阅读说明：本技术 一种移动装置及建筑机器人 (Mobile device and construction robot ) 是由 邓尾 贾艳明 薛理礼 于 2019-11-18 设计创作，主要内容包括：本发明提供一种移动装置及建筑机器人,涉及建筑机械领域。移动装置包括车架以及安装于车架上的第一滚动机构和第二滚动机构以及升降机构。第一滚动机构能够带动车架在行走面上沿第一方向运动；第二滚动机构能够带动车架在行走面上沿第二方向线运动；升降机构用于驱动第二滚动机构升降,以驱动第二滚动机构与行走面接触并运行。本发明提供的移动装置使得车架能够通过非转弯的方式灵活地切换运行方向,解决现有的履带式机器人不能通过非转弯进行转向以适应复杂的运行环境的问题。本发明提供的建筑机器人包括上述的移动装置,能够在复杂的环境中灵活转向。(The invention provides a moving device and a construction robot, and relates to the field of construction machinery. The moving device comprises a frame, a first rolling mechanism, a second rolling mechanism and a lifting mechanism, wherein the first rolling mechanism, the second rolling mechanism and the lifting mechanism are installed on the frame. The first rolling mechanism can drive the trolley frame to move on the walking surface along a first direction; the second rolling mechanism can drive the trolley frame to move on the walking surface along a second direction line; the lifting mechanism is used for driving the second rolling mechanism to lift so as to drive the second rolling mechanism to contact with the walking surface and run. The moving device provided by the invention enables the frame to flexibly switch the running direction in a non-turning mode, and solves the problem that the existing crawler-type robot cannot turn to adapt to a complex running environment in a non-turning mode. The construction robot provided by the invention comprises the mobile device and can flexibly turn in a complex environment.)

1. A mobile device, comprising:

a frame (1);

the first rolling mechanism (2) is arranged on the frame (1), and the first rolling mechanism (2) can drive the frame (1) to move on a walking surface along a first direction;

the second rolling mechanism (3) is arranged on the frame (1) and can drive the frame (1) to move along a second direction line on a walking surface;

the lifting mechanism (4) is installed on the frame (1), and the lifting mechanism (4) is used for driving the first rolling mechanism (2) and/or the second rolling mechanism (3) to lift so as to switch and select one of the rolling mechanisms to be in contact with a walking surface and operate.

2. The moving device according to claim 1, wherein the lifting mechanism (4) comprises:

a lifting driving member (42) mounted on the frame (1);

and the lifting transmission assembly is arranged at the output end of the lifting driving piece (41) and is in transmission connection with the first rolling mechanism (2) and/or the second rolling mechanism (3).

3. The mobile device of claim 2, wherein the lift drive assembly comprises:

the first lifting transmission component (43) is arranged at the output end of the lifting driving component (42) and can change the rotation of the lifting driving component (42) into linear motion for output, and the first rolling mechanism (2) and/or the second rolling mechanism (3) are/is arranged at the output end of the first lifting transmission component (43);

the second lifting transmission component (44) is arranged at the output end of the first lifting transmission component (43) and can change the output direction of the linear motion of the first lifting transmission component (43);

and the third lifting transmission component (45) is arranged at the output end of the second lifting transmission component (44) and can change the output direction of the linear motion of the second lifting transmission component (44), and the first rolling mechanism (2) and/or the second rolling mechanism (3) are/is arranged at the output end of the third lifting transmission component (45).

4. The movement apparatus according to claim 3, wherein the first lifting transmission assembly (43) comprises:

a first lifting driving wheel (431) which is arranged at the output end of the lifting driving piece (42);

a first lifting driven wheel (432) which is arranged on the frame (1) and is arranged below the first lifting driving wheel (431);

the first lifting driving wheel (431) is in transmission connection with the first lifting driven wheel (432) through the first lifting driving belt (433).

5. The mobile device according to claim 3, wherein the second lifting transmission assembly (44) comprises:

the second lifting driving wheel (441) is arranged at the output end of the first lifting transmission component (43);

the second lifting driven wheel (442) is mounted on the frame (1) and arranged on one side of the second lifting driving wheel (441) along a walking surface;

and the second lifting driving wheel (441) is in transmission connection with the second lifting driven wheel (442) through the second lifting transmission belt (443).

