CN112356632A - Multi-foot intelligent obstacle crossing robot - Google Patents
Multi-foot intelligent obstacle crossing robot Download PDFInfo
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- CN112356632A CN112356632A CN202011314067.4A CN202011314067A CN112356632A CN 112356632 A CN112356632 A CN 112356632A CN 202011314067 A CN202011314067 A CN 202011314067A CN 112356632 A CN112356632 A CN 112356632A
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- obstacle crossing
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- intelligent obstacle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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Abstract
The invention relates to the field of robots, in particular to a multi-foot intelligent obstacle crossing robot. Including the body frame, still including obstacle crossing foot, obstacle crossing foot includes support frame, electric putter I and universal wheel, electric putter I of equal rigid coupling in both ends around the support frame lower extreme, universal wheel is all installed to the expansion end of every electric putter I, obstacle crossing foot mirror symmetry is equipped with two, and both ends about two support frames rigid coupling respectively at the body frame. The driving wheel and the driven wheel can be independently adjusted, and the obstacle crossing device is suitable for crossing obstacles on complex terrains.
Description
Technical Field
The invention relates to the field of robots, in particular to a multi-foot intelligent obstacle crossing robot.
Background
For example, a barrier-crossing robot and a barrier-crossing system with the publication number of CN207984997U relate to the technical field of robots. The obstacle crossing robot comprises a robot body, a driving wheel and a driven wheel, wherein the body is provided with a head and a tail, the driving wheel and the driven wheel are respectively and rotatably connected with the robot body and are respectively arranged close to the head and the tail. The obstacle crossing robot further comprises a first electromagnet and a magnetic piece. The first electromagnet is connected with the robot body and arranged between the tail of the vehicle and the driven wheel. The first electromagnet is used for selectively repelling the magnetic piece. The obstacle crossing robot has strong obstacle crossing capability, stable running and high safety factor; however, the driving wheel and the driven wheel of the robot cannot be independently adjusted, and the robot is not suitable for obstacle crossing of complex terrains.
Disclosure of Invention
The invention aims to provide a multi-foot intelligent obstacle crossing robot which can be suitable for crossing obstacles on complex terrains.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a multi-legged intelligence hinders robot more, includes the body frame, still includes the obstacle-surmounting foot, the obstacle-surmounting foot includes support frame, electric putter I and universal wheel, electric putter I of equal rigid coupling in both ends around the support frame lower extreme, universal wheel is all installed to the expansion end of every electric putter I, obstacle-surmounting foot mirror symmetry is equipped with two, and two support frames rigid coupling are both ends about the body frame respectively.
The multi-foot intelligent obstacle crossing robot further comprises a stability augmentation column, and the middle part of the main frame is fixedly connected with the stability augmentation column.
The multi-foot intelligent obstacle crossing robot further comprises a bidirectional screw rod, a limiting rod, an adjusting seat, a motor I and a driving mechanism, wherein two ends of the bidirectional screw rod are respectively and rotatably connected to two ends of the main frame, two ends of the limiting rod are respectively and fixedly connected to two ends of the main frame, the motor I is installed on the main frame, an output shaft of the motor I is fixedly connected with the bidirectional screw rod, the driving mechanism comprises a cross-shaped support rod, a cross-shaped sleeve, electric push rods II, a motor II and a driving wheel, the left side and the right side of the cross-shaped support rod are respectively and slidably connected with a cross-shaped sleeve, the lower ends of the two cross-shaped sleeves are respectively and fixedly connected with an electric push rod II, the movable ends of the two electric push rods II are respectively and fixedly connected with a bearing seat, the two bearing seats are respectively and fixedly connected with a motor II, output shafts of the two motors, the actuating mechanism mirror symmetry is equipped with two, and two cross sheathed tube outer ends that one of them actuating mechanism lock includes are the rigid coupling respectively in the front side of two regulation seats, and two cross sheathed tube outer ends that another one actuating mechanism lock includes are the rigid coupling respectively in the rear side of two regulation seats, and the inner rigid coupling is at the front and back both ends of increasing steady post respectively in the inner of two cross bracing pieces, and the middle part of two-way lead screw is rotated and is connected on increasing steady post, and the gag lever post passes and increases steady post.
