Traveling mechanism of security robot

Abstract

The utility model belongs to the technical field of walking mechanisms, and particularly relates to a security robot walking mechanism which comprises a bottom frame, two overhauling bottom lifting mechanisms and a crawler walking mechanism, the crawler walking mechanism is arranged on the bottom frame, and the two overhauling bottom lifting mechanisms are oppositely arranged on the bottom frame; the overhauling bottom lifting mechanism comprises a connecting rod and two supporting arms, the two supporting arms are arranged in a spaced mode, the middles of the two supporting arms are hinged to the bottom frame, supporting wheels are rotationally connected to the lower middle portions of the two supporting arms, and anti-skid supporting pads are arranged at the lower ends of the two supporting arms; the connecting rod is hinged to the upper ends of the two supporting arms. And a telescopic mechanism is arranged between the connecting rod and the bottom frame. The supporting arm can be driven to rotate through the telescopic mechanism, and when supporting wheels of the supporting arm make contact with the ground, temporary movement can be achieved in a manual pushing mode. When the anti-skid supporting pad of the supporting arm is in contact with the ground, the whole supporting arm can be lifted up to facilitate maintenance.

Description

A walking mechanism for security robots Technical Field

[0001] This utility model belongs to the field of walking mechanism technology, specifically relating to a walking mechanism for a security robot. Background Technology

[0002] In existing security robot technologies, tracked locomotives are widely used in robot mobility systems to achieve good maneuverability and stability. However, this type of locomotive has some significant shortcomings in practical use. First, the maintenance process of tracked locomotives is relatively complex. During maintenance, jacks are usually needed to lift the entire robot to inspect and maintain the tracks.

[0003] Secondly, due to the compact overall structure of the tracked walking mechanism, the maintenance space is extremely limited, which greatly inconveniences maintenance personnel. Furthermore, when the tracked walking mechanism is damaged, the robot typically loses its mobility, making temporary relocation difficult.

[0004] Therefore, the shortcomings of existing tracked locomotives in terms of maintenance convenience and temporary mobility limit the efficiency and reliability of security robots in complex environments, and there is an urgent need for an improved locomotive design to solve the above problems. Summary of the Invention

[0005] To address the aforementioned technical problems, this utility model provides a walking mechanism for a security robot. This walking mechanism has a maintenance lifting mechanism, which can easily lift the entire robot for inspection and maintenance, and can also enable temporary movement.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0007] A security robot walking mechanism includes a base frame, a maintenance lifting mechanism and a tracked walking mechanism. The tracked walking mechanism is mounted on the base frame, and there are two maintenance lifting mechanisms, which are arranged opposite to each other on the base frame.

[0008] The maintenance lifting mechanism includes a connecting rod and two support arms, which are spaced apart. The middle of each support arm is hinged to the base frame. Support wheels are rotatably connected to the lower middle part of each support arm, and anti-slip support pads are provided at the lower ends of each support arm. The connecting rod is hinged to the upper ends of the two support arms. A telescopic mechanism is provided between the connecting rod and the base frame.

[0009] The telescopic mechanism uses an electric telescopic cylinder, with both ends of the electric telescopic cylinder hinged to the base frame and the connecting rod, respectively.

[0010] It also includes a mounting plate, which is slidably connected to the base frame and can be moved upwards by a connecting rod.

[0011] The connecting rod is equipped with a top wheel that mates with the mounting plate, and the top wheel is rotatably connected to the connecting rod.

[0012] The top wheel is provided in at least two parts.

[0013] A support column is fixed on the mounting plate, and a connecting column is fixed on the base frame. The support column and the connecting column are slidably connected. A spring assembly is provided between the support column and the base frame.

[0014] The spring assembly includes a guide rod and a support spring. The lower end of the guide rod is fixedly connected to the base frame, the support column is slidably connected to the guide rod, and the support spring is sleeved on the outside of the guide rod. The two ends of the support spring are fixedly connected to the support column and the guide rod, respectively.

[0015] A limiting block is fixed on the base frame and abuts against the lower end of the supporting column; the limiting block is made of rubber.