6. The movement apparatus according to claim 3, characterized in that the third lifting transmission assembly (45) comprises:

a cam base (451) mounted on the frame (1);

the cam shaft (452) is arranged along the direction of the walking surface, the cam shaft (452) is arranged on the cam seat (451) in a penetrating mode, and one end of the cam shaft (452) is installed at the output end of the second lifting transmission assembly (44);

a cam (453) that is provided in a direction perpendicular to the running surface and is fixed to the other end of the cam shaft (452);

a lift lever (454) having one end connected to an edge portion of the cam (453) and the other end connected to the first rolling mechanism (2) or the second rolling mechanism (3).

7. The moving device according to claim 2, wherein the lifting mechanism (4) further comprises:

a guide assembly (46) disposed between the lifting transmission assembly and the second rolling mechanism (3), the guide assembly (46) being capable of defining a direction of movement of the first rolling mechanism (2) and/or the second rolling mechanism (3).

8. The mobile device according to claim 7, wherein the guide assembly (46) comprises:

the guide shaft (462) is arranged along the direction vertical to the walking surface, one end of the guide shaft (462) is fixedly connected with the first rolling mechanism (2) and/or the second rolling mechanism (3), and the other end of the guide shaft penetrates through the frame (1).

9. Mobile device according to any of claims 1 to 8, characterized in that said first rolling mechanism (2) comprises:

a first track (23) arranged in the first direction;

a first track drive assembly (21) mounted on the frame (1) for driving the first track (23) in the first direction;

the second rolling mechanism (3) includes:

a second track (33) arranged in the second direction;

and the second track driving assembly (31) is arranged at the output end of the lifting mechanism (4) and is used for driving the second track (33) to move along the second direction.

10. The mobile device according to claim 9, wherein the first track drive assembly (21) comprises:

a first track drive (211);

a first track drive assembly mounted to an output end of the first track drive (211), the first track (23) being in driving connection with the first track drive assembly;

the second track drive assembly (31) comprises:

a second track drive (311);

a second track drive assembly mounted to an output of the second track drive (311), the second track (33) being in driving connection with the second track drive assembly.

11. The mobile device of claim 10, wherein the first track drive assembly comprises:

a first pulley assembly (212); the output end of the first crawler driving element (211) is arranged, and the rotation of the first crawler driving element (211) can be changed into linear motion to be output;

a first rolling wheel assembly (22) mounted at an output end of the first pulley assembly (212) and capable of changing a linear motion of the first pulley assembly (212) into a rotational output, the first track (23) being mounted at an output end of the first roller assembly (22);

the second track drive assembly includes:

a second pulley assembly (312); the output end of the second track driving piece (311) is arranged and can change the rotation of the second track driving piece (311) into linear motion to be output;

and the second rolling wheel assembly (32) is arranged at the output end of the second belt pulley assembly (312) and can change the linear motion of the second belt pulley assembly (312) into rotation output, and the second crawler belt (33) is arranged at the output end of the second rolling wheel assembly (32).

12. The mobile device according to any one of claims 1 to 2, wherein the first rolling mechanism (2) comprises:

a first rolling member (52) disposed in the first direction;

a first rolling member driving assembly (51) mounted on the frame (1) for driving the first rolling member (52) to move along the first direction;

the second rolling mechanism (3) includes:

a second rolling member (62) disposed along the second direction;

and the second rolling member driving assembly (61) is arranged at the output end of the lifting mechanism (4) and is used for driving the second rolling member (62) to move along the second direction.

13. The mobile device according to claim 12, wherein the first roller (52) and the second roller (62) are rollers or wheels.

14. The mobile device according to any of claims 1-8, wherein the first direction and the second direction are perpendicular to each other.

15. A construction robot, comprising an actuator; and

the mobile device of any one of claims 1-14, wherein the actuator is mounted to a frame of the mobile device.

Technical Field

The invention relates to the technical field of construction machinery, in particular to a moving device and a construction robot.

Background

The crawler-type robot has strong adaptability to variable environments and strong maneuverability in special environments. The crawler-type robot can replace human beings to operate and explore in environments where some human beings cannot predict, reach or are at a high risk. The crawler-type robot is suitable for a plurality of fields such as enterprises, military use, civil use and the like, and can play an important role.

The direction of the existing tracked robot is changed in the walking process through turning, and the existing tracked robot is difficult to be applied to the use of the tracked robot in a complex environment.

Disclosure of Invention

The invention aims to provide a moving device and a construction robot, which can be steered through non-turning to adapt to a complex operation environment, and realize flexible steering of a crawler-type robot when the crawler-type robot operates in the complex environment.

