the utility model is provided with the walking unit 1 of above embodiment, so the vibrating robot 1000 can more stably and smoothly walk in construction site, improves construction efficiency.

[0062] Finally, it is stated that the above preferred embodiments are only used to illustrate the technical scheme of the utility model and not to limit, although the utility model has been described in detail by the above preferred embodiments, but those skilled in the art should understand that it can be changed in form and detail, without deviating from the range defined by the utility model claim.

Claims

1. A walking unit characterized by comprising: The application relates to a walking unit. The walking unit comprises: a mounting shell extending in a length direction; a plurality of driving track wheels arranged in a width direction of the mounting shell, each of the driving track wheels comprising a track, a driving wheel, a driven wheel, a baffle assembly, a transmission assembly and a plurality of auxiliary wheels; 2. The walking unit of claim 1, wherein, the driving wheel and the driven wheel are arranged at two ends of the track in the length direction, the plurality of auxiliary wheels are in transmission connection with the driving wheel through the transmission assembly, the baffle assembly and the track jointly define a mounting space, and the transmission assembly is accommodated in the mounting space. The transmission assembly is arranged between the driving wheel and the mounting shell, the baffle assembly comprises: a first baffle arranged between the transmission assembly and the mounting shell, the first baffle is fixedly connected with the mounting shell; a second baffle arranged between the driving wheel and the transmission assembly, the second baffle is movably connected with the first baffle, and the second baffle is adapted to move relative to the first baffle in the width direction; and 3. The walking unit of claim 2, wherein, the first baffle, the second baffle and the track jointly define the mounting space. The baffle assembly further comprises:

4. The walking unit of claim 3, wherein, a reset member, one end of the reset member is connected with the first baffle, the other end of the reset member is provided with a movable moving part, the moving part is adapted to move relative to the reset member in the width direction, and the moving part is connected with the second baffle. The reset member comprises: a sleeve connected with the first baffle; a reset spring arranged in the sleeve, one end of the reset spring is connected with the sleeve; 5. The walking unit of claim 3, wherein, a moving rod configured as the moving part, one end of the moving rod is movably arranged in the sleeve and connected with the other end of the reset spring.

6. The walking unit of claim 2, wherein, A plurality of reset members are arranged, one end of each of the plurality of reset members is connected with the first baffle, and the moving part of each of the plurality of reset members is connected with the second baffle. The driving wheel is rotatably connected with the mounting shell through a driving shaft, the driven wheel is rotatably connected with the mounting shell through a driven shaft, the plurality of auxiliary wheels are rotatably connected with the first baffle through a plurality of auxiliary shafts, and the transmission assembly comprises: a driving sprocket coaxially arranged with the driving shaft; 7. The walking unit of claim 6, wherein, a plurality of auxiliary sprockets corresponding to the plurality of auxiliary wheels, each of the auxiliary sprockets is coaxially arranged with a corresponding auxiliary wheel, and the driving sprocket and the plurality of auxiliary sprockets are in transmission connection through a chain. Further comprising:

8. A vibrating robot, characterized in that a protective shell connected with the first baffle and arranged in the mounting space, each of the plurality of auxiliary sprockets is arranged in the protective shell, one end of the chain is connected with the driving sprocket, and the other end of the chain extends into the protective shell and is connected with the plurality of auxiliary sprockets. The application further relates to a robot. The robot comprises: the walking unit as claimed in any one of claims 1-7; a base connected with the top of the mounting shell; and a mechanical arm arranged on the side of the base away from the walking unit.

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