CN107933723B

CN107933723B - Multifunctional obstacle-surmounting robot

Info

Publication number: CN107933723B
Application number: CN201711167079.7A
Authority: CN
Inventors: 赵越
Original assignee: Suzhou Zhidejin Network Technology Co ltd
Current assignee: Suzhou Huangjia Gongchuang Precision Machinery Co ltd
Priority date: 2017-11-21
Filing date: 2017-11-21
Publication date: 2020-08-18
Anticipated expiration: 2037-11-21
Also published as: CN107933723A

Abstract

The utility model provides a multi-functional obstacle crossing robot, the power distribution box comprises a box body, two first through-holes are all seted up to both ends face around the box, two first through-holes on the preceding terminal surface are seted up with the corresponding symmetry of two first through-holes on the rear end face, two first through-holes on the same terminal surface are close to both ends about the box respectively, all be equipped with in the first through-hole and violently manage, violently manage and correspond first through-hole bearing swing joint, the inner of violently managing is located the inside of box, be located around the box two coaxial violently intraductal power shafts that all are equipped with of both sides of marcing, the both ends of the power shaft of marcing are located the outer end inside of the violently managing of correspondence respectively, the power shaft of marcing is connected through the bearing with violently managing. The invention can easily span a plurality of obstacles, is suitable for various fields such as military exploration, disaster area material transportation, exploration and the like, can be matched with various devices to carry out different work, and has various functions.

Description

Multifunctional obstacle-surmounting robot

Technical Field

The invention belongs to the technical field of obstacle crossing robots, and particularly relates to a multifunctional obstacle crossing robot.

Background

The obstacle crossing robot can be applied to various fields such as military exploration and exploration, and is well developed, the existing obstacle crossing robots are various, but most of the traditional obstacle crossing robots have a large defect, the number of motors for providing power in the traditional obstacle crossing robots is large, each obstacle crossing wheel needs to be driven by an independent motor, the traditional obstacle crossing robots are quite complex in structure, many transmission structures are exposed outside, the complex structures are matched with the large number of power motors, the traditional obstacle crossing robots are prone to failure and poor in reliability, the steering of the traditional obstacle crossing robots is not flexible enough, and the reliability of the traditional long obstacle crossing robots is difficult to guarantee under the severe environment conditions.

Disclosure of Invention

The invention provides a multifunctional obstacle crossing robot, which is used for overcoming the defects in the prior art.

The invention is realized by the following technical scheme:

a multifunctional obstacle crossing robot comprises a box body, wherein two first through holes are formed in the front end face and the rear end face of the box body respectively, the two first through holes in the front end face and the two first through holes in the rear end face are correspondingly and symmetrically formed, the two first through holes in the same end face are close to the left end and the right end of the box body respectively, transverse pipes are arranged in the first through holes and movably connected with corresponding first through hole bearings, the inner ends of the transverse pipes are located in the box body, traveling power shafts are arranged in the two coaxial transverse pipes on the front side and the rear side of the box body respectively, the two ends of the traveling power shafts are located in the outer ends of the corresponding transverse pipes respectively, the traveling power shafts are connected with the transverse pipes through bearings, four connecting pipes are fixedly arranged on the peripheries of the outer ends of the transverse pipes, the four connecting pipes are uniformly distributed by the central shafts of the corresponding transverse pipes, the, the transmission shafts are respectively arranged in the connecting pipes and movably connected with the corresponding connecting pipe bearings, the transmission shafts are positioned in the corresponding transverse pipes after penetrating through the corresponding second through holes, the outer ends of the traveling power shafts are respectively and fixedly provided with a first bevel gear, the inner ends of the transmission shafts are respectively and fixedly provided with a second bevel gear, the second bevel gears are engaged and matched with the corresponding first bevel gears, the outer ends of the connecting pipes are respectively provided with a steering pipe, the steering pipes are coaxial with the central lines of the corresponding connecting pipes, the steering pipes are movably connected with the outer end bearings of the corresponding connecting pipes, the lateral parts of the outer ends of the steering pipes are provided with third through holes, transverse wheel shafts are arranged in the third through holes, the wheel shafts are movably connected with the corresponding third through hole bearings, the outer ends of the wheel shafts are respectively and fixedly provided with wheels, the inner ends of the wheel shafts are respectively and fixedly provided with third bevel gears, the lateral part of the outer end of the connecting pipe is fixedly provided with a steering motor, an output shaft of the steering motor is fixedly provided with a first gear, the steering pipe is fixedly provided with a second gear, the first gear is meshed and matched with the second gear, the positions of the bottom in the box body, corresponding to the traveling power shaft, are all fixedly provided with power motors, the output shaft of the power motor is fixedly provided with a third gear, the traveling power shaft is fixedly provided with a fourth gear, the third gear is meshed and matched with the fourth gear, the upper side of the traveling power shaft is provided with obstacle crossing power shafts, the obstacle crossing power shafts are arranged at the top in the box body through two shaft seats, the two ends of the obstacle crossing power shafts are both fixedly provided with fifth gears, the inner ends of the transverse pipes are fixedly sleeved, the teeth of the ring gears face outwards, the fifth gears are meshed and matched with the ring gears, the obstacle crossing power shafts are fixedly provided with sixth gears, and.