The driving wheel adopts an inflatable rubber wheel.
This polypody intelligence robot that hinders more still includes limit frame, guardrail, axle and guide pulley, the mirror symmetry of limit frame is equipped with two, two limit frame rigid couplings are in the upper end of two regulation seats respectively, the outer end of a guardrail is all articulated to be connected at both ends around two limit frames, the inner that is located two guardrails of front side is articulated, the inner that is located two guardrails of rear side is articulated, an axle of the equal rigid coupling in left and right sides of every guardrail upper end, guide pulley of the equal rigid coupling in upper end of every axle, the limit end of guide pulley is located the front and back both sides of below guardrail, the articulated department that is located two guardrails of front side and two guardrails that are located the rear side all is inwards sunken, the guardrails that are located both sides around are located two actuating mechanism respectively.
The multi-foot intelligent obstacle crossing robot further comprises a bearing table and an adjusting plate, wherein the bearing table is fixedly connected to the upper end of the main frame and the upper end of the stability augmentation column, and the adjusting plate is arranged on the right side of the upper end of the bearing table.
This multi-legged intelligence hinders robot more still includes electric putter II, II rigid couplings of electric putter are at the limit end of plummer upper end, and electric putter II's expansion end and the left end rigid coupling of regulating plate, and the both ends of regulating plate extend to the front and back both ends of plummer respectively.
This multi-legged intelligence hinders robot more still includes appearance body, bolt, opening, grip block, pole, limiting plate, cooperation seat and spring, two appearance bodies of upper end rigid coupling that are located left side limit frame, the left side of plummer is equipped with two openings, pole of the equal rigid coupling in both ends around the grip block left end, the limiting plate rigid coupling is at the left end of two poles, cooperation seat of equal sliding connection on two poles, two cooperation seats cooperate respectively and hold internal at two, cooperation seat and appearance are through the bolt rigid coupling between the body, it has the spring all to overlap on two poles, the both ends of spring contact with grip block and cooperation seat respectively, two cooperation seats can be in two openings side-to-side motion respectively, the grip block is located the positive left side of regulating plate.
The multi-foot intelligent obstacle crossing robot further comprises a guide wheel, and the guide wheel is made of rubber materials.
The multi-foot intelligent obstacle crossing robot has the beneficial effects that:
each driving wheel is driven to ascend and descend through the electric push rod II, and then when one universal wheel ascends in advance to prepare for obstacle avoidance, the driving wheel closest to the driving wheel can be in contact with the bottom surfaces of different heights to achieve supporting, and obstacle crossing and toppling over are avoided. The driving wheels at the left side and the right side are close to each other or far away from each other, so that the support of the gravity center can be enhanced, the falling impact is resisted, and the stable load bearing is facilitated. The guide pulley is convenient for lead at stair limit end, need not the rotational speed of accurate control action wheel and realizes turning, the narrow both sides wide protection architecture in centre is convenient for pass through crooked wall in the spiral stair, does not take place to scratch.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of the overall structure of a multi-legged intelligent obstacle crossing robot of the invention;
FIG. 2 is a partial schematic view of the first embodiment of the present invention;
FIG. 3 is a second partial schematic structural view of the present invention;
FIG. 4 is a third schematic view of a portion of the present invention;
FIG. 5 is a fourth schematic view of a portion of the present invention;
FIG. 6 is a schematic diagram of a portion of the present invention;
FIG. 7 is a schematic diagram six of a portion of the present invention;
fig. 8 is a schematic diagram seven of a partial structure of the present invention.
