CN221091020U - Running gear and photovoltaic robot - Google Patents

Abstract

A walking device comprises a main body frame, a walking mechanism, a balance shaft and a pair of adjusting components. The travelling mechanism comprises two driving wheels, two driven wheels and two travelling caterpillar bands. The driving wheel, the driven wheel and the walking crawler are respectively arranged on the opposite sides of the main body frame, and the walking crawler is respectively meshed with the corresponding driving wheel and the corresponding driven wheel. The balance shaft is connected between the two driven wheels. The pair of adjusting components are respectively arranged at two ends of the balance shaft, each adjusting component comprises a screw rod and an adjusting piece, the screw rods penetrate through the balance shaft and are positioned on the main body frame, and the adjusting pieces are connected to the screw rods. The utility model also relates to a photovoltaic robot comprising the walking device. The utility model is convenient for balance adjustment and tension adjustment, optimizes the structure and reduces the cost.

Description

Running gear and photovoltaic robot

Technical Field

The utility model relates to the field of photovoltaics, in particular to a walking device and a photovoltaic robot.

Background

With the rapid development of photovoltaic technology, the application of photovoltaic robots in the field of clean energy is widely focused. However, in different photovoltaic installation environments, the running gear of the photovoltaic robot needs to be able to achieve balance adjustment of the two wheels and tension adjustment of the running tracks to ensure its stability and efficiency. At present, the running gear of current photovoltaic robot, the structure is complicated, and the cost is higher, has the inconvenient problem of regulation, needs further improvement.

Disclosure of utility model

The utility model aims to provide a walking device and a photovoltaic robot, which facilitate balance adjustment of double wheels and tensioning adjustment of a walking crawler belt, optimize the structure and reduce the cost.

In order to achieve the above purpose, the present utility model adopts the following technical scheme: the walking device comprises a main body frame, a walking mechanism, a balance shaft and a pair of adjusting components, wherein the walking mechanism comprises two driving wheels, two driven wheels and two walking tracks, the driving wheels, the driven wheels and the walking tracks are respectively arranged on the opposite sides of the main body frame, the walking tracks are respectively meshed with the corresponding driving wheels and the corresponding driven wheels, and the balance shaft is connected between the two driven wheels; the pair of adjusting components are respectively arranged at two ends of the balance shaft, each adjusting component comprises a screw rod and an adjusting piece, the screw rods penetrate through the balance shaft to be positioned on the main body frame, the adjusting pieces are connected to the screw rods, and the adjusting pieces or the screw rods act on the balance shaft to drive the balance shaft to move.

As a further improved technical scheme of the utility model, the driving wheel, the driven wheel and the walking caterpillar band on the same side of the main body frame jointly define the travelling direction of the travelling device, the screw rod is provided with an extending direction parallel to the travelling direction, the screw rod is provided with two end parts in the extending direction, at least one of the two end parts is fixed with the main body frame, and the regulating piece acts on the balance shaft to drive the balance shaft to move.

As a further improved aspect of the present utility model, the main body frame includes a first bracket and a second bracket disposed front and back in the traveling direction; the two end parts comprise a first end part fixed with the first bracket and a second end part connected with the second bracket, and the adjusting piece drives the balance shaft to move along the screw rod between the first bracket and the second bracket through spiral transmission.

As a further improved technical scheme of the utility model, the first end part and the first bracket are fixed by a screw; the adjusting piece is in threaded fit on the screw rod and abuts against the balance shaft.

According to the technical scheme I of the utility model, the adjusting piece is a nut, each screw is provided with one nut, and the nuts are two in total and are arranged at two opposite ends of the same side of the balance shaft.

As a further improved technical scheme one of the utility model, the driven wheel is provided with a driven wheel shaft part, and opposite ends of the balance shaft are respectively sleeved and fixed on the corresponding driven wheel shaft parts; when the screw rod passes through the balance shaft, the screw rod also passes through the driven wheel shaft part, and the movement of the balance shaft between the first bracket and the second bracket can drive the driven wheel to move back and forth relative to the driving wheel through the driven wheel shaft part.

As a further improved technical scheme, a positioning surface is arranged on the driven wheel shaft part, two opposite ends of the balance shaft are respectively provided with a tail end surface, the two tail end surfaces are parallel, and each tail end surface is attached to the corresponding positioning surface.

According to the technical scheme I of the further improvement of the utility model, the travelling mechanism further comprises a driving piece, the driving wheel, the driven wheel and the travelling caterpillar are longitudinally arranged at the left side and the right side of the main body frame, and the driving piece is transversely hidden behind the main body frame.

As a further improved technical scheme I of the utility model, the number of the driving parts is two symmetrically arranged left and right, and each driving part correspondingly drives one driving wheel.

In order to achieve the above purpose, the present utility model adopts the following technical scheme II: a photovoltaic robot comprising a running gear as described above.

