A robot walking structure

Abstract

The utility model relates to walking mechanism technical field discloses a robot walking structure, including the shell, the bottom fixedly connected with the top plate of shell, the top fixedly connected with two motor housings of top plate, the inside fixedly connected with drive assembly of motor housing, the outside mounted with the gyro wheel of drive assembly, the outside fixedly connected with the installation shell of motor housing, the inside fixedly connected with the fixed plate of installation shell, the inside slidingly connected with the sliding rod of fixed plate, the outside fixedly connected with the fixed ring of sliding rod, the outside fixedly connected with the limit ring of sliding rod. In the utility model, sliding rod is pulled to fixed plate direction through fixed ring, makes the inside recess of sliding rod and gyro wheel to separate, sliding rod slides in the inside fixed plate at this moment, spring is extruded, gyro wheel moves outward and separates with rotating shaft, and gyro wheel can be taken out, and after the hair wound by gyro wheel is cleaned.

Description

Technical Field

[0001] This utility model relates to the field of walking mechanism technology, and in particular to a robot walking structure. Background Technology

[0002] Robots can operate according to preset programs or artificial intelligence technology, replacing humans in completing various tasks. For example, a robotic vacuum cleaner is a type of home service robot. Through intelligent design, it liberates human labor and is widely used in home cleaning. It is a category of home robots with a high penetration rate.

[0003] The walking structure of most robotic vacuum cleaners is a combination of dual drive rollers and omnidirectional wheels. The drive rollers are driven by motors to move forward, backward and turn, while the omnidirectional wheels help with balance. The robot scans the environment through sensors, builds a map and plans a path. The roller brush generates negative pressure to suck up dust and hair into the dust box, thus automatically completing the floor cleaning work.

[0004] When existing robotic vacuum cleaners come into contact with long hair, pet hair, etc. scattered on the ground, the drive rollers can get tangled on the rollers. However, since the rollers of existing robotic vacuum cleaners are fixedly connected to the motor, it is inconvenient to clean the hair. This can lead to a decrease in roller speed, steering jamming, and even an increase in motor load, affecting the service life. Therefore, a robotic walking structure is proposed to solve the above problems. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a robot walking structure, which aims to improve the problem of hair entanglement on rollers in the prior art, making it inconvenient to clean.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A robot walking structure includes a shell, a top plate fixedly connected to the bottom of the shell, two motor shells fixedly connected to the top of the top plate, a drive assembly fixedly connected inside the motor shell, rollers mounted outside the drive assembly, a mounting shell fixedly connected outside the motor shell, a fixing plate fixedly connected inside the mounting shell, a sliding rod slidably connected inside the fixing plate, a fixing ring fixedly connected outside the sliding rod, a limit ring fixedly connected outside the sliding rod, a spring sleeved outside the sliding rod, sliding sleeves fixedly connected to both ends of the spring, and one end of the sliding rod contacting the internal groove of the roller.

[0008] As a further description of the above technical solution:

[0009] The top of the outer shell is fitted with a bottom cover, and two rotating disks are rotatably connected inside the bottom cover. Side brushes are fixedly connected to the four sides of each rotating disk. A connecting block is fixedly connected to the bottom of each rotating disk. A locking block is fixedly connected to the bottom of the connecting block. A fixing shell is provided at the bottom of the connecting block. A fixing rod is fixedly connected inside the fixing shell. Two rotating rods are rotatably connected to both sides of the fixing rod. Springs are fixedly connected to the outside of the two rotating rods. Rollers are rotatably connected to the outside of each rotating rod. The outside of the two rollers is in contact with the outside of the locking block.

[0010] As a further description of the above technical solution:

[0011] Two mounting boxes are fixedly connected to the top of the top plate. A second motor is fixedly connected inside the mounting box. A second helical gear is fixedly connected to the drive end of the second motor. A connecting rod is fixedly connected inside the second helical gear. The top of the connecting rod is fixedly connected to the bottom of the fixed shell.

[0012] As a further description of the above technical solution:

[0013] The drive assembly includes a motor, the bottom of which is fixedly connected to the inside of the motor housing, and a rotating shaft is fixedly connected to the drive end of the motor. The outside of the rotating shaft is in contact with the internal groove of the roller.

[0014] As a further description of the above technical solution:

[0015] The outer side of the sliding sleeve contacts one side of the fixed plate, and the outer side of the other sliding sleeve contacts one side of the fixed ring. The inner side of the sliding sleeve is slidably connected to the outer side of the sliding rod.

