CN111267794A - Intelligent robot assists climbing structure - Google Patents
Intelligent robot assists climbing structure Download PDFInfo
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- CN111267794A CN111267794A CN202010202862.8A CN202010202862A CN111267794A CN 111267794 A CN111267794 A CN 111267794A CN 202010202862 A CN202010202862 A CN 202010202862A CN 111267794 A CN111267794 A CN 111267794A
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- climbing
- wheel
- intelligent robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/12—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action
- B60T1/14—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action directly on road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention discloses an intelligent robot auxiliary climbing structure, which comprises a main climbing mechanism, an auxiliary wheel set and a power-assisted mechanism, the invention provides an intelligent robot auxiliary climbing structure, which is convenient to install on different robots and carry out auxiliary climbing, ensures that the robots can carry out moving operation on different slopes, solves the problem that the existing climbing robot, whether the robot used in a laboratory or the robot used in industrial application, generally adopts a crawler type as a moving mechanism of the robot, and the traditional crawler type transmission mechanism is easy to overturn if the robot is on a continuous slope or on a steeper slope in the using process, and traditional track structure installation and dismantlement are comparatively complicated, and overall structure is comparatively thick and heavy simultaneously, is unfavorable for long-time continuous driving and the problem that uses in less space.
Description
Technical Field
The invention relates to the technical field of robot assembling mechanisms, in particular to an intelligent robot-assisted climbing structure.
Background
Robots are commonly known as automatic control machines, including all machines simulating human behaviors or ideas and other creatures, such as robot dogs and cats, and there are many categories and disputes defined for robots in a narrow sense, and some computer programs are even called robots. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and is currently researched and developed in the direction of the scientific community.
The existing climbing robot, no matter the robot that uses in the laboratory or the robot in the industrial application, generally all adopt the crawler-type to come as the motion of robot, can conveniently possess sufficient power and guarantee that the climbing process possesses sufficient stability like this in the climbing process, but the inventor of this application discovers, traditional crawler-type drive mechanism takes place to overturn very easily if continuous ramp or comparatively precipitous slope in the in-process of using, and traditional track structural installation is comparatively complicated with the dismantlement, overall structure is comparatively heavy simultaneously, be unfavorable for long-time continuous driving and use in less space.
Disclosure of Invention
The invention aims to provide an intelligent robot auxiliary climbing structure, and aims to solve the problems that an existing climbing robot, whether a robot used in a laboratory or a robot in industrial application, generally adopts a crawler type as a moving mechanism of the robot, a traditional crawler type transmission mechanism is easy to overturn if a continuous ramp or a steeper gradient is used in the using process, the traditional crawler type transmission mechanism is complex to mount and dismount, and meanwhile, the whole structure is thick and heavy, so that the intelligent robot auxiliary climbing structure is not beneficial to long-time continuous driving and use in a small space.
The invention is realized by the following steps:
an intelligent robot auxiliary climbing structure comprises a main climbing mechanism, an auxiliary wheel set and a power-assisted mechanism, wherein the main climbing mechanism comprises a mounting frame, a moving mechanism and a brake mechanism, the mounting frame is provided with a box body structure with an opening at the lower end, the moving mechanism is arranged on a central line in the mounting frame, the moving mechanism is rotatably connected with the mounting frame, the brake mechanism is arranged on the outer side of the mounting frame, the auxiliary wheel set comprises a mounting shaft and a supporting wheel, the mounting shaft is arranged at the center of the supporting wheel and fixedly connected with the supporting wheel, the power-assisted mechanism comprises a mounting frame, a moving mechanism and an electric cabinet, the electric cabinet is fixedly arranged on the outer side surface of the mounting frame, the electric cabinet is used as main power of an auxiliary climbing device through the structural arrangement of the main climbing mechanism, and the moving mechanism and the brake mechanism are installed in the mounting frame to ensure that a user can stably use the moving mechanism and the brake mechanism, the auxiliary climbing structure is connected with the robot, the mounting frame is provided with the box body structure to effectively protect the safety of the moving mechanism in the using process and prevent the moving mechanism from being damaged by the outside, when the robot walks on a slope surface conveniently by arranging the brake mechanism, a user can ensure the aim that the robot does not slide down by controlling the brake mechanism, the stability of the robot in climbing is ensured, the climbing performance of the robot is further improved by arranging the power-assisted mechanism, power can be provided for the climbing process of the robot, the stability in the climbing process can be further improved, the moving mechanism on the power-assisted mechanism is the same as the moving mechanism on the main climbing mechanism in structure and working principle, the power can be stably provided for the robot for use, and meanwhile, the electric cabinet is arranged on the power-assisted mechanism to facilitate the further development and control of the moving process of the climbing mechanism by the user, and mounting an electric control element and the like.