Compared with the prior art, the walking device and the photovoltaic robot are connected between the two driven wheels through the balance shaft, the screw rod penetrates through the balance shaft and is positioned on the main body frame, and the adjusting piece is connected to the screw rod, so that the walking device and the photovoltaic robot are convenient for balance adjustment and tensioning adjustment, meanwhile, the structure is optimized, and the cost is reduced.

Drawings

FIG. 1 is a perspective view of a running gear of the present utility model;

FIG. 2 is an enlarged view of a portion of FIG. 1;

FIG. 3 is a partially exploded perspective view of the running gear of the present utility model;

FIG. 4 is a top view of the running gear of the present utility model;

FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4;

FIG. 6 is a cross-sectional view taken along line B-B of FIG. 4;

FIG. 7 is a cross-sectional view taken along line C-C of FIG. 4;

FIG. 8 is another partially exploded perspective view of the running gear of the present utility model;

FIG. 9 is another angular view of FIG. 8;

FIG. 10 is an enlarged view of a portion of FIG. 9;

FIG. 11 is a perspective view of another angle of the running gear of the present utility model;

Fig. 12 is a partially enlarged view of fig. 11.

Detailed Description

Exemplary embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. If there are several specific embodiments, the features in these embodiments can be mutually exclusive without conflict. When the description refers to the accompanying drawings, the same numbers in different drawings denote the same or similar elements, unless otherwise specified. What is described in the following exemplary embodiments does not represent all embodiments consistent with the utility model; rather, they are merely examples of apparatus, articles, and/or methods that are consistent with aspects of the utility model as set forth in the claims.

The terminology used in the present utility model is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present utility model. As used in the specification and claims of the present utility model, the singular forms "a," "an," or "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that words such as "first," "second," and the like, used in the description and in the claims of the present utility model, do not denote any order, quantity, or importance, but rather are names used to distinguish one feature from another. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. Unless otherwise indicated, the terms "front", "rear", "upper", "lower", "left", "right", and the like are used herein for convenience of description and are not limited to a particular location or a spatial orientation. The word "comprising" or "comprises", and the like, is an open-ended expression, meaning that elements appearing before "comprising" or "including", encompass the elements appearing after "comprising" or "including", and equivalents thereof, and not exclude that elements appearing before "comprising" or "including", may also include other elements. In the present utility model, if "several" are present, the meaning of two and more, and if "several" are present, the meaning of three and more.

Referring to fig. 1 to 12, the present utility model relates to a walking device, which comprises a main frame 1, a walking mechanism 2, a balance shaft 3 and a pair of adjusting assemblies 4. The travelling mechanism 2 comprises two driving wheels 22, two driven wheels 23 and two travelling caterpillar tracks 24, the driving wheels 22, the driven wheels 23 and the travelling caterpillar tracks 24 are respectively arranged on two opposite sides of the main body frame 1, the travelling caterpillar tracks 24 are respectively meshed with the corresponding driving wheels 22 and the corresponding driven wheels 23, and the balance shaft 3 is connected between the two driven wheels 23. The pair of adjusting components 4 are respectively arranged at two ends of the balance shaft 3, the adjusting components 4 comprise a screw 41 and an adjusting piece, the screw 41 penetrates through the balance shaft 3 to be positioned on the main body frame 1, the adjusting piece is connected to the screw 41, and the adjusting piece or the screw 41 acts on the balance shaft 3 to drive the balance shaft 3 to move. Therefore, the utility model is convenient for balance adjustment and tension adjustment, and simultaneously, optimizes the structure and reduces the cost.

It will be appreciated that the driving wheel 22, the driven wheel 23 and the running track 24 on the same side of the main body frame 1 (e.g., the left side in the left-right direction of fig. 1) together define the running direction of the running gear, which is the front-rear direction shown in fig. 1. The screw 41 has an extending direction parallel to the traveling direction, the screw 41 has two end portions 410 in the extending direction, and at least one of the two end portions 410 is fixed to the main body frame 1. That is, in the present embodiment, the screw 41 is fixed to the main body frame 1, and thus, the screw 41 is stationary with respect to the main body frame 1. In a specific embodiment, the adjusting piece acts on the balance shaft 3to drive the balance shaft 3to move. In other embodiments, the screw 41 may not be fixed, but the screw 41 may act on the balance shaft 3to move the balance shaft 3. For example, the screw 41 is fixedly connected to the balance shaft 3, and the screw 41 is moved by the adjusting member, so that the balance shaft 3 is driven to move. Only the embodiment in which the balance shaft 3 is moved by the adjusting member acting on the balance shaft 3 will be described in detail.

