CN112478005A - Auxiliary walking mechanism of mobile robot - Google Patents
Auxiliary walking mechanism of mobile robot Download PDFInfo
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- CN112478005A CN112478005A CN202011440631.7A CN202011440631A CN112478005A CN 112478005 A CN112478005 A CN 112478005A CN 202011440631 A CN202011440631 A CN 202011440631A CN 112478005 A CN112478005 A CN 112478005A
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- mobile robot
- supporting
- guide sleeve
- vertical mounting
- walking mechanism
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- 230000007246 mechanism Effects 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 abstract description 7
- 230000009194 climbing Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 230000006835 compression Effects 0.000 abstract description 2
- 238000007906 compression Methods 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
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- Engineering & Computer Science (AREA)
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Abstract
The utility model relates to a walking mechanism is assisted to mobile robot, including the support arm, vertical mounting panel, the guide bar, guide sleeve, vertical mounting panel is adorned at the mobile robot afterbody admittedly, support arm front end and the rotatable linking firmly of vertical mounting panel bottom, the rotatable linking firmly of guide sleeve bottom and support arm rear end, the guide bar top is rotatable to link firmly with vertical mounting panel top, guide sleeve suit is in the guide bar lower part, guide bar and guide sleeve suit supporting spring, guide bar top and guide sleeve bottom can form spacing support to supporting spring top and bottom respectively, each part forms elasticity triangle-shaped supporting mechanism. The spring provides overturning moment for overcoming the robot for the robot in the obstacle crossing process, the robot is facilitated to cross the obstacle, the compression amount of the spring does not need to be actively controlled, the spring passively adapts to the climbing and obstacle crossing processes, the system control difficulty is reduced, and the climbing capability of the robot is improved.
Description
Technical Field
The disclosure relates to the technical field of mobile robots, in particular to a walking mechanism assisted by a mobile robot.
Background
When the crawler or the wheel type mobile robot climbs over obstacles and climbs, the change of the gravity center of the body is not beneficial to the obstacle-surmounting and climbing processes. The application number of the invention patent of China with the number of 201811520956.9 discloses an obstacle crossing mechanism, an obstacle crossing intelligent inspection robot and a transformer substation obstacle crossing method thereof. The normal subaerial patrolling and examining, under the condition that does not meet the barrier, accomplish the plane walking by crawler and satisfy the general walking needs of patrolling and examining the robot. When the intelligent patrol robot encounters an obstacle, the size, the volume and the height of the obstacle are generally acquired after the image of the obstacle is acquired through trinocular vision, the acquired information is transmitted to the main control system through the sensor acquisition module, and the main control system judges which posture of the intelligent patrol robot crosses the obstacle. According to different obstacle conditions, the obstacle crossing intelligent inspection robot can complete autonomous obstacle crossing. However, the obstacle crossing mechanism needs active control, self-adaptive control cannot be realized, and the control difficulty of the whole system is increased; the climbing performance of the robot cannot be enhanced by the mechanism; in addition, the mechanism is high in cost, is connected with the vehicle body into a whole, and is inconvenient to disassemble and assemble.
Therefore, the application provides a mobile robot auxiliary walking mechanism.
Disclosure of Invention
To solve at least one of the above technical problems, the present disclosure provides a mobile robot assisted walking mechanism.
The technical scheme adopted by the invention is as follows:
the utility model provides a walking mechanism is assisted to mobile robot, includes support arm, vertical mounting panel, guide bar, guide sleeve, vertical mounting panel fixed mounting is in the mobile robot afterbody, the support arm front end with vertical mounting panel bottom is rotationally fixed connection, the guide sleeve bottom with the rotationally fixed connection of support arm rear end, the guide bar top with rotationally fixed connection on vertical mounting panel top, the guide sleeve suit is in the guide bar lower part, guide bar and guide sleeve cover are equipped with supporting spring, the guide bar top can be right the supporting spring top forms spacing support, the guide sleeve bottom can be right the supporting spring bottom forms spacing support, support arm, vertical mounting panel, guide bar, guide sleeve, supporting spring form elastic triangle-shaped supporting mechanism.
Preferably, the rear end of the supporting arm is provided with a supporting wheel, and the supporting wheel is used for being in contact with the ground for supporting.
Preferably, the vertical mounting plate is detachably and fixedly mounted at the tail of the robot through bolts.
Preferably, the top end of the guide sleeve is provided with a limit step, and the bottom end of the guide rod is provided with a limit ring platform.
Preferably, the top end of the guide rod is provided with a first limiting plate, the bottom end of the guide sleeve is provided with a second limiting plate, the first limiting plate is in contact with the top end of the supporting spring to form limiting, and the second limiting plate is in contact with the bottom end of the supporting spring to form limiting.
Preferably, the top end of the supporting spring is fixedly connected with the first limiting plate, and the bottom end of the supporting spring is fixedly connected with the second limiting plate.
Preferably, the top end of the vertical mounting plate is provided with a first rotating connecting seat, the bottom end of the vertical mounting plate is provided with a second rotating connecting seat, the rear end of the supporting arm is provided with a third rotating connecting seat, the front end of the supporting arm is rotatably and fixedly connected with the second rotating connecting seat, the bottom end of the guide sleeve is rotatably and fixedly connected with the third rotating connecting seat, and the top end of the guide rod is rotatably and fixedly connected with the first rotating connecting seat.