Further, the mounting frame comprises a frame box, supporting blocks and a driving motor, wherein one end of the outer side surface of the frame box is provided with a strip-shaped frame, the strip-shaped frame is vertically and fixedly connected with the frame box, the lower end of the strip-shaped frame is provided with a placing cavity, the supporting blocks are symmetrically arranged on the inner side of the upper end surface of the frame box, the supporting blocks are fixedly connected with the frame box, the driving motor is arranged between the supporting blocks and is fixedly connected with the frame box, the stable operation of the internal moving mechanism is protected by the frame box through the structural arrangement of the mounting frame, a user can stably install the transmission rod on the upper end through the arrangement of the supporting blocks, and the transmission rod is positioned by matching with a driving gear, so that the transmission rod can only stably rotate in the use process, the driving motor can be stably driven and used, and the driving motor can adopt a, the control is convenient for a user, and the user can control the climbing speed or the moving speed of the robot on the flat ground only by controlling the rotating speed of the stepping motor.
Furthermore, the moving mechanism comprises a rotating disc wheel, a transmission rod and an adjusting gear set, the transmission rod is arranged in the middle of the supporting block and is rotationally connected with the supporting block, the transmission rod is connected with the output end of the driving motor through a chain, the adjusting gear set is symmetrically arranged at two ends of the transmission rod and is fixedly connected with the transmission rod, the rotating disc wheel is symmetrically arranged at the lower end of the frame box and is fixedly connected with the adjusting gear set, the moving mechanism can be driven by the driving motor to rotate stably through the structural arrangement of the moving mechanism, the whole device provides forward power for use, the driving motor drives the adjusting gear set to rotate, the adjusting gear set can transmit kinetic energy to the rotating disc wheels at two sides synchronously in real time, and the rotating disc wheels at two sides can rotate towards the inner side at the same speed, and then reach the purpose of drive forward, can adopt some materials that coefficient of friction is great with the carousel wheel to make in the use of reality, guarantee the frictional force of carousel wheel and ground, and then reach the carousel wheel and possess sufficient power in the rotation process.
Furthermore, the adjusting gear set comprises a driving gear, a positioning rod and a driven gear, the driving gear is fixedly arranged at the head of the transmission rod, the driving gear and the driven gear are meshed with each other, the positioning rods are symmetrically arranged on the inner side surface of the rack box and are rotatably connected with the rack box, the driven gear is arranged at the lower end of the positioning rod and is fixedly connected with the positioning rod, the transmission rod and the turntable wheel are conveniently connected for use by arranging the structure of the adjusting gear set, the power of the transmission rod is timely transmitted to the turntable wheel to drive the turntable wheel to rotate, the driving gear can be ensured to rotate along with the transmission rod by installing the driving gear, then the transmission purpose is achieved by the mutual meshing between the driving gear and the driven gear, and the position of the driving gear is ensured by arranging the positioning rod, and the rotary connection between the rotary disc wheel and the frame box.
Furthermore, the brake mechanism comprises a bending frame, a brake plate and a hydraulic cylinder, the bending frame is arranged in the cavity, the bending frame is rotatably connected with the strip-shaped frame, the brake plate is arranged at the lower end of the bending frame, the brake plate is fixedly connected with the bending frame through a bolt, the hydraulic cylinder is arranged in the cavity, the output end of the hydraulic cylinder is connected with the bending frame, the brake mechanism is arranged so that a user can change the height of the bending frame by controlling the extension and retraction of the hydraulic cylinder, the bending frame is retracted into the cavity when the brake is not needed, the brake mechanism is ensured not to influence the normal walking of the robot, the bending frame can be extended when the robot needs to stop in the process of climbing or slides in the process of climbing, and the brake plate can be tightly attached to the ground, the whole device can be stably stopped on the ground.
