A walking device of a robot

Abstract

The utility model provides a kind of walking device of robot, including installation chassis, the installation chassis bottom is equipped with driver, the four corners below the driver are equipped with wheel, and wheel is correspondingly distributed two by two, the bottom of the installation chassis is equipped with cleaning mechanism for automatically cleaning wheel, the cleaning mechanism includes arc shaper, the middle part of arc shaper inboard is equipped with main water pipe, and arc shaper is located the side of wheel, the side of main water pipe is arrayed and is equipped with spray head, the above of arc shaper inboard is equipped with cleaning brush, the below of arc shaper inboard is equipped with scraping plate, by the cooperation of spray head, cleaning brush and movable rod etc. parts of cleaning mechanism, it is convenient for user to clean wheel quickly and conveniently, cleaning process does not need user to clean manually, greatly reduce the difficulty and time consumption of cleaning.

Description

Technical Field

[0001] This utility model is a walking device for a robot, belonging to the technical field of walking devices. Background Technology

[0002] A robot is a machine that performs tasks automatically. It can be commanded by humans, run pre-programmed programs, or act according to principles established using artificial intelligence technology. The robot's locomotion device is installed on its bottom to drive the robot to walk and perform operations. With the increase in the aging population, the social labor force will decrease, thus automated robots are being used more and more widely.

[0003] Most robots rely on wheels to move on the ground. However, during the robot's movement, debris on the ground can easily adhere to the surface of the wheels on the robot's chassis. If the tire surface is covered with mud, gravel, or tangled objects (such as ropes or hair), it will reduce the friction with the ground, causing the robot to slip, reduce its ability to climb slopes, or even fail to move normally on smooth surfaces. Accumulated mud or debris will increase the resistance of the tire rotation, leading to increased motor load, higher energy consumption, and even damage to the motor due to overheating. At the same time, because the robot equipment installed on the walking device makes the overall size and weight of the device large, and the wheels are located at the bottom of the device, it is difficult for the operator to clean them manually. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a robot walking device to solve the problem mentioned in the background art that the difficulty in cleaning the wheels of the robot walking device leads to a decrease in the walking device's ability.

[0005] To achieve the above objectives, this utility model is implemented through the following technical solution: a robot walking device, including a mounting chassis, a driver installed at the bottom of the mounting chassis, and wheels installed at the four corners below the driver, with the wheels distributed in pairs. The bottom of the mounting chassis is equipped with a cleaning mechanism for automatically cleaning the wheels. The cleaning mechanism includes an arc-shaped mount, with a main water pipe installed in the middle of the inner side of each arc-shaped mount. Each arc-shaped mount is located on one side of the wheel. Spray heads are arranged in an array on one side of each main water pipe. A cleaning brush is installed on the upper part of the inner side of each arc-shaped mount, and a scraper is installed on the lower part of the inner side of each arc-shaped mount.

[0006] Furthermore, assembly frames are installed at both ends of the bottom of the mounting chassis, guide rods are installed between the two ends of the two assembly frame cavities, guide sliders are sleeved on both ends of the outer sides of the two guide rods, and connecting rods are installed at the bottom of the guide sliders.

[0007] Furthermore, each of the connecting rods is equipped with an auxiliary frame at its bottom. One side of each auxiliary frame is installed on one side of the arc-shaped installer. The other side of each arc-shaped installer is provided with an adjusting screw hole. A bidirectional screw is installed between each pair of corresponding arc-shaped installers. Both ends of the two bidirectional screws are fitted into the adjusting screw hole.

[0008] Furthermore, a cleaning water tank is installed in the middle of the bottom of the mounting chassis. Y-shaped water pipes are installed on the upper sides of both sides of the cleaning water tank. The two ends of the two Y-shaped water pipes away from the cleaning water tank are installed on the side of the main water pipe. Water pumps are installed on the upper sides of both ends inside the cleaning water tank cavity. One end of the two water pumps is connected to the side of the two Y-shaped water pipes near the cleaning water tank. The other end of the two water pumps is equipped with a water intake pipe.

[0009] Furthermore, assembly frames are installed on both sides of the bottom of the mounting chassis. Double-ended lead screws are installed between the two ends of the cavity of each assembly frame. Movable sliders are sleeved on both ends of the outer side of each double-ended lead screw. A power motor is installed on one side of each assembly frame, and the output end of each power motor is connected to one end of the double-ended lead screw. A movable rod is hinged to the bottom of each movable slider. The end of the movable rod away from the movable slider is respectively hinged to the two ends of the top of the two support plates, and the two support plates are respectively located on both sides below the bottom of the mounting chassis.