Referring to fig. 1 to 3, the main body frame 1 includes a first bracket 11 and a second bracket 12 disposed front and back in the traveling direction, the first bracket 11 and the second bracket 12 extending in an up-down direction perpendicular to the traveling direction; as shown in fig. 1, the up-down direction is perpendicular to both the left-right direction and the front-rear direction. The two end portions 410 include a first end portion 4101 fixed to the first bracket 11 and a second end portion 4102 connected to the second bracket 12. The first end 4101 is fixed to the first bracket 11, and meets the requirement of fixing the screw 41 to the main body frame 1; in the embodiment of the present utility model, the second end 4102 passes out from one side to the other side of the second support 12, that is, the second end 4102 is merely positioned on the second support 12, and is not completely fixed, and in the case that one end is fixed and the other end is merely positioned, it is ensured that the screw 41 is stationary relative to the main body frame 1, and only the second end 4102 is positioned there, only being simply subjected to upward supporting force from the second support 12; in other embodiments, both ends may be fixed, that is, the first end 4101 is fixed to the first bracket 11 and the second end 4102 is fixed to the second bracket 12, so as to ensure the stability of fixing the screw 41. The adjusting member drives the balance shaft 3 to move along the screw 41 between the first bracket 11 and the second bracket 12 through screw transmission. Therefore, the adjusting member can move spirally on the screw 41, and when the adjusting member is positioned against the balance shaft 3, the spiral movement of the adjusting member can push the balance shaft 3 to move between the first bracket 11 and the second bracket 12.

In the embodiment, referring to fig. 2 and 3, the first end 4101 is fixed to the first bracket 11 by a screw 5, and the adjusting member is screwed on the screw 41 and abuts against the balance shaft 3. In other embodiments, the first end 4101 and the first bracket 11 may be fixed by welding. Similarly, if the second end 4102 is also fixed to the second bracket 12, the second end 4102 may be fixed by both of the above methods.

In a specific embodiment, the adjusting member is only provided with a threaded portion, and the adjusting member is screwed on the screw 41 and abuts against the balance shaft 3. In a further embodiment, referring to fig. 3, 6 and 7, the adjusting member is a nut 42, that is, the nut 42 is sleeved on the screw 41 to form a threaded fit state. The number of nuts 42 on each screw 41 is one, and the number of the nuts 42 is two and the nuts are arranged at two opposite ends of the same side of the balance shaft 3. The same side as described herein is preferably the first side of the balance shaft 3 towards the driving wheel 42. The nut 42 pushes the balance shaft 3 in a direction away from the driving wheel 42, so that the nut 42 moves the driven wheel 43 in a direction away from the driving wheel 42 by the balance shaft 3, thereby increasing the tension provided by the walking track 44 between the driven wheel 43 and the driving wheel 42. In other embodiments, the adjusting member and the screw 41 may even have other non-threaded configurations, provided that the balance shaft 3 can be pushed along the screw 41.

Referring to fig. 3, 5, and 8-12, the driven wheel 23 has a driven wheel shaft 230, and opposite ends of the balance shaft 3 are respectively sleeved and fixed on the corresponding driven wheel shaft 230. That is, opposite ends of the balance shaft 3 are fixedly connected between the driven wheels 23, and when the screw 41 passes through the balance shaft 3, the screw 41 also passes through the driven wheel shaft 230, and the movement of the balance shaft 3 between the first bracket 11 and the second bracket 12 can drive the driven wheel 23 to move back and forth relative to the driving wheel 22 through the driven wheel shaft 230. That is, the adjustment assemblies 4 are each close to the driven wheel shaft portion 230 on the respective side, and the driven wheels 23 on that side can be controlled at a short distance, so that adjustment is facilitated; and leaves a large part of the space in the middle of the main body frame 1 for the installation of other components.

Referring to fig. 8 to 12, the driven wheel shaft 230 is provided with a positioning surface 2300, each of opposite ends of the balance shaft 3 has a distal end surface 300, and the two distal end surfaces 300 are parallel, and each distal end surface 300 is attached to the corresponding positioning surface 2300. By such arrangement, in the case that the balance shaft 3 itself has higher accuracy, the balance shaft 3 can be ensured to be mounted in place on the driven wheel shaft 230, that is, the accuracy of the mounting position is ensured, so that other fixing members such as additional screws or the like can be used for fixing the driven wheel shaft 230 and the balance shaft 3 and balancing the running mechanism 2. By adopting the scheme, the cylindrical balance shaft connected between the two driven wheels can be replaced by a square shaft with lower cost, so that the production cost is reduced.

Referring to fig. 1, the running mechanism 2 further includes a driving member 21. The driving wheel 22, the driven wheel 23 and the walking caterpillar 24 are longitudinally arranged at the left side and the right side of the main body frame 1, and the driving piece 21 is transversely hidden behind the main body frame 1. By the arrangement, the space of the main body frame 1 can be effectively utilized, so that the space layout is more reasonable.