Furthermore, the mounting shaft comprises a fixed shaft rod and a rotating shaft rod, the fixed shaft rod is fixedly mounted at the head of the bar-shaped frame, a clamping head is mounted on the side surface of the fixed shaft rod, the clamping head is rotatably connected with the fixed shaft rod, the rotating shaft rod is coaxially mounted with the fixed shaft rod and is rotatably connected with the fixed shaft rod, clamping pieces matched with the clamping head are uniformly arranged on the outer side surface of the rotating shaft rod, the rotating shaft rod and the clamping pieces are integrally formed, the rotating direction of the supporting wheel is convenient to control through the structural arrangement of the mounting shaft, the supporting wheel can only move forward and can not move backward, the stability in climbing is further improved, the fixed shaft rod is fixedly connected with the bar-shaped frame, the vertical position between the supporting wheel and the bar-shaped frame is ensured, the rotating shaft rod can rotate on the fixed shaft rod, the supporting wheel and the rotating shaft rod are mutually fixed, namely, the, when the supporting wheel rotates in the forward direction, the clamping heads can be clamped into the clamping sheets to be locked with each other, so that the supporting wheel cannot move backwards, and the purpose that the supporting wheel can only travel in a single direction is achieved.
Further, the supporting wheel comprises a wheel rim frame, a supporting plate and a disc core, the supporting plate is evenly distributed on the inner side face of the wheel rim frame, the supporting plate is fixedly connected with the wheel rim frame, a clamping groove is formed in the head portion of the supporting plate, the disc core is connected to the inside of the clamping groove in a clamped mode, the disc core is connected with the clamping groove in a sliding mode, a certain damping effect is achieved on the device in the running process through the structural arrangement of the supporting wheel, a certain moving space is formed between the supporting plate and the disc core when the wheel rim frame runs in a rotating mode, a strip-shaped block on the disc core can slide in the middle of the supporting plate in the rotating process, and the damping effect in the moving process of the disc core is guaranteed through the arrangement of the buffer spring.
Further, still be provided with the bar piece on the core, the even setting of bar piece is on the lateral surface of core, and bar piece and core fixed connection, bar piece up end still fixedly is provided with buffer spring, the backup pad middle part is seted up with bar piece matched with movable groove.
Further, still be provided with the balancing weight on the assist drive device, the even up end of fixing at the bar frame of balancing weight increases the gravity of device through setting up to the balancing weight, and then reaches the better contact of supporting wheel and ground, guarantees to remove the stability of in-process.
Further, frame case up end still is provided with the connection frame plate, connection frame plate and frame case fixed connection, and even the connecting hole of having seted up on the connection frame plate, the robot of the not isostructure of being convenient for and the supplementary climbing structure's of being connected through the setting to the connection frame plate are guaranteed supplementary climbing structure and can provide power for various different robots, and the supplementary climbing structure of being convenient for uses in the environment of difference to it carries out stable connection use through the screw to come the person of facilitating the use through the setting of connecting hole.
Compared with the prior art, the invention has the beneficial effects that: the intelligent robot auxiliary climbing structure has the characteristics of reasonable design and simplicity in operation, is convenient to install on different robots and perform auxiliary climbing, and ensures that the robots can perform moving operation on different slopes.
(1) The problem that the existing climbing robot, whether a robot used in a laboratory or a robot in industrial application, generally adopts a crawler type as a moving mechanism of the robot is solved, the traditional crawler type transmission mechanism is easy to overturn if a continuous ramp or a steeper gradient is used in the using process, and the traditional crawler type structure is complex to mount and dismount and is thick and heavy, so that the robot is not beneficial to long-time continuous driving and is not used in a small space;
(2) the traditional crawler type climbing walking mode is changed by setting the moving mechanism, and the two reverse-motion turntable wheels are used for driving the device to move, so that the contact area between the wheels and the ground can be greatly increased, and the robot can walk on the ground or on the slope more stably.