[0010] Furthermore, both sides of the mounting chassis are provided with anti-collision mechanisms to protect the mounting chassis. The anti-collision mechanism includes an assembly frame. The two assembly frames are respectively installed on both sides of the mounting chassis. An assembly guide rod is installed between the two ends of the cavity of the two assembly frames. Displacement sliders are sleeved on both ends of the outer side of the two assembly guide rods. A linkage rod is hinged to one side of each displacement slider. The end of the linkage rod away from the displacement slider is respectively hinged to both ends of the inner side of two buffer plates, and the two buffer plates are respectively located on both sides of the mounting chassis.

[0011] Furthermore, a shock-absorbing spring is fitted on the middle of the outer side of each of the two assembly guide rods, and the shock-absorbing spring is located between the two displacement sliders. An auxiliary spring is fitted on both ends of the outer side of each of the two assembly guide rods.

[0012] The beneficial effects of this utility model are: 1. By utilizing the spray head, cleaning brush, and movable rod of the cleaning mechanism, users can quickly and easily clean the wheels. The cleaning process does not require manual cleaning by the user, greatly reducing the difficulty and time consumption of cleaning.

[0013] 2. The cleaning mechanism can clean the wheels in a timely and regular manner, preventing the accumulation of mud or debris on the wheels from increasing the resistance of the tire rotation, which would increase the load on the motor in the drive unit, increase energy consumption, or even damage the motor in the drive unit due to overheating. At the same time, it can also prevent the reduction of the friction between the wheels and the ground, which would cause the robot to slip, have a weakened climbing ability, or even be unable to move normally on smooth surfaces.

[0014] 3. The anti-collision mechanism can protect the mounting chassis, preventing damage to the mounting chassis from collisions with obstacles during long-term use, thus reducing the cost and difficulty of later maintenance. Attached Figure Description

[0015] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the walking device of a robot according to the present invention; Figure 2 This is a schematic diagram showing the installation of a chassis, driver, and wheels in the walking device of a robot according to the present invention. Figure 3 This is a schematic diagram of the arc-shaped mount, main water pipe, and spray head in the walking device of a robot according to this utility model; Figure 4 This is a schematic diagram of the auxiliary frame, adjusting screw, and bidirectional screw in the walking device of a robot according to the present invention; Figure 5 This is a schematic diagram of a water pump and a water intake pipe in a robot walking device according to the present invention; Figure 6 This is a schematic diagram of the assembly frame, double-ended lead screw, and movable slider in the walking device of a robot according to the present invention; Figure 7 This is a schematic diagram of the assembly of guide rods, displacement sliders and linkage rods in the walking device of a robot according to the present invention; In the diagram: 1. Mounting chassis; 2. Driver; 3. Wheels; 4. Arc-shaped mount; 5. Main water pipe; 6. Spray head; 7. Cleaning brush; 8. Scraper; 9. Assembly frame; 10. Guide rod; 11. Guide slider; 12. Connecting rod; 13. Auxiliary frame; 14. Adjusting screw; 15. Double-ended screw; 16. Cleaning water tank; 17. Y-shaped water pipe; 18. Water pump; 19. Water intake pipe; 20. Assembly frame; 21. Double-ended lead screw; 22. Moving slider; 23. Power motor; 24. Movable rod; 25. Support plate; 26. Assembly frame; 27. Assembly guide rod; 28. Displacement slider; 29. ​​Linkage rod; 30. Buffer plate; 31. Shock-absorbing spring; 32. Auxiliary spring. Detailed Implementation

[0016] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0017] Please see Figures 1-4 This utility model provides a technical solution: a walking device for a robot, including a mounting chassis 1, a driver 2 mounted on the bottom of the mounting chassis 1, wheels 3 mounted at the four corners below the driver 2, and the wheels 3 are distributed in pairs. The bottom of the mounting chassis 1 is provided with a cleaning mechanism for automatically cleaning the wheels 3. The cleaning mechanism includes arc-shaped mounts 4, a main water pipe 5 mounted in the middle of the inner side of each arc-shaped mount 4, and each arc-shaped mount 4 is located on one side of the wheel 3. Spray heads 6 are arrayed on one side of each main water pipe 5. A cleaning brush 7 is mounted on the upper inner side of each arc-shaped mount 4, and a scraper 8 is mounted on the lower inner side of each arc-shaped mount 4. Assembly frames 9 are mounted at both ends of the bottom of the mounting chassis 1. Guide rods 10 are mounted between the two ends of the cavities of the two assembly frames 9. Guide sliders 11 are sleeved on the two outer ends of the two guide rods 10. A connecting rod 12 is mounted on the bottom of each guide slider 11.