According to the multifunctional obstacle crossing robot, one end of the obstacle crossing power shaft is provided with the electric telescopic rod, the electric telescopic rod is coaxial with the center line of the corresponding obstacle crossing power shaft, the end part of the fixed rod of the electric telescopic rod is fixedly connected with the inside of the box body, the end part of the movable rod of the electric telescopic rod is movably connected with the end part bearing of the corresponding obstacle crossing power shaft, and the obstacle crossing power shaft can move back and forth along the length direction of the obstacle crossing power shaft.

According to the multifunctional obstacle crossing robot, the transverse plate is fixedly arranged at the upper part of the box body through the connecting frame, and the top surface of the transverse plate is provided with the plurality of mounting holes.

The invention has the advantages that: the invention can easily span a plurality of obstacles, is suitable for various fields such as military reconnaissance, disaster area material transportation, exploration and the like, can be matched with various devices to carry out different work, has various functions, can simultaneously drive eight wheels to rotate by each advancing power shaft, and only needs one power motor to drive each power shaft, has simpler and more ingenious mechanical structure design, less motors and simple structure, can ensure that the invention is not easy to have faults when in work, has simple transmission structure, is mostly sealed inside, is not easy to be influenced by the severe external environment, has less possibility of having faults, is more stable and reliable, can independently steer by each wheel, is flexible in steering and does not influence the transmission of the power, the obstacle crossing function and the steering function are perfectly integrated, and the smooth completion of work under various road conditions can be ensured. When the obstacle crossing type power transmission device works, a power motor drives a traveling power shaft to rotate through the meshing and matching of a third gear and a fourth gear, the traveling power shaft drives a transmission shaft to rotate through the meshing and matching of a second bevel gear and a corresponding first bevel gear, the transmission shaft drives wheels to rotate through the meshing and matching of the third bevel gear and a corresponding fourth bevel gear, meanwhile, a sixth gear drives an obstacle crossing power shaft to rotate through the meshing and matching of a fifth gear and a ring gear, the obstacle crossing power shaft drives a transverse pipe to rotate through the meshing and matching of a fifth gear and the ring gear, four connecting pipes rotate along with the transverse pipe, different wheels alternately contact with the ground in turn through the rotation of the four connecting pipes, the four rotating connecting pipes and the corresponding four wheels form a crossing obstacle group, and the cooperation of the four crossing obstacle groups can enable the obstacle crossing type power transmission device to effectively cross various obstacles such as ditches, the steering tube can rotate by the matching of the first gear and the second gear, so that the direction of the wheel can be changed, the normal rotation of the wheel is not influenced by the design, the steering action of the steering tube can be completed, the oblique movement of the steering tube can be realized by the synchronous rotation of sixteen wheels, the traveling modes of the steering tube are diversified by the ingenious mechanical structure and transmission design, and the steering tube can be matched with a controller and various sensors to have more development and utilization potentials.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention; FIG. 2 is an enlarged view of a cross-sectional view taken along line A-A of FIG. 1; FIG. 3 is an enlarged view of the view of FIG. 1 taken along line B; FIG. 4 is an enlarged view of a portion I of FIG. 1; FIG. 5 is a partial enlarged view of section II of FIG. 2; FIG. 6 is a partial enlarged view of section III of FIG. 2; fig. 7 is a partially enlarged view of the portion iv of fig. 1.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