In the figure: a main frame 1; a bidirectional lead screw 101; a stopper rod 102; an adjustment seat 103; a motor I104; a stability augmentation column 105; a support frame 2; an electric push rod I201; a universal wheel 202; a cross support bar 3; a cross sleeve 301; an electric push rod II 302; a motor II 303; a drive wheel 304; a side frame 4; a guard bar 401; a shaft 402; a guide wheel 403; a volume 404; a bolt 405; a bearing table 5; an electric push rod II 501; an adjustment plate 502; a through opening 503; a clamping plate 6; a rod 601; a limit plate 602; a mating seat 603; a spring 604.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
as shown in the figure, a multi-legged intelligence hinders robot more, includes body frame 1, still includes the obstacle-crossing foot, the obstacle-crossing foot includes support frame 2, electric putter I201 and universal wheel 202, electric putter I201 of equal rigid coupling in both ends around the support frame 2 lower extreme, universal wheel 202 is all installed to the expansion end of every electric putter I201, obstacle-crossing foot mirror symmetry is equipped with two, and two support frames 2 rigid couplings are at both ends about body frame 1 respectively. Starting I201 of electric putter, I201 of electric putter can drive universal wheel 202 and go up and down, and then the height of arbitrary universal wheel 202 can be adjusted alone to loop through the front obstacle through different universal wheels 202.
The second embodiment is as follows:
as shown in the figure, the multi-foot intelligent obstacle crossing robot further comprises a stability augmentation column 105, and the stability augmentation column 105 is fixedly connected to the middle of the main frame 1. The upper end of the stability augmentation column 105 is used to mount a platform structure for carrying items, i.e. a consignment structure.
The third concrete implementation mode:
as shown in the figure, the multi-foot intelligent obstacle crossing robot further comprises a bidirectional screw 101, a limiting rod 102, an adjusting seat 103, a motor I104 and a driving mechanism, wherein two ends of the bidirectional screw 101 are respectively and rotatably connected to two ends of the main frame 1, two ends of the limiting rod 102 are respectively and fixedly connected to two ends of the main frame 1, the motor I104 is installed on the main frame 1, an output shaft of the motor I104 is fixedly connected with the bidirectional screw 101, the driving mechanism comprises a cross support rod 3, a cross sleeve 301, electric push rods II 302, a motor II 303 and a driving wheel 304, the left side and the right side of the cross support rod 3 are respectively and slidably connected with the cross sleeve 301, the lower ends of the two cross sleeves 301 are respectively and fixedly connected with the electric push rod II 302, the movable ends of the two electric push rods II 302 are respectively and fixedly connected with a bearing seat, the two bearing seats are respectively and fixedly connected with the motor II 303, the output shaft of two II 303 motors rotates respectively and connects on two bearing framves, actuating mechanism mirror symmetry is equipped with two, and the outer end rigid coupling respectively in the front side of two regulation seats 103 of two cross sleeve pipes 301 that one of them actuating mechanism lock includes, and the outer end of two cross sleeve pipes 301 that another one actuating mechanism lock includes is the rear side of two regulation seats 103 respectively, and the inner rigid coupling respectively in the front and back both ends of increasing steady post 105 of two cross bracing pieces 3, and the middle part of two-way lead screw 101 is rotated and is connected on increasing steady post 105, and gag lever post 102 passes and increases steady post 105. The motor II 303 is started, the output shaft of the motor II 303 can drive the driving wheels 304 to rotate, and each driving wheel 304 is driven independently to realize different rotating speeds so as to facilitate turning or obstacle crossing. Each driving wheel 304 is driven to ascend and descend through the electric push rod II 302, and when one universal wheel 202 is lifted in advance to be ready for obstacle avoidance, the driving wheel 304 closest to the universal wheel can be in contact with the bottom surfaces of different heights to realize support, so that obstacle avoidance and toppling over are avoided. Starting motor I104, the output shaft of motor I104 can drive two-way lead screw 101 and rotate, and two-way lead screw 101 can drive two regulation seats 103 and be close to each other or keep away from each other, and then two regulation seats 103 drive the cross sleeve 301 that is located the left and right sides and be close to each other or keep away from each other to the messenger is located the action wheel 304 of left and right sides and is close to each other or keep away from each other. When the invention