Referring to fig. 1 and 4, the driving members 21 are two symmetrically disposed, and each driving member 21 drives one driving wheel 22 correspondingly. By means of the arrangement, the movement of one side of the running gear can be effectively performed, and if one driving piece 21 is damaged, only one side is replaced, so that maintenance cost is reduced.

The utility model also relates to a photovoltaic robot comprising the walking device.

The walking device and the photovoltaic robot are connected between the two driven wheels 23 through the balance shaft 3, the screw 41 passes through the balance shaft 3 to be positioned on the main body frame 1, and the adjusting piece is connected on the screw 41, so that the walking device and the photovoltaic robot not only facilitate balance adjustment and tension adjustment, but also optimize the structure and reduce the cost.

The above embodiments are only for illustrating the present utility model and not for limiting the technical solutions described in the present utility model, and the understanding of the present specification should be based on the description of the directivity of the present utility model such as "front", "rear", "left", "right", "upper", "lower", etc., and although the present specification has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the present utility model may be modified or substituted by those skilled in the art without departing from the spirit and scope of the present utility model and all modifications thereof should be covered in the scope of the appended claims.

Claims (10)

1. The walking device is characterized by comprising a main body frame (1), a walking mechanism (2), a balance shaft (3) and a pair of adjusting assemblies (4), wherein the walking mechanism (2) comprises two driving wheels (22), two driven wheels (23) and two walking tracks (24), the driving wheels (22), the driven wheels (23) and the walking tracks (24) are respectively arranged on two opposite sides of the main body frame (1), the walking tracks (24) are respectively meshed with the corresponding driving wheels (22) and the corresponding driven wheels (23), and the balance shaft (3) is connected between the two driven wheels (23);

The pair of adjusting components (4) are respectively arranged at two ends of the balance shaft (3), each adjusting component (4) comprises a screw rod (41) and an adjusting piece, each screw rod (41) penetrates through the corresponding balance shaft (3) to be positioned on the main body frame (1), each adjusting piece is connected to the corresponding screw rod (41), and the corresponding adjusting piece or the corresponding screw rod (41) acts on the corresponding balance shaft (3) to drive the corresponding balance shaft (3) to move.

2. Running gear according to claim 1, wherein the driving wheel (22), the driven wheel (23) and the running track (24) on the same side of the main body frame (1) together define the running direction of the running gear, the screw (41) has an extending direction parallel to the running direction, the screw (41) has two ends (410) in the extending direction, at least one of the two ends (410) is fixed to the main body frame (1), and the adjusting member acts on the balance shaft (3) to drive the balance shaft (3) to move.

3. Running gear according to claim 2, characterized in that the main body frame (1) comprises a first bracket (11) and a second bracket (12) arranged back and forth in the direction of travel; the two end parts (410) comprise a first end part (4101) fixed with the first bracket (11) and a second end part (4102) connected with the second bracket (12), and the adjusting piece drives the balance shaft (3) to move along the screw (41) between the first bracket (11) and the second bracket (12) through screw transmission.

4. A running gear according to claim 3, characterized in that the first end (4101) is fixed with the first bracket (11) by means of screws (5); the adjusting piece is in threaded fit on the screw rod (41) and abuts against the balance shaft (3).

5. The running gear according to claim 4, wherein the adjusting member is a nut (42), one nut (42) is provided on each screw (41), and the nuts (42) are two in total and are disposed at opposite ends of the same side of the balance shaft (3).

6. A walking device according to claim 3, wherein the driven wheel (23) has a driven wheel shaft (230), and opposite ends of the balance shaft (3) are respectively sleeved and fixed on the corresponding driven wheel shaft (230); when the screw rod (41) passes through the balance shaft (3), the screw rod (41) also passes through the driven wheel shaft part (230), and the movement of the balance shaft (3) between the first bracket (11) and the second bracket (12) can drive the driven wheel (23) to move back and forth relative to the driving wheel (22) through the driven wheel shaft part (230).

7. The running gear according to claim 6, wherein a positioning surface (2300) is provided on the driven wheel shaft (230), opposite ends of the balance shaft (3) each have an end surface (300), and two end surfaces (300) are parallel, and each end surface (300) is attached to the corresponding positioning surface (2300).

8. Running gear according to claim 1, wherein the running gear (2) further comprises a driving member (21), the driving wheel (22), the driven wheel (23) and the running tracks (24) are longitudinally arranged at the left and right sides of the main body frame (1), and the driving member (21) is transversely hidden behind the main body frame (1).

9. Running gear according to claim 8, wherein the number of driving members (21) is two symmetrically arranged left and right, and each driving member (21) drives one driving wheel (22) correspondingly.

10. A photovoltaic robot comprising a running gear according to any one of the preceding claims 1-9.