In order to achieve the purpose, the invention adopts the following technical scheme:

the present invention provides a mobile device, comprising:

a frame;

the first rolling mechanism is arranged on the frame and can drive the frame to move on a walking surface along a first direction;

the second rolling mechanism is arranged on the frame and can drive the frame to move on the walking surface along a second direction line;

and the lifting mechanism is arranged on the frame and is used for driving the first rolling mechanism and/or the second rolling mechanism to lift so as to switch and select one of the rolling mechanisms to be in contact with a walking surface and operate.

Preferably, the lifting mechanism includes:

the lifting driving piece is arranged on the frame;

and the lifting transmission assembly is arranged at the output end of the lifting driving piece and is in transmission connection with the first rolling mechanism and/or the second rolling mechanism.

Preferably, the lifting transmission assembly comprises:

the first lifting transmission component is arranged at the output end of the lifting driving piece and can change the rotation of the lifting driving piece into linear motion to be output;

the second lifting transmission component is arranged at the output end of the first lifting transmission component and can change the output direction of the linear motion of the first lifting transmission component;

and the third lifting transmission component is arranged at the output end of the second lifting transmission component and can change the output direction of the linear motion of the second lifting transmission component, and the first rolling mechanism and/or the second rolling mechanism are/is arranged at the output end of the third lifting transmission component.

Preferably, the first lifting transmission assembly comprises:

the first lifting driving wheel is arranged at the output end of the lifting driving piece;

the first lifting driven wheel is arranged on the frame and is arranged below the first lifting driving wheel;

a first lifting transmission belt, wherein the first lifting driving wheel and the first lifting driven wheel pass through

The first lifting transmission belt is in transmission connection.

Preferably, the second lifting transmission assembly comprises:

the second lifting driving wheel is arranged at the output end of the first lifting transmission component;

the second lifting driven wheel is arranged on the frame and is arranged on one side of the second lifting driving wheel along the walking surface;

and the second lifting driving wheel is in transmission connection with the second lifting driven wheel through the second lifting transmission belt.

Preferably, the third lifting transmission assembly comprises:

the cam seat is arranged on the frame;

the cam shaft is arranged along the direction of the walking surface, the cam shaft penetrates through the cam seat, and one end of the cam shaft is installed at the output end of the second lifting transmission assembly;

the cam is arranged along the direction vertical to the walking surface and is fixed at the other end of the cam shaft;

and one end of the lifting rod is connected with the edge part of the cam, and the other end of the lifting rod is connected with the first rolling mechanism or the second rolling mechanism.

Preferably, the lifting mechanism further comprises:

the guide assembly is arranged between the lifting transmission assembly and the second rolling mechanism and can limit the movement direction of the first rolling mechanism and/or the second rolling mechanism.

Preferably, the guide assembly comprises:

the guide shaft is arranged in the direction vertical to the walking surface, one end of the guide shaft is fixedly connected with the first rolling mechanism and/or the second rolling mechanism, and the other end of the guide shaft penetrates through the frame.

Preferably, the first rolling mechanism includes:

a first crawler belt provided in the first direction;

a first track drive assembly mounted on the frame for driving the first track in the first direction;

the second rolling mechanism includes:

a second track disposed along the second direction;

and the second track driving assembly is arranged at the output end of the lifting mechanism and is used for driving the second track to move along the second direction.

Preferably, the first track drive assembly comprises:

a first track drive;

a first track drive assembly mounted to an output end of the first track drive, the first track in driving connection with the first track drive assembly;

the second track drive assembly includes:

a second track drive;

and the second crawler transmission assembly is arranged at the output end of the second crawler driving part, and the second crawler is in transmission connection with the second crawler transmission assembly.

Preferably, the first track drive assembly comprises:

a first pulley assembly; the output end of the first crawler driving piece is arranged, and the rotation of the first crawler driving piece can be changed into linear motion to be output;

the first rolling wheel assembly is arranged at the output end of the first belt pulley assembly and can change the linear motion of the first belt pulley assembly into rotation output, and the first crawler belt is arranged at the output end of the first roller assembly;

the second track drive assembly includes:

a second pulley assembly; the second crawler driving piece is arranged at the output end of the second crawler driving piece and can change the rotation of the second crawler driving piece into linear motion to be output;

and the second rolling wheel assembly is arranged at the output end of the second belt wheel assembly and can change the linear motion of the second belt wheel assembly into rotary motion for output, and the second crawler belt is arranged at the output end of the second roller assembly.

Preferably, the first rolling mechanism includes:

a first rolling member disposed in the first direction;

the first rolling element driving assembly is arranged on the frame and used for driving the first rolling element to move along the first direction;

the second rolling mechanism includes:

a second rolling member disposed along the second direction;

and the second rolling member driving assembly is arranged at the output end of the lifting mechanism and used for driving the second rolling member to move along the second direction.