[0016] As a further description of the above technical solution:

[0017] A roller brush box is fixedly connected to the top of the top plate, and a roller brush is rotatably connected inside the roller brush box;

[0018] As a further description of the above technical solution:

[0019] The roller brush, wherein the first helical gear and the second helical gear are meshed together;

[0020] As a further description of the above technical solution:

[0021] A filter plate is installed on the top of the roller brush box, and a steering wheel is rotatably connected to the top of the top plate;

[0022] As a further description of the above technical solution:

[0023] A heat dissipation box is fixedly connected to the top of the top plate, and multiple heat dissipation holes are opened inside the bottom cover;

[0024] As a further description of the above technical solution:

[0025] The outer side of the fixing ring is in contact with the outer side of the motor housing, and the outer side of the limiting ring is in contact with one side of the fixing plate.

[0026] This utility model has the following beneficial effects:

[0027] 1. In this utility model, by pulling the sliding rod towards the fixed plate through the fixing ring, the sliding rod is disengaged from the internal groove of the roller. At this time, the sliding rod slides inside the fixed plate, and the spring is compressed, moving the roller outward to disengage it from the rotating shaft, so that it can be removed. After cleaning the hair wrapped around the roller, the fixing ring is pulled again to align the internal groove of the roller with the rotating shaft and insert it. The fixing ring is then released, and the spring pushes the fixing ring, thereby inserting one end of the sliding rod into the groove on the other side of the roller, fixing the roller to the rotating shaft. Therefore, the roller can be easily removed and the hair wrapped around the roller can be cleaned by pulling the fixing ring.

[0028] 2. In this utility model, by pulling the rotating disk upward, the rotating disk drives the connecting block, which in turn pulls the locking block upward. The rollers on both sides of the locking block will move to both sides along the arc surface of the locking block until they disengage from the locking block. The rotating disk can then be removed, and the locking block at the bottom of the new rotating disk can be reinserted between the two rollers. The rollers rotate on the fixed rod via the rotating rod, and under the action of the spring, they engage with the recess of the locking block. The spring contraction makes the engagement more secure, thereby realizing the quick replacement of the rotating disk. Attached Figure Description

[0029] Figure 1 This is a three-dimensional schematic diagram of a robot walking structure proposed in this utility model;

[0030] Figure 2 This is a schematic diagram of the rotating disk of a robot walking structure proposed in this utility model;

[0031] Figure 3 This is a schematic diagram of the structure of a roller in a robot walking structure proposed in this utility model;

[0032] Figure 4 This is a schematic diagram of the helical gear II of the robot walking structure proposed in this utility model;

[0033] Figure 5 This is a schematic diagram of the rotating rod of a robot walking structure proposed in this utility model.

[0034] Legend:

[0035] 1. Outer shell; 2. Bottom cover; 3. Steering wheel; 4. Filter plate; 5. Heat dissipation box; 6. Heat dissipation hole; 7. Motor housing; 8. Mounting housing; 9. Motor I; 10. Rotating shaft; 11. Roller; 12. Fixing plate; 13. Sliding rod; 14. Fixing ring; 15. Spring I; 16. Sliding sleeve; 17. Limiting ring; 18. Brush box; 19. Brush; 20. Helical gear I; 21. Mounting box; 22. Motor II; 23. Helical gear II; 24. Connecting rod; 25. Rotating disk; 26. Side brush; 27. Fixing housing; 28. Fixing rod; 29. ​​Rotating rod; 30. Spring II; 31. Roller; 32. Connecting block; 33. Engaging block; 34. Top plate. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0037] Reference Figures 1 to 3This utility model provides an embodiment of a robot walking structure, including a shell 1. A top plate 34 is fixedly connected to the bottom of the shell 1. Two motor shells 7 are fixedly connected to the top of the top plate 34. A drive assembly is fixedly connected inside the motor shell 7. Rollers 11 are mounted on the outside of the drive assembly. The drive assembly includes a motor 9. The bottom of the motor 9 is fixedly connected inside the motor shell 7. A rotating shaft 10 is fixedly connected to the drive end of the motor 9. The outside of the rotating shaft 10 contacts the internal groove of the roller 11. The rotating shaft 10 is driven to rotate by the motor 9, and the rotating shaft 10 drives the roller 11 to rotate to achieve walking. A mounting shell 8 is fixedly connected to the outside of the motor shell 7. A fixing plate 12 is fixedly connected inside the mounting shell 8. A sliding rod 13 is slidably connected inside the fixing plate 12. A fixing ring 14 is fixedly connected to the outside of the sliding rod 13. The outside of the fixing ring 14 is in contact with the outside of the motor shell 7. A limiting ring 17 is fixedly connected to the outside of the sliding rod 13. The outside of the limiting ring 17 contacts one side of the fixed plate 12. The limiting ring 17 prevents the sliding rod 13 from falling off the fixed plate 12. A spring 15 is sleeved on the outside of the sliding rod 13. Sliding sleeves 16 are fixedly connected to both ends of the spring 15. The outside of the sliding sleeve 16 contacts one side of the fixed plate 12, and the outside of the other sliding sleeve 16 contacts one side of the fixed ring 14. The inside of the sliding sleeve 16 is slidably connected to the outside of the sliding rod 13. During the rotation of the sliding rod 13 driven by the roller 11, the fixed ring 14 and the sliding sleeves 16 on both sides do not affect the rotation of the sliding rod 13. One end of the sliding rod 13 contacts the internal groove of the roller 11. The spring 15 pushes the fixed ring 14 through elastic deformation, so that the sliding rod 13 always fits the roller 11, enhances the stability of the rotation of the roller 11, and further assists the roller 11 in stable rotation.