climbs or goes downstairs with load, especially when going downstairs, the driving wheels 304 positioned at the left side and the right side are close to each other, thereby enhancing the support to the gravity center, resisting the falling impact and being beneficial to the stable load. At the spiral stair rotation position, the included angle between two steps far away is great, and two adjacent steps are close to being parallel to each other, will be located the action wheel 304 of left and right sides and be close to, and then make the action wheel 304 of both sides be in respectively and be favorable to advancing on two steps that are close to being parallel to each other. For example, in climbing, the left driving wheel 304 is positioned on the horizontal surface of the lower step, and the right driving wheel 304 is positioned on the horizontal surface of the adjacent upper step, so that power can be synchronously supplied. If the distance between the driving wheels 304 of the left and right sides is far away when being on two steps with larger included angles respectively, two driving wheels 304 on the right side are likely to be one of them on the steps below, the other one is on the steps above, and then the driving wheel 304 climbing earlier leads to the other driving wheel 304 to be unsettled, be unfavorable for the climbing of spiral stairs, go down stairs and also reason, the driving wheel 304 that is close to in concentration is located the left side or is located the driving wheel 304 on the right side and can fall on same step simultaneously, and then continuously and stably provide power.
The fourth concrete implementation mode:
as shown, the driving wheel 304 is an inflatable rubber wheel. Has the effects of shock absorption and noise reduction when climbing or going downstairs.
The fifth concrete implementation mode:
as shown in the figure, the multi-legged intelligent obstacle crossing robot further comprises two side frames 4, two protection fences 401, shafts 402 and guide wheels 403, the two side frames 4 are arranged in mirror symmetry, the two side frames 4 are fixedly connected to the upper ends of the two adjusting seats 103 respectively, the front end and the rear end of each side frame 4 are hinged to the outer end of one protection fence 401, the inner ends of the two protection fences 401 located on the front side are hinged to the inner ends of the two protection fences 401 located on the rear side, the left side and the right side of the upper end of each protection fence 401 are fixedly connected to one shaft 402, the upper end of each shaft 402 is fixedly connected to one guide wheel 403, the side ends of the guide wheels 403 are located on the front side and the rear side of the protection fence 401 below, the hinged parts of the two protection fences 401 located on the front side and the two protection fences 401 located on the rear side are recessed towards. Guard rail 401 is used for protecting actuating mechanism, and when two limit framves 4 were close to, the action wheel 304 that is located the left and right sides was close to, and two guard rails 401 that are located front side or rear side simultaneously further inwards cave in, realize the wide protection architecture in narrow both sides in the middle of the realization, and the narrow part in the middle also should be wider in two actuating mechanism, realizes the protection, and guide pulley 403 is convenient for lead in stair limit end, need not the rotational speed of accurate control action wheel 304 and realizes turning, the wide protection architecture in narrow both sides in the middle of the realization is convenient for pass through the crooked wall in the spiral stair, does not take place to scrape and rub.
The sixth specific implementation mode:
as shown in the figure, the multi-legged intelligent obstacle crossing robot further comprises a bearing table 5 and an adjusting plate 502, wherein the bearing table 5 is fixedly connected to the upper ends of the main frame 1 and the stability augmentation column 105, and the adjusting plate 502 is arranged on the right side of the upper end of the bearing table 5.
The seventh embodiment:
as shown in the figure, the multi-foot intelligent obstacle crossing robot further comprises an electric push rod II 501, the electric push rod II 501 is fixedly connected to the edge end of the upper end of the bearing table 5, the movable end of the electric push rod II 501 is fixedly connected to the left end of the adjusting plate 502, and the two ends of the adjusting plate 502 extend to the front end and the rear end of the bearing table 5 respectively. Starting II 501 of electric putter, II 501 of electric putter's expansion end drives regulating plate 502 side-to-side movement, and regulating plate 502's position can change, adapts to the different article of size, and regulating plate 502 is used for preventing to climb or leads to the object landing of delivery when descending.