A multifunctional obstacle crossing robot comprises a box body 1, wherein two first through holes 2 are respectively formed in the front end face and the rear end face of the box body 1, the two first through holes 2 in the front end face and the two first through holes 2 in the rear end face are correspondingly and symmetrically formed, the two first through holes 2 in the same end face are respectively close to the left end and the right end of the box body 1, transverse pipes 3 are respectively arranged in the first through holes 2, the transverse pipes 3 are movably connected with the corresponding first through holes 2 in a bearing mode, the inner ends of the transverse pipes 3 are located in the box body 1, traveling power shafts 4 are respectively arranged in the two coaxial transverse pipes 3 on the front side and the rear side of the box body 1, the two ends of each traveling power shaft 4 are respectively located in the outer ends of the corresponding transverse pipes 3, the traveling power shafts 4 are connected with the transverse pipes 3 through bearings, four connecting pipes 5 are fixedly installed on the peripheries of the, the connecting pipes 5 are perpendicular to the corresponding transverse pipes 3, second through holes 6 are respectively arranged at the joints of the side surfaces of the transverse pipes 3 and the connecting pipes 5, transmission shafts 7 are respectively arranged in the connecting pipes 5, the transmission shafts 7 are movably connected with the corresponding connecting pipes 5 through bearings, the transmission shafts 7 penetrate through the corresponding second through holes 6 and then are positioned in the corresponding transverse pipes 3, first bevel gears 8 are respectively and fixedly arranged at the outer ends of the advancing power shafts 4, second bevel gears 9 are respectively and fixedly arranged at the inner ends of the transmission shafts 7, the second bevel gears 9 are engaged with the corresponding first bevel gears 8, steering pipes 10 are arranged at the outer ends of the connecting pipes 5, the steering pipes 10 are coaxial with the central lines of the corresponding connecting pipes 5, the steering pipes 10 are movably connected with the corresponding outer end bearings of the connecting pipes 5, third through holes 11 are arranged at the side parts of the outer ends of the steering pipes 10, transverse wheel shafts 12 are arranged in the, the outer end of the wheel shaft 12 is fixedly provided with a wheel 13, the inner end of the wheel shaft 12 is fixedly provided with a third bevel gear 14, the outer end of the transmission shaft 7 is fixedly provided with a fourth bevel gear 15, the third bevel gear 14 is engaged with the corresponding fourth bevel gear 15, the outer end side part of the connecting pipe 5 is fixedly provided with a steering motor 16, an output shaft of the steering motor 16 is fixedly provided with a first gear 17, a steering pipe 10 is fixedly provided with a second gear 18, the first gear 17 is engaged with the second gear 18, the positions of the bottom in the box body 1 corresponding to the advancing power shaft 4 are all fixedly provided with power motors 19, an output shaft of the power motors 19 is fixedly provided with a third gear 20, the advancing power shaft 4 is fixedly provided with a fourth gear 21, the third gear 20 is engaged with the fourth gear 21, the upper side of the advancing power shaft 4 is provided with an obstacle crossing power shaft 22, the obstacle crossing power shaft 22 is arranged at the, fifth gears 