(3) The structure setting through to supplementary wheelset assists the better removal of front end moving mechanism and uses, guarantee that front end moving mechanism can walk on the road surface of certain slope and remove, and the supporting wheel carries out erection joint through installation axle and main climbing mechanism and uses, guarantee that the supporting wheel can only walk to the direction of advancing at the in-process of walking, and can not take place backward pivoted condition, for main climbing mechanism provides better assistance at the in-process of climbing, avoid taking place the problem of downward removal at the in-process of climbing.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a perspective view of the device of the present invention when walking on a horizontal ground;
FIG. 2 is a front view of the device of FIG. 1;
FIG. 3 is a schematic view of the apparatus of the present invention in a climbing configuration;
FIG. 4 is a schematic structural view of the mount shown in FIG. 1;
FIG. 5 is a bottom view of the device of FIG. 4;
FIG. 6 is a schematic structural view of the moving mechanism shown in FIG. 3;
FIG. 7 is a schematic structural view of the brake mechanism shown in FIG. 3;
FIG. 8 is a perspective view of the auxiliary wheel set of FIG. 1;
FIG. 9 is a front view of the device of FIG. 8;
FIG. 10 is a left side view of the device of FIG. 8;
FIG. 11 is a cross-sectional view of the device of FIG. 10 taken along the line A-A;
FIG. 12 is a perspective view of the hub of FIG. 9
FIG. 13 is a perspective view of the assist mechanism shown in FIG. 1;
fig. 14 is a top view of the device shown in fig. 13.
In the figure: 1. a main climbing mechanism; 10. a strip-shaped frame; 101. a placement chamber; 11. a mounting frame; 111. a rack box; 112. a support block; 113. a drive motor; 114. connecting the frame plate; 115. connecting holes; 12. a moving mechanism; 120. a chain; 121. a turntable wheel; 122. a transmission rod; 123. an adjusting gear set; 124. a driving gear; 125. positioning a rod; 126. a driven gear; 13. a brake mechanism; 131. a bending frame; 132. a brake plate; 133. a hydraulic cylinder; 2. an auxiliary wheel set; 21. installing a shaft; 211. fixing the shaft lever; 212. rotating the shaft lever; 213. clamping a head; 214. a card; 22. a support wheel; 221. a wheel rim frame; 222. a support plate; 223. a disc core; 224. a card slot; 225. a bar-shaped block; 226. a buffer spring; 3. a power-assisted mechanism; 31. an electric cabinet; 32. and a balancing weight.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of 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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1, 2 and 3, an intelligent robot auxiliary climbing structure comprises a main climbing mechanism 1, an auxiliary wheel set 2 and a power assisting mechanism 3, wherein a traditional intelligent climbing robot structure and a using process are researched to design an intelligent robot auxiliary climbing structure, so that the intelligent robot auxiliary climbing structure is convenient to mount on different robots and perform auxiliary climbing use, the robots can be ensured to perform moving operation on different slopes, the intelligent robot auxiliary climbing structure can be used only by being combined with other mechanisms such as a stabilizing mechanism, a turning mechanism, a power supply mechanism and the like and actual debugging in the actual using process, the problem that the existing climbing robot, whether a robot used in a laboratory or a robot in industrial application, generally adopts a crawler type as a moving mechanism of the robot is solved, and if a continuous slope or a steep slope occurs easily in the using process of a traditional crawler type transmission mechanism, and the traditional track structure is complex to install and disassemble, and the whole structure is thick and heavy, which is not beneficial to long-time continuous driving and use in a small space, the main climbing mechanism 1 comprises a mounting frame 11, a moving mechanism 12 and a brake mechanism 13, the mounting frame 11 is provided with a box body structure with an opening at the lower end, the moving mechanism 12 is arranged on the central line inside the mounting frame 11, the moving mechanism 12 is rotatably connected with the mounting frame 11, the brake mechanism 13 is arranged outside the mounting frame 11, the main climbing mechanism 1 is used as the main power of the auxiliary climbing device by the structural arrangement, the mounting frame 11 is arranged to ensure that a user can stably install the moving mechanism 12 and the brake mechanism 13 inside for use and also is the position for connecting the auxiliary climbing structure and the robot, the mounting frame 11 is provided with the box body structure to effectively protect the safety of the moving mechanism 12 in the use process, the robot is free from external damage, the traditional crawler type climbing walking mode is changed by arranging the moving mechanism 12, and the two reverse-motion turntable wheels 121 are used for driving the device to move, so that the contact area between the wheels and the ground can be greatly increased, the robot can be ensured to walk on the ground or on a slope more stably, and when the robot walks on the slope by arranging the brake mechanism, a user can control the brake mechanism to ensure that the robot cannot slide down, and the stability of the robot when climbing is ensured;