[0018] See Figure 3 and Figure 4 Auxiliary brackets 13 are installed at the bottom of each connecting rod 12. One side of each auxiliary bracket 13 is installed on one side of each arc-shaped installer 4. An adjustment screw 14 is opened on the other side of each arc-shaped installer 4. A two-way screw 15 is installed between each pair of corresponding arc-shaped installers 4. Both ends of the two two-way screws 15 are fitted into the cavity of the adjustment screw 14. A cleaning water tank 16 is installed in the middle of the bottom of the mounting base 1. Y-shaped water pipes 17 are installed on the upper sides of both sides of the cleaning water tank 16. The two ends of the two Y-shaped water pipes 17 away from the cleaning water tank 16 are installed on one side of the main water pipe 5. A water pump 18 is installed on the upper sides of both ends inside the cavity of the cleaning water tank 16. One end of the two water pumps 18 is connected to the side of the two Y-shaped water pipes 17 near the cleaning water tank 16. The other end of the two water pumps 18 is installed with a water intake pipe 19. See Figure 5 and Figure 6 Assembly frames 20 are installed on both sides of the bottom of the mounting chassis 1. Double-ended lead screws 21 are installed between the two ends of the cavity of the two assembly frames 20. Movable sliders 22 are sleeved on both ends of the outer side of the two double-ended lead screws 21. A power motor 23 is installed on one side of the two assembly frames 20, and the output end of the power motor 23 is connected to one end of the double-ended lead screw 21. Movable rods 24 are hinged to the bottom of the movable sliders 22. The ends of the movable rods 24 away from the movable sliders 22 are respectively hinged to the two ends of the top of the two support plates 25, and the two support plates 25 are respectively located on both sides below the bottom of the mounting chassis 1.

[0019] See Figure 1 and Figure 7 Both sides of the mounting chassis 1 are provided with anti-collision mechanisms to protect the mounting chassis 1. The anti-collision mechanisms include assembly frames 26. Two assembly frames 26 are respectively installed on both sides of the mounting chassis 1. Assembly guide rods 27 are installed between the two ends of the cavity of the two assembly frames 26. Displacement sliders 28 are sleeved on both ends of the outer side of the two assembly guide rods 27. A linkage rod 29 is hinged to one side of the displacement slider 28. The end of the linkage rod 29 away from the displacement slider 28 is respectively hinged to both ends of the inner side of the two buffer plates 30. The two buffer plates 30 are respectively located on both sides of the mounting chassis 1. Shock-absorbing springs 31 are sleeved in the middle of the outer side of the two assembly guide rods 27. The shock-absorbing springs 31 are located between the two displacement sliders 28. Auxiliary springs 32 are sleeved on both ends of the outer side of the two assembly guide rods 27. Detailed Implementation: When the user operates the robot, the driver 2 is powered on, driving the wheels 3 to move the robot. When the wheels 3 need cleaning, the driver 2 is stopped and the power motor 23 is started, causing the sliding block 22 on the double-ended lead screw 21 to move along the movable rod 24, thereby causing the support plate 25 to move downwards. The support plate 25 moves down to touch the ground, supporting the entire device, and the wheels 3 leave the ground. At this time, the bidirectional screw 15 is rotated, and the bidirectional screw 15 cooperates with the adjusting screw 14 of the auxiliary frame 13 to adjust the position of the arc-shaped mount 4, so that the cleaning brush 7 and the scraper 8 contact the surface of the wheel 3. When the spray head 6 is close to the surface of the wheel 3, the water pump 18 is started. With the cooperation of the water intake pipe 19 and the Y-shaped water pipe 17, the water in the cleaning water tank 16 is supplied to the main water pipe 5. The water is sprayed out by the spray head 6 of the main water pipe 5 to clean the surface of the wheel 3. At the same time, the cleaning brush 7 and the scraper 8 are improved to clean the surface of the wheel 3. While the spray head 6 is spraying water, the driver 2 is started to make the wheel 3 rotate. The cleaning brush 7 and the scraper 8 clean the surface of the wheel 3. After cleaning is completed, the double screw 15 is rotated to move the cleaning brush 7 and the scraper 8 away from the wheel 3 to avoid affecting the operation of the wheel 3. During the movement of the device, it will inevitably collide with other objects. When the device collides with other objects, the buffer plate 30 will replace the mounting base 1 to contact the object, thus preventing damage to the mounting base 1. At the same time, the shock-absorbing spring 31 and the auxiliary spring 32 work together to create a shock-absorbing space between the buffer plate 30 and the mounting base 1, which greatly enhances the buffer function of the buffer plate 30 and improves the device's anti-collision capability.