The specific implementation mode is eight:
as shown in the figure, this multi-legged intelligence hinders robot more still includes appearance body 404, bolt 405, opening 503, grip block 6, pole 601, limiting plate 602, cooperation seat 603 and spring 604, two appearance bodies 404 of upper end rigid coupling that are located left side frame 4, the left side of plummer 5 is equipped with two openings 503, pole 601 of the equal rigid coupling in both ends around the grip block 6 left end, limiting plate 602 rigid coupling is at the left end of two poles 601, equal sliding connection cooperation seat 603 on two poles 601, two cooperation seats 603 cooperate respectively in two appearance bodies 404, cooperation seat 603 and appearance body 404 between pass through bolt 405 rigid coupling, all overlap on two poles 601 and have spring 604, the both ends of spring 604 contact with grip block 6 and cooperation seat 603 respectively, two cooperation seats 603 can move about in two openings 503 respectively, grip block 6 is located the positive left side of regulating plate 502. The clamping plate 6 is combined with the adjusting plate 502 to be used for clamping articles, so that the articles can be better fixed, the distance between the clamping plate 6 and the adjusting plate 502 is adjustable, the articles with different sizes can be clamped, the clamping plate 6 can be adjusted adaptively along with the obstacle crossing mode, if in spiral stairs, the clamping plate 6 can be automatically and slightly close to the adjusting plate 502, the clamping force is temporarily increased, and the articles are prevented from falling off when climbing stairs or falling. Avoid the extranal packing or article damage that lead to of long-time clamp force too big.
The specific implementation method nine:
as shown in the figure, the multi-legged intelligent obstacle crossing robot further comprises a guide wheel 403, wherein the guide wheel 403 is made of a rubber material.
The invention relates to a multi-foot intelligent obstacle crossing robot, which has the working principle that:
starting I201 of electric putter, I201 of electric putter can drive universal wheel 202 and go up and down, and then the height of arbitrary universal wheel 202 can be adjusted alone to loop through the front obstacle through different universal wheels 202. The upper end of the stability augmentation column 105 is used to mount a platform structure for carrying items, i.e. a consignment structure. The motor II 303 is started, the output shaft of the motor II 303 can drive the driving wheels 304 to rotate, and each driving wheel 304 is driven independently to realize different rotating speeds so as to facilitate turning or obstacle crossing. Each driving wheel 304 is driven to ascend and descend through the electric push rod II 302, and when one universal wheel 202 is lifted in advance to be ready for obstacle avoidance, the driving wheel 304 closest to the universal wheel can be in contact with the bottom surfaces of different heights to realize support, so that obstacle avoidance and toppling over are avoided. Starting motor I104, the output shaft of motor I104 can drive two-way lead screw 101 and rotate, and two-way lead screw 101 can drive two regulation seats 103 and be close to each other or keep away from each other, and then two regulation seats 103 drive the cross sleeve 301 that is located the left and right sides and be close to each other or keep away from each other to the messenger is located the action wheel 304 of left and right sides and is close to each other or keep away from each other. When the invention climbs or goes downstairs with load, especially when going downstairs, the driving wheels 304 positioned at the left side and the right side are close to each other, thereby enhancing the support to the gravity center, resisting the falling impact and being beneficial to the stable load. At the spiral stair rotation position, the included angle between two steps far away is great, and two adjacent steps are close to being parallel to each other, will be located the action wheel 304 of left and right sides and be close to, and then make the action wheel 304 of both sides be in respectively and be favorable to advancing on two steps that are close to being parallel to each other. For example, in climbing, the left driving wheel 304 is positioned on the horizontal surface of the lower step, and the right driving wheel 304 is positioned on the horizontal surface of the adjacent upper step, so that power can be synchronously supplied. If the distance between the driving wheels 304 of the left and right sides is far away when being on two steps with larger included angles respectively, two driving wheels 304 on the right side are likely to be one of them on the steps below, the other one is on the steps above, and then the driving wheel 304 climbing earlier leads to the other driving wheel 304 to be unsettled, be unfavorable for the climbing of spiral stairs, go down stairs and also reason, the driving wheel 304 that is close to in concentration is located the left side or is located the driving wheel 304 