[0038] Reference Figure 2 , Figure 4 and Figure 5The top of the outer casing 1 is fitted with a bottom cover 2. Inside the bottom cover 2, two rotating discs 25 are rotatably connected. Side brushes 26 are fixedly connected to the circumference of each rotating disc 25. The rotation of the rotating discs 25 drives the side brushes 26 to sweep dust into the cleaning area. A connecting block 32 is fixedly connected to the bottom of the rotating discs 25. A locking block 33 is fixedly connected to the bottom of the connecting block 32. A fixing shell 27 is located at the bottom of the connecting block 32. A fixing rod 28 is fixedly connected inside the fixing shell 27. Two rotating rods 29 are rotatably connected to both sides of the fixing rod 28. A spring 30 is fixedly connected to the outside of each rotating rod 29. Rollers 31 are rotatably connected to the outside of each rotating rod 29. The elastic force of the spring 30 causes the rotating rod 29 to drive the rollers 31 to fit tightly against the locking block 33. The outside of the two rollers 31 contacts the outside of the locking block 33. The locking block 33 is pulled upward by the connecting block 32, so that the rollers 31 on both sides of the locking block 33 move to both sides along the arc surface of the locking block 33 until the locking block 33 disengages from the two rollers 31, realizing the quick installation and replacement of the rotating disk 25.

[0039] Two mounting boxes 21 are fixedly connected to the top of the top plate 34. A motor 22 is fixedly connected inside the mounting box 21. A helical gear 23 is fixedly connected to the drive end of the motor 22. A connecting rod 24 is fixedly connected inside the helical gear 23. The top of the connecting rod 24 is fixedly connected to the bottom of the fixed shell 27. The motor 22 drives the helical gear 23 and the connecting rod 24 to rotate, thereby driving the fixed shell 27, so that the rotating disk 25 drives the side brush 26 to rotate for cleaning.

[0040] Reference Figure 1 and Figure 2 A roller brush box 18 is fixedly connected to the top of the top plate 34. A roller brush 19 is rotatably connected inside the roller brush box 18 for sweeping dust on the ground and conveying it to the suction port. Both ends of the roller brush 19 are fixedly connected to helical gear 20. Helical gear 20 and helical gear 23 are meshed and connected. The power of motor 22 is transmitted to the roller brush 19 through gear transmission, causing the roller brush 19 to rotate. A filter plate 4 is installed on the top of the roller brush box 18. A steering wheel 3 is rotatably connected to the top of the top plate 34 to assist the sweeping robot in adjusting its walking direction. A heat dissipation box 5 is fixedly connected to the top of the top plate 34. Multiple heat dissipation holes 6 are opened inside the bottom cover 2 to dissipate heat for the sweeping robot and ensure stable operation of the sweeping robot.

[0041] Working principle: Motor 22 drives helical gear 23 to rotate, which in turn drives connecting rod 24. Connecting rod 24 drives fixed housing 27, which in turn drives rotating disk 25. Side brushes 26 around rotating disk 25 clean the ground. Simultaneously, helical gear 23 rotates, causing helical gear 20 to rotate, which in turn causes roller brush 19 to rotate inside roller brush box 18, sweeping the debris cleaned by rotating disk 25 into the roller brush box 18. When rotating disk 25 needs to be replaced, the bottom cover 2 is removed, and rotating disk 25 is pulled upwards, causing rotating disk 25 to drive connecting block. 32. By pulling the locking block 33 upward through the connecting block 32, the rollers 31 on both sides of the locking block 33 move to both sides along the arc surface of the locking block 33 until the locking block 33 disengages from the two rollers 31. Therefore, the rotating disk 25 is removed, and the locking block 33 at the bottom of the replacement rotating disk 25 is reinserted between the two rollers 31. The two rollers 31 rotate on the fixed rod 28 through the rotating rod 29 until the two rollers 31 engage with the recess of the locking block 33 under the action of the second spring 30. The second spring 30 contracts to make the engagement more secure, thus realizing the quick installation and replacement of the rotating disk 25.