[0016] Compared with the prior art, the advantages of this utility model are:

[0017] The telescopic mechanism allows the support arm to rotate. Once the support wheels of the support arm contact the ground, it can be temporarily moved by manual pushing. When the anti-slip support pads of the support arm contact the ground, the entire arm can be lifted for easy maintenance.

[0018] The system is equipped with a mounting plate, which can be moved upwards via a connecting rod, thereby increasing the distance between the mounting plate and the tracked walking mechanism, thus increasing the maintenance and operation space. Attached Figure Description

[0019] Figure 1 is a schematic diagram of the overall structure of this utility model;

[0020] Figure 2 is a cross-sectional view of this utility model;

[0021] Figure 3 is a front view of the structure shown in Figure 2;

[0022] Figure 4 is a schematic diagram of the installation state of the mounting plate of this utility model;

[0023] Figure 5 is a side view of the structure shown in Figure 4;

[0024] Figure 6 is a magnified view of part A in Figure 5;

[0025] Figure 7 is a schematic diagram of the installation state of the body of this utility model;

[0026] Wherein: 1 is the base frame, 2 is the maintenance lifting mechanism, 20 is the connecting rod, 21 is the support arm, 22 is the support wheel, 23 is the anti-slip support pad, 24 is the telescopic mechanism, 3 is the track walking mechanism, 4 is the mounting plate, 5 is the top wheel, 6 is the support column, 7 is the connecting column, 8 is the spring assembly, 80 is the guide rod, 81 is the support spring, 9 is the limit block, and 10 is the machine body. Detailed Implementation

[0027] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments.

[0028] As shown in Figures 1-7, a security robot walking mechanism includes a base frame 1, a maintenance lifting mechanism 2, and a tracked walking mechanism 3. The tracked walking mechanism 3 is mounted on the base frame 1. There are two maintenance lifting mechanisms 2, which are arranged opposite to each other on the base frame 1.

[0029] Each maintenance lifting mechanism 2 includes a connecting rod 20 and two support arms 21, which are spaced apart. The middle of each support arm 21 is hinged to the base frame 1. Support wheels 22 are rotatably connected to the lower middle part of each support arm 21, and anti-slip support pads 23 are provided at the lower end of each support arm 21. The connecting rod 20 is hinged to the upper end of the two support arms 21, forming a parallelogram linkage mechanism between the connecting rod, the support arms 21, and the base frame 1. A telescopic mechanism 24 is provided between the connecting rod 20 and the base frame 1, which allows the two support arms 21 to rotate by extending and retracting.

[0030] The telescopic mechanism 24 extends, causing the support arm 21 to rotate. Once the support wheel 22 of the support arm 21 contacts the ground, it can be temporarily moved by manual pushing. When the anti-slip support pad 23 of the support arm 21 contacts the ground, the entire arm can be lifted for easy maintenance.

[0031] Furthermore, the telescopic mechanism 24 preferably adopts an electric telescopic cylinder, with both ends of the electric telescopic cylinder being hinged to the base frame 1 and the connecting rod 20, respectively.

[0032] Furthermore, the robot body 10 (the main body of the security robot, integrating sensors, probes, etc.) can be directly mounted on the base frame 1. The tracked walking mechanism 3 can move the robot body 10 to the desired position. Due to the compact overall structure, the distance between the robot body 10 and the tracked walking mechanism 3 is small after installation, meaning the operating space during later installation and maintenance is also correspondingly small. Therefore, a mounting plate 4 is also included, on which the robot body 10 is fixedly mounted.

[0033] The mounting plate 4 is slidably connected to the base frame 1, and the mounting plate 4 can be moved upwards via the connecting rod 20. That is, when the anti-slip support pad 23 of the support arm 21 contacts the ground, the whole structure can be lifted to facilitate maintenance. The mounting plate 4 will also be moved upwards accordingly, thereby increasing the distance between it and the base frame 1 and the tracked walking mechanism 3, and thus increasing the operating space for maintenance and installation.