as shown in fig. 4 and 5, the mounting frame 11 includes a frame box 111, a support block 112 and a driving motor 113, and the stable operation of the internal moving mechanism 12 is protected by the frame box 111 through the structural arrangement of the mounting frame 11, one end of the outer side surface of the frame box 111 is provided with a strip-shaped frame 10, the strip-shaped frame 10 is vertically and fixedly connected with the frame box 111, and the lower end of the strip-shaped frame 10 is provided with a placing cavity 101, the support blocks 112 are symmetrically arranged at the inner side of the upper end surface of the frame box 111, and the support blocks 112 are fixedly connected with the frame box 111, the driving motor 113 is arranged between the support blocks 112, and the driving motor 113 is fixedly connected with the frame box 111, so that a user can stably install the driving rod 122 at the upper end by arranging the support blocks 112, and position the driving rod 122 by matching with the driving gear 124, thereby ensuring that the driving rod 122 can only stably, the driving motor 113 can be a stepping motor, which is convenient for a user to control, the user can control the climbing speed or the horizontal moving speed of the robot only by controlling the rotating speed of the stepping motor, the upper end surface of the frame box 111 is also provided with a connecting frame plate 114, the connecting frame plate 114 is fixedly connected with the frame box 111, and the connecting frame plate 114 is uniformly provided with connecting holes 115, the connection of the robots with different structures and the auxiliary climbing structure is facilitated by the arrangement of the connecting frame plate 114, the auxiliary climbing structure can provide power for various different robots, the auxiliary climbing structure is convenient to use in different environments, and the stable connection and use of the user through screws are facilitated by the arrangement of the connecting holes 115;
as shown in fig. 6, the moving mechanism 12 includes a rotating disk wheel 121, a transmission rod 122 and an adjusting gear set 123, the transmission rod 122 is installed in the middle of the supporting block 112, the transmission rod 122 is rotatably connected with the supporting block 112, the transmission rod 122 is connected with the output end of the driving motor 113 through a chain 120, the adjusting gear set 123 is symmetrically installed at both ends of the transmission rod 122, the adjusting gear set 123 is fixedly connected with the transmission rod 122, the rotating disk wheel 121 is symmetrically arranged at the lower end of the frame box 111, and the rotating disk wheel 121 is fixedly connected with the adjusting gear set 123, the structure of the moving mechanism 12 is configured to facilitate stable rotation under the driving of the driving motor 113, the whole device provides forward power for use, the driving motor 113 transmits power to the transmission rod 122, the transmission rod 122 drives the adjusting gear set 123 to rotate, the adjusting gear set 123 can transmit kinetic energy to the rotating disk wheels, the turntable wheels 121 on two sides can be guaranteed to rotate inwards at the same speed, so that the purpose of driving forwards is achieved, in the actual use process, the turntable wheels 121 can be made of materials with large friction coefficients, the friction force between the turntable wheels 121 and the ground is guaranteed, so that the turntable wheels 121 have enough power in the rotation process, the transmission rod 122 and the turntable wheels 121 can be conveniently connected to use through the structural arrangement of the adjusting gear set 123, the power of the transmission rod 122 is timely transmitted to the turntable wheels 121, the purpose of driving the turntable wheels 121 to rotate is achieved, the driving gear 124 can be guaranteed to rotate along with the transmission rod 122 through the installation of the driving gear 124, the adjusting gear set 123 comprises a driving gear 124, a positioning rod 125 and a driven gear 126, the driving gear 124 is fixedly installed at the head of the transmission rod 122, and the driving gear 124 and the driven gear 126 are meshed with each other, the positioning rods 125 are symmetrically arranged on the inner side surface of the rack box 111, the positioning rods 125 are rotatably connected with the rack box 111, the driven gear 126 is arranged at the lower end of the positioning rods 125, the driven gear 126 is fixedly connected with the positioning rods 125, the transmission purpose is achieved by mutual meshing between the driving gear 124 and the driven gear 126, and the position of the driving gear 124 and the rotary connection between the turntable wheel 121 and the rack box 111 are ensured by the arrangement of the positioning rods 125;