Preferably, the first rolling member and the second rolling member are rollers or rollers.

Preferably, the first direction and the second direction are perpendicular to each other.

The invention provides a building robot which comprises an actuating mechanism and the moving device, wherein the actuating mechanism is arranged on a frame of the moving device.

The invention has the beneficial effects that:

the moving device provided by the invention comprises a frame, a first rolling mechanism, a second rolling mechanism and a lifting mechanism, wherein the first rolling mechanism, the second rolling mechanism and the lifting mechanism are arranged on the frame. The first rolling mechanism can drive the trolley frame to move on the walking surface along a first direction; the second rolling mechanism can drive the trolley frame to move on the walking surface along a second direction line; the lifting mechanism is used for driving the second rolling mechanism to lift so as to drive the second rolling mechanism to be in contact with the walking surface and to run, so that the frame can move towards one direction of the first direction or the second direction, and the flexible switching of the movement direction of the frame is realized in a non-turning mode. The problem that the existing crawler-type robot cannot turn to adapt to a complex operation environment through non-turning is solved, and flexible turning of the crawler-type robot in operation in the complex environment is achieved.

Drawings

Fig. 1 is a perspective view of a mobile device according to an embodiment of the invention;

FIG. 2 is a perspective view of a mobile device according to another embodiment of the present invention;

FIG. 3 is a view of a second rolling mechanism of a mobile device in contact with a walking surface according to an embodiment of the present invention;

FIG. 4 is an enlarged view at A of FIG. 1;

FIG. 5 is an enlarged view at D of FIG. 2;

FIG. 6 is an enlarged view at B in FIG. 1;

FIG. 7 is an enlarged view at C of FIG. 1;

FIG. 8 is an enlarged view at E in FIG. 2;

FIG. 9 is a view of a first rolling mechanism of a mobile device in contact with a walking surface according to an embodiment of the present invention;

FIG. 10 is a diagram illustrating a structure of a second rolling mechanism and a guiding assembly of a mobile device according to an embodiment of the present invention;

fig. 11 is a perspective view of a mobile device according to a second embodiment of the present invention;

fig. 12 is a view showing a state where the first rolling mechanism of the moving device according to the second embodiment of the present invention is in contact with the traveling surface;

fig. 13 is a view showing a state where the second rolling mechanism of the moving device according to the second embodiment of the present invention is in contact with the traveling surface;

fig. 14 is an enlarged view at F in fig. 11.

In the figure:

1. a frame;

2. a first rolling mechanism; 21. a first track drive assembly; 211. a first track drive; 212. a first pulley assembly; 2121. a first track drive wheel; 2122. a first track driven wheel; 2123. a first endless belt; 22. a first rolling wheel assembly; 221. a first driving wheel set; 2211. a first active roller; 2212. a first driving wheel shaft; 2213. a first bearing housing; 222. a first driven wheel set; 2221. a first driven roller; 2222. a first driven axle; 2223. a second bearing housing; 23. a first track;

3. a second rolling mechanism; 31. a second track drive assembly; 311. a second track drive; 312. a second pulley assembly; 3121. a second track drive wheel; 3122. a second track driven wheel; 3123. a second endless belt; 32. a second rolling wheel assembly; 321. a second driving wheel set; 3211. a second active roller; 3212. a second driving wheel shaft; 3213. a third bearing seat; 322. a second driven wheel set; 3221. a second driven roller; 3222. a second driven axle; 3223. a fourth bearing seat; 33. a second crawler belt;

4. a lifting mechanism; 41. a support frame; 411. a fixed part; 412. a fixing plate; 42. a lifting drive member; 43. a first lifting transmission component; 431. a first lifting driving wheel; 432. a first lifting driven wheel; 433. a first lifting belt; 44. a second lifting transmission component; 441. a second lifting driving wheel; 442. a second lifting driven wheel; 443. a second lifting transmission belt; 45. a third lifting transmission component; 451. a cam seat; 452. a camshaft; 453. a cam; 454. lifting the rod piece; 455. a shaft wheel; 4541. a rod member; 4542. a hinged seat; 46. a guide assembly; 461. a guide connecting plate; 462. a guide shaft; 47. lifting the support frame; 48. a lifting guide structure;

51. a first roller drive assembly; 52. a first rolling member; 61. a second roller drive assembly; 62. a second rolling member;

7. a rotation driving structure; 71. a rotary drive motor; 72. a turntable.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.