23 are fixedly mounted at two ends of the obstacle crossing power shaft 22, the inner end of the transverse pipe 3 is fixedly sleeved with a ring gear 24, teeth of the ring gear 24 face outwards, the fifth gears 23 are in meshed fit with the ring gear 24, sixth gears 25 are fixedly mounted on the obstacle crossing power shaft 22, and the sixth gears 25 are in meshed fit with the corresponding fourth gears 21. The invention can easily span a plurality of obstacles, is suitable for various fields such as military reconnaissance, disaster area material transportation, exploration and the like, can be matched with various devices to carry out different work, has various functions, each advancing power shaft 4 of the invention can simultaneously drive eight wheels to rotate, each power shaft 4 only needs to be driven by one power motor 19, compared with the complex power structure of the traditional obstacle crossing robot, the mechanical structure design of the invention is simpler and more ingenious, the number of the motors is less, the structure is simple, the invention can ensure that the invention is not easy to break down when in work, the transmission structure of the invention is simple and most of the motors are sealed in the inner part, the invention is not easy to be influenced by the severe external environment, the possibility of breaking down is smaller, the invention is more stable and reliable, each wheel 13 can independently turn, the turning is flexible and does not influence the transmission of the power, the obstacle crossing function and the steering function are perfectly integrated, and the smooth completion of work under various road conditions can be ensured. When the crossing obstacle crossing device works, the power motor 19 is meshed and matched with the fourth gear 21 through the third gear 20 to drive the traveling power shaft 4 to rotate, the traveling power shaft is meshed and matched with the corresponding first bevel gear 8 through the second bevel gear 9 to drive the transmission shaft 7 to rotate, the transmission shaft 7 is meshed and matched with the corresponding fourth bevel gear 15 through the third bevel gear 14 to drive the wheels 13 to rotate, meanwhile, the sixth gear 25 is meshed and matched with the corresponding fourth gear 21 to drive the obstacle crossing power shaft 22 to rotate, the obstacle crossing power shaft 22 is meshed and matched with the ring gear 24 through the fifth gear 23 to drive the transverse pipe 3 to rotate, the four connecting pipes 5 rotate along with the transverse pipe 3, different wheels 13 are alternately contacted with the ground through rotation of the four connecting pipes 5, the four rotating connecting pipes 5 and the corresponding four wheels 13 form a crossing obstacle group, and the cooperation of the four crossing obstacle groups can enable the crossing ditch to effectively, The steering tube 10 can rotate through the matching of the steering motor 16, the first gear 17 and the second gear 18, so that the direction of the wheels 13 can be changed, the design does not influence the normal rotation of the wheels 13, the steering action of the steering device can be completed, the sixteen wheels 13 synchronously rotate, the oblique movement of the steering device can be realized, the traveling modes of the steering device are diversified through the ingenious mechanical structure and the transmission design, and the steering device can be matched with a controller and various sensors to have more development and utilization potentials.