[0042] During the robot's cleaning process, hair may become entangled on the roller 11, affecting the robot's movement. Therefore, after removing the bottom cover 2, the sliding rod 13 is pulled towards the fixed plate 12 via the fixing ring 14, causing the sliding rod 13 to disengage from the internal groove of the roller 11. At this time, the sliding rod 13 slides inside the fixed plate 12, and the spring 15 is compressed, moving the roller 11 outward and disengaging it from the rotating shaft 10, thus removing the roller 11. After cleaning the hair entangled on the roller 11, the fixing ring 14 is pulled again to align the internal groove of the roller 11 with the rotating shaft 10 and insert it. At this time, the fixing ring 14 is released, causing the spring 15 to push the fixing ring 14, thereby inserting one end of the sliding rod 13 into the groove on the other side of the roller 11, thus fixing the roller 11. When the motor 9 drives the rotating shaft 10 to rotate, the roller 11 rotates along with it. During the rotation of the roller 11 and the sliding rod 13, the fixing ring 14 and the sliding sleeves 16 on both sides do not affect the rotation of the sliding rod 13, thus achieving the cleaning of the hair entangled on the roller 11.

[0043] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robot walking structure, comprising a shell (1), characterized in that: The bottom of the outer shell (1) is fixedly connected to a top plate (34), and the top of the top plate (34) is fixedly connected to two motor housings (7). The motor housing (7) is fixedly connected to a drive assembly, and a roller (11) is installed on the outside of the drive assembly. The motor housing (7) is fixedly connected to an outer mounting shell (8), and a fixing plate (12) is fixedly connected to the inside of the mounting shell (8). A sliding rod (13) is slidably connected inside the fixing plate (12). A fixing ring (14) is fixedly connected to the outside of the sliding rod (13). A limit ring (17) is fixedly connected to the outside of the sliding rod (13). A spring (15) is sleeved on the outside of the sliding rod (13). Sliding sleeves (16) are fixedly connected to both ends of the spring (15). One end of the sliding rod (13) is in contact with the inner groove of the roller (11).

2. The robot walking structure according to claim 1, characterized in that: The top of the outer shell (1) is fitted with a bottom cover (2). Inside the bottom cover (2), two rotating disks (25) are rotatably connected. Side brushes (26) are fixedly connected around the rotating disks (25). A connecting block (32) is fixedly connected to the bottom of the rotating disks (25). A locking block (33) is fixedly connected to the bottom of the connecting block (32). A fixing shell (27) is provided at the bottom of the connecting block (32). A fixing rod (28) is fixedly connected inside the fixing shell (27). Two rotating rods (29) are rotatably connected to both sides of the fixing rod (28). Springs (30) are fixedly connected to the outside of the two rotating rods (29). Rollers (31) are rotatably connected to the outside of the rotating rods (29). The outside of the two rollers (31) is in contact with the outside of the locking block (33).

3. The robot walking structure according to claim 2, characterized in that: The top of the top plate (34) is fixedly connected to two mounting boxes (21). The inside of the mounting box (21) is fixedly connected to a motor (22). The drive end of the motor (22) is fixedly connected to a helical gear (23). The inside of the helical gear (23) is fixedly connected to a connecting rod (24). The top of the connecting rod (24) is fixedly connected to the bottom of the fixed shell (27).

4. The robot walking structure according to claim 1, characterized in that: The drive assembly includes a motor (9), the bottom of which is fixedly connected to the inside of the motor housing (7), and a rotating shaft (10) is fixedly connected to the drive end of the motor (9). The outside of the rotating shaft (10) is in contact with the internal groove of the roller (11).

5. The robot walking structure according to claim 1, characterized in that: The outer side of the sliding sleeve (16) is in contact with one side of the fixed plate (12), and the outer side of the other sliding sleeve (16) is in contact with one side of the fixed ring (14). The inner side of the sliding sleeve (16) is slidably connected to the outer side of the sliding rod (13).

6. The robot walking structure according to claim 3, characterized in that: A roller brush box (18) is fixedly connected to the top of the top plate (34), and a roller brush (19) is rotatably connected inside the roller brush box (18).

7. A robot walking structure according to claim 6, characterized in that: Both ends of the roller brush (19) are fixedly connected to helical gear one (20), and helical gear one (20) and helical gear two (23) are meshed.

8. A robot walking structure according to claim 6, characterized in that: A filter plate (4) is installed on the top of the roller brush box (18), and a steering wheel (3) is rotatably connected to the top of the top plate (34).

9. A robot walking structure according to claim 2, characterized in that: The top of the top plate (34) is fixedly connected to a heat sink (5), and the bottom cover (2) has multiple heat dissipation holes (6) inside.

10. A robot walking structure according to claim 1, characterized in that: The outside of the fixing ring (14) is in contact with the outside of the motor housing (7), and the outside of the limiting ring (17) is in contact with one side of the fixing plate (12).

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