[0020] Although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A walking device for a robot, comprising a mounting chassis (1), characterized in that, The mounting chassis (1) is equipped with a driver (2) at the bottom, and wheels (3) are installed at the four corners below the driver (2), with the wheels (3) distributed in pairs. The bottom of the mounting chassis (1) is provided with a cleaning mechanism for automatically cleaning the wheels (3). The cleaning mechanism includes an arc-shaped installer (4). A main water pipe (5) is installed in the middle of the inner side of the arc-shaped installer (4). The arc-shaped installer (4) is located on one side of the wheel (3). Spray heads (6) are installed in an array on one side of the main water pipe (5). A cleaning brush (7) is installed on the upper part of the inner side of the arc-shaped installer (4). A scraper (8) is installed on the lower part of the inner side of the arc-shaped installer (4).

2. The walking device for a robot according to claim 1, characterized in that, Assembly frames (9) are installed at both ends of the bottom of the mounting chassis (1). Guide rods (10) are installed between the two ends of the cavity of the two assembly frames (9). Guide blocks (11) are sleeved on both ends of the outer side of the two guide rods (10). Connecting rods (12) are installed at the bottom of the guide blocks (11).

3. The walking device for a robot according to claim 2, characterized in that, Auxiliary brackets (13) are installed at the bottom of each connecting rod (12). One side of each auxiliary bracket (13) is installed on one side of each arc-shaped installer (4). An adjustment screw (14) is opened on the other side of each arc-shaped installer (4). A bidirectional screw (15) is installed between each pair of corresponding arc-shaped installers (4). Both ends of the two bidirectional screws (15) are sleeved in the cavity of the adjustment screw (14).

4. The walking device for a robot according to claim 2, characterized in that, A cleaning water tank (16) is installed in the middle of the bottom of the mounting chassis (1). Y-shaped water pipes (17) are installed on the upper sides of both sides of the cleaning water tank (16). The two ends of the two Y-shaped water pipes (17) away from the cleaning water tank (16) are installed on the side of the main water pipe (5). A water pump (18) is installed on the upper side of both ends of the cleaning water tank (16). One end of the two water pumps (18) is connected to the side of the two Y-shaped water pipes (17) close to the cleaning water tank (16). The other end of the two water pumps (18) is equipped with a water intake pipe (19).

5. The walking device for a robot according to claim 2, characterized in that, Assembly frames (20) are installed on both sides of the bottom of the mounting chassis (1). Double-ended lead screws (21) are installed between the two ends of the cavity of the two assembly frames (20). Movable sliders (22) are sleeved on both ends of the outer side of the two double-ended lead screws (21). A power motor (23) is installed on one side of the two assembly frames (20), and the output end of the power motor (23) is connected to one end of the double-ended lead screw (21). Movable rods (24) are hinged to the bottom of the movable sliders (22). The end of the movable rod (24) away from the movable slider (22) is respectively hinged to the two ends of the top of the two support plates (25), and the two support plates (25) are respectively located on both sides below the bottom of the mounting chassis (1).

6. The walking device for a robot according to claim 1, characterized in that, Both sides of the mounting chassis (1) are provided with anti-collision mechanisms to protect the mounting chassis (1). The anti-collision mechanism includes an assembly frame (26). The two assembly frames (26) are respectively installed on both sides of the mounting chassis (1). An assembly guide rod (27) is installed between the two ends of the cavity of the two assembly frames (26). Displacement sliders (28) are sleeved on both ends of the outer side of the two assembly guide rods (27). A linkage rod (29) is hinged to one side of the displacement slider (28). The end of the linkage rod (29) away from the displacement slider (28) is respectively hinged to the two ends of the inner side of the two buffer plates (30), and the two buffer plates (30) are respectively located on both sides of the mounting chassis (1).

7. The walking device for a robot according to claim 6, characterized in that, Both of the two assembly guide rods (27) are fitted with shock-absorbing springs (31) at the middle of their outer sides, and the shock-absorbing springs (31) are located between the two displacement sliders (28). Both of the two assembly guide rods (27) are fitted with auxiliary springs (32) at their outer ends.

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