Specifically, an electric telescopic rod 26 is disposed at one end of the obstacle crossing power shaft 22 according to the embodiment, the electric telescopic rod 26 is coaxial with a center line of the corresponding obstacle crossing power shaft 22, an end portion of a fixed rod of the electric telescopic rod 26 is fixedly connected with the inside of the box body 1, an end portion of a movable rod of the electric telescopic rod 26 is movably connected with an end bearing of the corresponding obstacle crossing power shaft 22, and the obstacle crossing power shaft 22 can move back and forth along the length direction of the obstacle crossing power shaft 22. The position of the obstacle crossing power shaft 22 can be adjusted through the electric telescopic rod 26, so that the sixth gear 25 and the fourth gear 21 can be changed between an engaged state and a separated state, when a large obstacle is encountered, the electric telescopic rod 26 extends out, the sixth gear 25 is engaged with the corresponding fourth gear 21, and the transverse pipe 3 rotates.

Specifically, in the embodiment, the transverse plate 27 is fixedly installed on the upper portion of the box body 1 through the connecting frame, and a plurality of installation holes are formed in the top surface of the transverse plate 27. The design can more conveniently install or bind other equipment on the transverse plate 27, and is convenient for installing corresponding equipment and carrying materials.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a multi-functional obstacle crossing robot which characterized in that: comprises a box body (1), wherein two first through holes (2) are respectively formed in the front end surface and the rear end surface of the box body (1), the two first through holes (2) on the front end surface and the rear end surface are correspondingly and symmetrically formed, the two first through holes (2) on the same end surface are respectively close to the left end and the right end of the box body (1), transverse pipes (3) are respectively arranged in the first through holes (2), the transverse pipes (3) are movably connected with the corresponding first through holes (2) through bearings, the inner ends of the transverse pipes (3) are positioned in the box body (1), traveling power shafts (4) are respectively arranged in the two transverse pipes (3) which are coaxial with each other on the front side and the rear side of the box body (1), the two ends of the traveling power shafts (4) are respectively positioned in the outer ends of the corresponding transverse pipes (3), the traveling power shafts (4) are connected with the transverse pipes (3) through bearings, four connecting pipes (5), the four connecting pipes (5) are uniformly distributed by the central shaft of the corresponding transverse pipe (3), the connecting pipes (5) are vertical to the corresponding transverse pipe (3), the joints of the side surfaces of the transverse pipes (3) and the connecting pipes (5) are provided with second through holes (6), the connecting pipes (5) are internally provided with transmission shafts (7), the transmission shafts (7) are movably connected with the corresponding connecting pipes (5) through bearings, the transmission shafts (7) penetrate through the corresponding second through holes (6) and then are positioned in the corresponding transverse pipes (3), the outer ends of the advancing power shafts (4) are fixedly provided with first bevel gears (8), the inner ends of the transmission shafts (7) are fixedly provided with second bevel gears (9), the second bevel gears (9) are engaged with the corresponding first bevel gears (8), the outer ends of the connecting pipes (5) are provided with steering pipes (10), and the steering pipes (10) are coaxial with the central lines of the corresponding connecting pipes (5), the steering tube (10) is movably connected with the outer end bearing of the corresponding connecting tube (5), the outer end side part of the steering tube (10) is provided with a third through hole (11), a transverse wheel shaft (12) is arranged in the third through hole (11), the wheel shaft (12) is movably connected with the corresponding third through hole (11) bearing, the outer end of the wheel shaft (12) is fixedly provided with a wheel (13), the inner end of the wheel shaft (12) is fixedly provided with a third bevel gear (14), the outer end of the transmission shaft (7) is fixedly provided with a fourth bevel gear (15), the third bevel gear (14) is engaged and matched with the corresponding fourth bevel gear (15), the outer end side part of the connecting tube (5) is fixedly provided with a steering motor (16), the output shaft of the steering motor (16) is fixedly provided with a first gear (17), the steering tube (10) is fixedly provided with a second gear (18), the first gear (17) is engaged and matched with the, power motors (19) are fixedly installed at positions, corresponding to the advancing power shafts (4), of the bottom in the box body (1), third gears (20) are fixedly installed on output shafts of the power motors (19), fourth gears (21) are fixedly installed on the advancing power shafts (4), the third gears (20) are meshed and matched with the fourth gears (21), obstacle crossing power shafts (22) are arranged on the upper sides of the advancing power shafts (4), the obstacle crossing power shafts (22) are installed at the top in the box body (1) through two shaft seats, fifth gears (23) are fixedly installed at two ends of the obstacle crossing power shafts (22), the inner ends of the transverse pipes (3) are fixedly sleeved with the ring gears (24), teeth of the ring gears (24) face outwards, the fifth gears (23) are meshed and matched with the ring gears (24), sixth gears (25) are fixedly installed on the obstacle crossing power shafts (22), and the sixth gears (25) are meshed and matched with the corresponding fourth gears (21), an electric telescopic rod (26) is arranged at one end of each obstacle crossing power shaft (22), the electric telescopic rods (26) are coaxial with the center lines of the corresponding obstacle crossing power shafts (22), the end parts of fixed rods of the electric telescopic rods (26) are fixedly connected with the inside of the box body (1), the end parts of movable rods of the electric telescopic rods (26) are movably connected with end part bearings of the corresponding obstacle crossing power shafts (22), and the obstacle crossing power shafts (22) can move back and forth along the length direction of the obstacle crossing power shafts (22).

2. A multi-functional obstacle-surmounting robot as recited in claim 1, further comprising: the upper part of the box body (1) is fixedly provided with a transverse plate (27) through a connecting frame, and the top surface of the transverse plate (27) is provided with a plurality of mounting holes.