on the right side and can fall on same step simultaneously, and then continuously and stably provide power. Has the effects of shock absorption and noise reduction when climbing or going downstairs. Protection fence 401 is used for protecting actuating mechanism, when two limit framves 4 are close to, the action wheel 304 that is located the left and right sides is close to, and two protection fences 401 that are located front side or rear side simultaneously are further inwards sunken, realize the wide protection architecture in narrow both sides in the middle of the realization, and the narrow part in the middle also should be wider in two actuating mechanism, realize the protection, and guide pulley 403 is convenient for lead in stair limit end, and the rotational speed that need not accurate control action wheel 304 realizes turning, the wide protection architecture in narrow both sides in the middle of the realization is convenient for pass through the crooked wall in the spiral stair, does not take place to scrape and rub. Starting II 501 of electric putter, II 501 of electric putter's expansion end drives regulating plate 502 side-to-side movement, and the position of regulating plate 502 can change, adapts to the different article of size, and regulating plate 502 is used for preventing to scramble or leads to the object landing of delivery when descending. The clamping plate 6 is combined with the adjusting plate 502 to be used for clamping articles, so that the articles can be better fixed, the distance between the clamping plate 6 and the adjusting plate 502 is adjustable, the articles with different sizes can be clamped, the clamping plate 6 can be adjusted adaptively along with obstacle crossing modes, if in spiral stairs, the clamping plate 6 can be automatically and slightly close to the adjusting plate 502, the clamping force is temporarily increased, and articles are prevented from falling off when climbing stairs or falling. Avoid long-time too big extranal packing or article damage that leads to of clamp force.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which can be made by those skilled in the art are also within the scope of the present invention.
Claims (9)
1. The utility model provides a multi-legged intelligence robot that hinders more, includes body frame (1), its characterized in that: still include and hinder the foot more, hinder the foot more and include support frame (2), electric putter I (201) and universal wheel (202), electric putter I (201) of equal rigid coupling in both ends around support frame (2) lower extreme, universal wheel (202) are all installed to the expansion end of every electric putter I (201), hinder sufficient mirror symmetry more and be equipped with two, two support frames (2) rigid coupling both ends about body frame (1) respectively.
2. The multi-legged intelligent obstacle crossing robot of claim 1, wherein: the multi-foot intelligent obstacle crossing robot further comprises a stability augmentation column (105), and the stability augmentation column (105) is fixedly connected to the middle of the main frame (1).
3. The multi-legged intelligent obstacle crossing robot of claim 2, wherein: the multi-foot intelligent obstacle crossing robot further comprises a bidirectional screw (101), a limiting rod (102), an adjusting seat (103), a motor I (104) and a driving mechanism, wherein two ends of the bidirectional screw (101) are respectively and rotatably connected to two ends of the main frame (1), two ends of the limiting rod (102) are respectively and fixedly connected to two ends of the main frame (1), the motor I (104) is installed on the main frame (1), an output shaft of the motor I (104) is fixedly connected with the bidirectional screw (101), the driving mechanism comprises a cross support rod (3), a cross sleeve (301), electric push rods II (302), a motor II (303) and a driving wheel (304), the left side and the right side of the cross support rod (3) are respectively and slidably connected with the cross sleeve (301), the lower ends of the two cross sleeves (301) are respectively and fixedly connected with the electric push rods II (302), and movable ends of the two electric push rods II (302) are respectively and fixedly connected with a bearing seat, two the bearing frame on equal rigid coupling motor II (303), the output shaft of two motor II (303) rotates respectively and connects on two bearing frames, actuating mechanism mirror symmetry is equipped with two, the outer end rigid coupling respectively of two cross sleeve pipes (301) that one of them actuating mechanism lock includes is in the front side of two regulation seats (103), the outer end rigid coupling respectively of two cross sleeve pipes (301) that another one actuating mechanism lock includes is in the rear side of two regulation seats (103), the inner rigid coupling respectively of two cross bracing pieces (3) is at the front and back both ends of increasing steady post (105), the middle part of two-way lead screw (101) is rotated and is connected on increasing steady post (105), gag lever post (102) passes and increases steady post (105).