[0034] Furthermore, a top wheel 5 is provided on the connecting rod 20, which contacts the mounting plate 4, and the top wheel 5 is rotatably connected to the connecting rod 20. The top wheel 5 is provided to generate friction. Specifically, at least two top wheels 5 are preferably provided.

[0035] Furthermore, various structures can be used to achieve a sliding connection between the mounting plate 4 and the base frame 1. For example, a support column 6 is fixed on the mounting plate 4, and a connecting column 7 is fixed on the base frame 1. The support column 6 and the connecting column 7 are slidably connected. There is a one-to-one correspondence between the support column 6 and the connecting column 7. Preferably, there are four support columns 6.

[0036] Furthermore, a spring assembly 8 is provided between the support column 6 and the base frame 1. The spring assembly 8 includes a guide rod 80 and a support spring 81. The lower end of the guide rod 80 is fixedly connected to the base frame 1, the support column 6 is slidably connected to the guide rod 80, and the support spring 81 is sleeved on the guide rod 80. The two ends of the support spring 81 are fixedly connected to the support column 6 (with a protrusion at the upper end) and the guide rod 80, respectively.

[0037] When the mounting plate 4 moves upward, it compresses the support spring 81 and generates elastic potential energy; when the connecting rod 20 moves downward, the support spring 81 releases elastic potential energy, causing the mounting plate 4 to move downward accordingly.

[0038] Furthermore, a limiting block 9 is fixed on the base frame 1, abutting against the lower end of the support column 6; the limiting block 9 is made of rubber. It can limit and support the movement during the downward movement, preventing the lower end of the support column 6 from colliding with the base frame 1.

[0039] The above description only describes the preferred embodiments of the present invention, but the present invention is not limited to the above embodiments.

Claims

1. A walking mechanism for a security robot, characterized in that: The system includes a base frame (1), a maintenance lifting mechanism (2), and a tracked walking mechanism (3). The tracked walking mechanism (3) is mounted on the base frame (1). There are two maintenance lifting mechanisms (2), which are mounted opposite each other on the base frame (1). Each maintenance lifting mechanism (2) includes a connecting rod (20) and two support arms (21). The two support arms (21) are spaced apart. The middle part of each support arm (21) is hinged to the base frame (1). The lower middle part of each support arm (21) is rotatably connected to a support wheel (22). The lower end of each support arm (21) is provided with an anti-slip support pad (23). The connecting rod (20) is hinged to the upper end of each support arm (21). A telescopic mechanism (24) is provided between the connecting rod (20) and the base frame (1).

2. The security robot walking mechanism according to claim 1, characterized in that: The telescopic mechanism (24) is an electric telescopic cylinder, with both ends of the electric telescopic cylinder hinged to the base frame (1) and the connecting rod (20) respectively.

3. The security robot walking mechanism according to claim 1, characterized in that: It also includes a mounting plate (4), which is slidably connected to the base frame (1), and can be moved upward by the connecting rod (20).

4. The security robot walking mechanism according to claim 3, characterized in that: The connecting rod (20) is provided with a top wheel (5) that cooperates with the mounting plate (4), and the top wheel (5) is rotatably connected to the connecting rod (20).

5. The security robot walking mechanism according to claim 4, characterized in that: The top wheel (5) has at least two.

6. The security robot walking mechanism according to claim 3, characterized in that: A support column (6) is fixed on the mounting plate (4), and a connecting column (7) is fixed on the base frame (1). The support column (6) and the connecting column (7) are slidably connected. A spring assembly (8) is provided between the support column (6) and the base frame (1).

7. The security robot walking mechanism according to claim 6, characterized in that: The spring assembly (8) includes a guide rod (80) and a support spring (81). The lower end of the guide rod (80) is fixedly connected to the base frame (1), the support column (6) is slidably connected to the guide rod (80), and the support spring (81) is sleeved on the outside of the guide rod (80). The two ends of the support spring (81) are fixedly connected to the support column (6) and the guide rod (80) respectively.

8. The walking mechanism of a security robot according to claim 6, characterized in that: The base frame (1) is fixed with a limiting block (9) that abuts against the lower end of the supporting column (6); the limiting block (9) is made of rubber.

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