as shown in fig. 7, the brake mechanism 13 includes a bending frame 131, a braking plate 132 and a hydraulic cylinder 133, the bending frame 131 is installed inside the placing cavity 101, the bending frame 131 is rotatably connected with the strip-shaped frame 10, the braking plate 132 is disposed at the lower end of the bending frame 131, the braking plate 132 is fixedly connected with the bending frame 131 through a bolt, the hydraulic cylinder 133 is disposed inside the placing cavity 101, and the output end of the hydraulic cylinder 133 is connected with the bending frame 131, the brake mechanism 13 is disposed so that a user can change the height of the bending frame 131 by controlling the extension and retraction of the hydraulic cylinder 133, the bending frame 131 is retracted inside the placing cavity 101 when the brake is not needed, the brake mechanism 13 is ensured not to affect the normal walking of the robot, the bending frame 131 can be extended when the robot needs to stop during climbing or slides during climbing, the brake plate 132 can be tightly attached to the ground, and the whole device can be stably stopped on the ground;
as shown in fig. 8, 10 and 11, the auxiliary wheel set 2 includes an installation shaft 21 and a supporting wheel 22, the installation shaft 21 is disposed at the center of the supporting wheel 22, and the installation shaft 21 is fixedly connected to the supporting wheel 22, so as to assist the front end moving mechanism 12 to move better for use by setting the structure of the auxiliary wheel set 2, so as to ensure that the front end moving mechanism 12 can move on a road surface with a certain inclination, and the supporting wheel 22 is used by installing and connecting the installation shaft 21 to the main climbing mechanism 1, so as to ensure that the supporting wheel 22 can only move forward during walking, but not rotate backward, so as to provide better assistance for the main climbing mechanism 1 during climbing, avoid the problem of downward movement during climbing, conveniently control the rotation direction of the supporting wheel 22 by setting the structure of the installation shaft 21, ensure that the supporting wheel 22 can move forward and cannot move backward, further increase the stability when climbing, be fixed connection between fixed axostylus axostyle 211 and bar frame 10, guarantee the perpendicular position between supporting wheel 22 and the bar frame 10, installation axle 21 includes fixed axostylus axostyle 211 and rotating shaft axostylus axostyle 212, fixed axostylus axostyle 211 is fixed in the head of bar frame 10, and fixed axostylus axostyle 211 side-mounting has dop 213, dop 213 and fixed axostylus axostyle 211 rotate and are connected, rotating shaft axostylus axostyle 212 and fixed axostylus axostyle 211 are coaxial to be installed, and rotating shaft axostylus axostyle 212 rotates with fixed axostylus axostyle 211 and be connected, evenly be provided with on the lateral surface of rotating shaft axostylus axostyle 212 with dop 213 matched with card 214, and rotating shaft axostylus axostyle 212 and card, the stable rotation and the advance of the supporting wheel 22 are ensured, when the supporting wheel rotates reversely, the clamping heads 213 are clamped into the clamping sheets 214 to be locked mutually, so that the supporting wheel 22 cannot move backwards, and the purpose that the supporting wheel 22 can only move in one direction is achieved;
as shown in fig. 9 and 12, the supporting wheel 22 includes a rim frame 221, a supporting plate 222 and a disc core 223, the supporting plate 222 is uniformly distributed on an inner side surface of the rim frame 221, the supporting plate 222 is fixedly connected with the rim frame 221, a clamping groove 224 is arranged at a head of the supporting plate 222, the disc core 223 is clamped in the clamping groove 224, the disc core 223 is slidably connected with the clamping groove 224, a bar-shaped block 225 is further arranged on the disc core 223, the bar-shaped block 225 is uniformly arranged on an outer side surface of the disc core 223, the bar-shaped block 225 is fixedly connected with the disc core 223, a buffer spring 226 is further fixedly arranged on an upper end surface of the bar-shaped block 225, a movable groove matched with the bar-shaped block 225 is arranged at a middle portion of the supporting plate 222, the device has a certain damping effect during driving by structural arrangement of the supporting wheel 22, a certain movable space is formed between the rim frame 221 and the disc core 223 through the supporting, the bar-shaped block on the disk core 223 can slide in the middle of the support plate 222 in the rotating process, and the damping effect of the disk core 223 in the moving process is ensured through the arrangement of the buffer spring;