4. The multi-legged intelligent obstacle crossing robot of claim 3, wherein: the driving wheel (304) adopts an inflatable rubber wheel.
5. The multi-legged intelligent obstacle crossing robot of claim 3 or 4, wherein: the multi-foot intelligent obstacle crossing robot also comprises a side frame (4), a protective fence (401), a shaft (402) and a guide wheel (403), the mirror symmetry of limit frame (4) is equipped with two, two limit frames (4) rigid coupling respectively are in the upper end of two regulation seats (103), the outer end of a guardrail (401) is all articulated to connect in both ends around two limit frames (4), the inner that is located two guardrails (401) of front side is articulated, the inner that is located two guardrails (401) of rear side is articulated, axle (402) of equal rigid coupling in the left and right sides of every guardrail (401) upper end, guide pulley (403) of equal rigid coupling in the upper end of every axle (402), the limit end of guide pulley (403) is located the front and back both sides of below guardrail (401), the articulated department of two guardrails (401) that are located the front side and two guardrails (401) that are located the rear side all is to the indent, guardrail (401) that are located both sides around are located two actuating mechanism's front and back both sides respectively.
6. The multi-legged intelligent obstacle crossing robot of claim 5, wherein: the multi-foot intelligent obstacle crossing robot further comprises a bearing table (5) and an adjusting plate (502), wherein the bearing table (5) is fixedly connected to the upper ends of the main frame (1) and the stability augmentation column (105), and the adjusting plate (502) is arranged on the right side of the upper end of the bearing table (5).
7. The multi-legged intelligent obstacle crossing robot of claim 6, wherein: this multi-legged intelligence hinders robot more still includes electric putter II (501), electric putter II (501) rigid coupling is in the limit end of plummer (5) upper end, and the expansion end of electric putter II (501) and the left end rigid coupling of regulating plate (502), and the both ends of regulating plate (502) extend to the front and back both ends of plummer (5) respectively.
8. The multi-legged intelligent obstacle crossing robot of claim 7, wherein: the multi-foot intelligent obstacle crossing robot further comprises accommodating bodies (404), bolts (405), through holes (503), a clamping plate (6), rods (601), limiting plates (602), matching seats (603) and springs (604), wherein the two accommodating bodies (404) are fixedly connected to the upper end of the left side frame (4), the two through holes (503) are arranged on the left side of the bearing table (5), the rods (601) are fixedly connected to the front end and the rear end of the left end of the clamping plate (6), the limiting plates (602) are fixedly connected to the left ends of the two rods (601), the matching seats (603) are slidably connected to the two rods (601), the two matching seats (603) are respectively matched in the two accommodating bodies (404), the matching seats (603) are fixedly connected to the accommodating bodies (404) through the bolts (405), the springs (604) are sleeved on the two rods (601), the two ends of the springs (604) are respectively contacted with the clamping plate (6) and the matching seats (603), the two matching seats (603) can move left and right in the two through holes (503) respectively, and the clamping plate (6) is positioned right left of the adjusting plate (502).
9. The multi-legged intelligent obstacle crossing robot of claim 8, wherein: the multi-foot intelligent obstacle crossing robot further comprises a guide wheel (403), wherein the guide wheel (403) is made of rubber materials.
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| CN202011314067.4A CN112356632A (en) | 2020-11-20 | 2020-11-20 | Multi-foot intelligent obstacle crossing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112937722A (en) * | 2021-02-26 | 2021-06-11 | 杨善云 | Intelligent robot capable of reducing speed and increasing torque and facilitating passing of different obstacles |
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