as shown in fig. 13 and 14, the power assisting mechanism 3 includes an installation frame 11, a moving mechanism 12 and an electric cabinet 31, the electric cabinet 31 is fixedly disposed on the outer side surface of the installation frame 11, the climbing performance of the robot is further enhanced by disposing the power assisting mechanism 3, which not only provides power for the climbing process of the robot, but also further enhances the stability of the climbing process, the moving mechanism 12 on the power assisting mechanism 3 is the same as the moving mechanism 12 on the main climbing mechanism 1 in structure and working principle, which can stably provide power for the robot for use, and the electric cabinet 31 is disposed on the power assisting mechanism 3 for the user to further develop and control the movement process of the climbing mechanism, and install electric control elements, etc., the power assisting mechanism 3 is further provided with a weight 32, the weight 32 is uniformly fixed on the upper end surface of the bar-shaped frame 10, the weight of the device is increased by disposing the weight 32, thereby achieving better contact between the supporting wheels 22 and the ground and ensuring the stability in the moving process.
The device obtained by the design can basically meet the use requirement of an intelligent robot auxiliary climbing structure, but the designer further improves the device with the aim of further improving the function.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an auxiliary climbing structure of intelligent robot, includes main climbing mechanism (1), supplementary wheelset (2) and assist drive device (3), its characterized in that: main climbing mechanism (1) includes mounting bracket (11), moving mechanism (12) and brake mechanism (13), mounting bracket (11) set up lower extreme open-ended box structure, moving mechanism (12) set up on the inside central line of mounting bracket (11), and moving mechanism (12) rotate with mounting bracket (11) and be connected, brake mechanism (13) set up the outside at mounting bracket (11), auxiliary wheel group (2) are including installation axle (21) and supporting wheel (22), installation axle (21) set up the center department at supporting wheel (22), and installation axle (21) and supporting wheel (22) fixed connection, assist drive mechanism (3) are including mounting bracket (11), moving mechanism (12) and electric cabinet (31), electric cabinet (31) are fixed to be set up on the lateral surface of mounting bracket (11).
2. The intelligent robot-assisted climbing structure according to claim 1, wherein the mounting frame (11) comprises a frame box (111), support blocks (112) and a driving motor (113), one end of the outer side surface of the frame box (111) is provided with a strip-shaped frame (10), the strip-shaped frame (10) is vertically and fixedly connected with the frame box (111), the lower end of the strip-shaped frame (10) is provided with a placing cavity (101), the support blocks (112) are symmetrically arranged on the inner side of the upper end surface of the frame box (111), the support blocks (112) are fixedly connected with the frame box (111), the driving motor (113) is arranged between the support blocks (112), and the driving motor (113) is fixedly connected with the frame box (111).
3. The intelligent robot-assisted climbing structure according to claim 2, wherein the moving mechanism (12) comprises a rotating disc wheel (121), a transmission rod (122) and an adjusting gear set (123), the transmission rod (122) is installed in the middle of the supporting block (112), the transmission rod (122) is rotatably connected with the supporting block (112), the transmission rod (122) is connected with the output end of the driving motor (113) through a chain (120), the adjusting gear set (123) is symmetrically installed at two ends of the transmission rod (122), the adjusting gear set (123) is fixedly connected with the transmission rod (122), the rotating disc wheel (121) is symmetrically arranged at the lower end of the frame box (111), and the rotating disc wheel (121) is fixedly connected with the adjusting gear set (123).
4. The intelligent robot-assisted climbing structure according to claim 3, wherein the adjusting gear set (123) comprises a driving gear (124), a positioning rod (125) and a driven gear (126), the driving gear (124) is fixedly installed at the head of the transmission rod (122), the driving gear (124) and the driven gear (126) are meshed with each other, the positioning rod (125) is symmetrically arranged on the inner side surface of the rack box (111), the positioning rod (125) is rotatably connected with the rack box (111), the driven gear (126) is installed at the lower end of the positioning rod (125), and the driven gear (126) is fixedly connected with the positioning rod (125).
5. The intelligent robot-assisted climbing structure according to claim 4, wherein the brake mechanism (13) comprises a bending frame (131), a brake plate (132) and a hydraulic cylinder (133), the bending frame (131) is installed inside the placement cavity (101), the bending frame (131) is rotatably connected with the strip-shaped frame (10), the brake plate (132) is arranged at the lower end of the bending frame (131), the brake plate (132) is fixedly connected with the bending frame (131) through a bolt, the hydraulic cylinder (133) is arranged inside the placement cavity (101), and the output end of the hydraulic cylinder (133) is connected with the bending frame (131).
6. The intelligent robot-assisted climbing structure according to claim 5, wherein the mounting shaft (21) comprises a fixed shaft rod (211) and a rotating shaft rod (212), the fixed shaft rod (211) is fixedly mounted at the head of the bar-shaped frame (10), a clamping head (213) is mounted on the side surface of the fixed shaft rod (211), the clamping head (213) is rotatably connected with the fixed shaft rod (211), the rotating shaft rod (212) is coaxially mounted with the fixed shaft rod (211), the rotating shaft rod (212) is rotatably connected with the fixed shaft rod (211), clamping pieces (214) matched with the clamping head (213) are uniformly arranged on the outer side surface of the rotating shaft rod (212), and the rotating shaft rod (212) and the clamping pieces (214) are integrally formed.
7. The intelligent robot-assisted climbing structure according to claim 6, wherein the support wheel (22) comprises a wheel ring frame (221), support plates (222) and a disc core (223), the support plates (222) are uniformly distributed on the inner side surface of the wheel ring frame (221), the support plates (222) are fixedly connected with the wheel ring frame (221), a clamping groove (224) is formed in the head of each support plate (222), the disc core (223) is clamped in the clamping groove (224), and the disc core (223) is slidably connected with the clamping groove (224).
8. The intelligent robot-assisted climbing structure according to claim 7, wherein a bar-shaped block (225) is further disposed on the drum core (223), the bar-shaped block (225) is uniformly disposed on an outer side surface of the drum core (223), the bar-shaped block (225) is fixedly connected with the drum core (223), a buffer spring (226) is further fixedly disposed on an upper end surface of the bar-shaped block (225), and a movable groove matched with the bar-shaped block (225) is formed in the middle of the support plate (222).
9. The intelligent robot-assisted climbing structure according to claim 8, wherein the boosting mechanism (3) is further provided with a counterweight (32), and the counterweight (32) is uniformly fixed on the upper end surface of the strip-shaped frame (10).
10. The intelligent robot-assisted climbing structure according to any one of claims 2 to 9, wherein a connecting frame plate (114) is further disposed on an upper end surface of the frame box (111), the connecting frame plate (114) is fixedly connected with the frame box (111), and connecting holes (115) are uniformly formed in the connecting frame plate (114).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010202862.8A CN111267794A (en) | 2020-03-20 | 2020-03-20 | Intelligent robot assists climbing structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010202862.8A CN111267794A (en) | 2020-03-20 | 2020-03-20 | Intelligent robot assists climbing structure |
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| CN111267794A true CN111267794A (en) | 2020-06-12 |
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