Preferably, the auxiliary walking mechanism comprises two groups of elastic triangular supporting mechanisms which are symmetrically arranged at the left side and the right side of the tail of the mobile robot.
In conclusion, the auxiliary mechanism is provided, the spring provides overturning moment for the robot to overcome in the obstacle crossing process, the robot is facilitated to cross the obstacle, the spring compression amount is not required to be actively controlled, the spring passively adapts to the climbing and obstacle crossing processes, and the system control difficulty is reduced; the auxiliary mechanism is arranged at the tail of the robot, so that the auxiliary mechanism provides a stable torque and the climbing capability of the robot is improved; the auxiliary mechanism is simple in structure and low in cost, the vertical mounting plate is fixedly mounted at the tail of the mobile robot through the bolt detachably, the dismounting process is convenient and fast, and the vertical mounting plate can be replaced regularly.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
FIG. 1 is a schematic of the present invention;
FIG. 2 is an enlarged view of the invention in cooperation with a mobile robot;
fig. 3 is a sectional view showing the engagement of the guide bar with the guide sleeve in the present invention.
The labels in the figure are: 1 is mobile robot, 2 is the support arm, and 3 is vertical mounting panel, and 4 are the guide bar, and 5 are guide sleeve, and 6 are supporting spring, and 7 are the supporting wheel, and 8 are the bolt, and 9 are spacing step, 10 spacing ring platforms, 11 are first limiting plate, and 12 are the second limiting plate, and 13 are first rotation connecting seat, and 14 are the second and rotate the connecting seat, and 15 are the third and rotate the connecting seat.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Example 1
As shown in figures 1 and 2, an auxiliary walking mechanism of a mobile robot comprises a supporting arm 2, a vertical mounting plate 3, a guide rod 4 and a guide sleeve 5, wherein the vertical mounting plate 3 is fixedly arranged at the tail part of the mobile robot 1, in particular, the vertical mounting plate 3 is detachably and fixedly arranged at the tail part of the robot through a bolt 8, so that the whole disassembly and assembly operation is convenient, the later replacement and use are convenient, the front end of the supporting arm 2 is rotatably and fixedly connected with the bottom end of the vertical mounting plate 3, the bottom end of the guide sleeve 5 is rotatably and fixedly connected with the rear end of the supporting arm 2, the top end of the guide rod 4 is rotatably and fixedly connected with the top end of the vertical mounting plate 3, the guide sleeve 5 is sleeved at the lower part of the guide rod 4, the guide sleeve 5 guides the telescopic action of the guide rod 4, the support spring 6 is, the bottom end of the guide sleeve 5 can form limiting support for the bottom end of the support spring 6, and the support arm 2, the vertical mounting plate 3, the guide rod 4, the guide sleeve 5 and the support spring 6 form an elastic triangular support mechanism; the supporting wheel 7 is arranged at the rear end of the supporting arm 2, the supporting wheel 7 is used for being in contact with the ground for supporting, the supporting wheel 7 further facilitates the supporting function of the auxiliary walking mechanism, and the direct contact friction between the rear end of the supporting arm 2 and the ground is avoided;
example 2
As shown in fig. 2 and 3, on the basis of embodiment 1, the top end of the guide sleeve 5 is provided with a limit step 9, and the bottom end of the guide rod 4 is provided with a limit ring table 10; the limiting ring platform 10 at the bottom end of the guide rod 4 is matched with a guide hole in the guide sleeve 5, the body of the guide rod 4 is matched with the hole in the limiting step 9, the limiting step 9 limits the limiting ring platform 10, and the guide rod 4 is prevented from being accidentally separated from the guide sleeve 5.
Further, 4 tops of guide bar have first limiting plate 11, and 5 bottoms of guide sleeve have second limiting plate 12, and first limiting plate 11 contacts and forms spacingly with 6 tops of supporting spring, and second limiting plate 12 contacts and forms spacingly with 6 bottoms of supporting spring, and furtherly, 6 tops of supporting spring and 11 fixed connection of first limiting plate, 6 bottoms of supporting spring and 12 fixed connection of second limiting plate. The two limiting plates can form stable and reliable limiting supports for the two ends of the supporting spring 6, and the structure is more reasonable; the whole structure stability is better due to the arrangement mode of fixed connection.
Example 3
As shown in fig. 1 and 2, on the basis of embodiment 2, the vertical mounting plate 3 has a first rotary connecting seat 13 at the top end, a second rotary connecting seat 14 at the bottom end, a third rotary connecting seat 15 at the rear end of the supporting arm 2, the front end of the supporting arm 2 is rotatably and fixedly connected with the second rotary connecting seat 14, the bottom end of the guiding sleeve 5 is rotatably and fixedly connected with the third rotary connecting seat 15, the top end of the guiding rod 4 is rotatably and fixedly connected with the first rotary connecting seat 13, and each rotary connecting seat provides a reasonable and reliable connecting base for the rotary connection of each part.
Example 4
On the basis of the embodiment 1, 2 or 3, the auxiliary walking mechanism comprises two groups of elastic triangular supporting mechanisms which are symmetrically arranged at the left side and the right side of the tail part of the mobile robot 1. Two sets of elasticity triangle-shaped supporting mechanism symmetry set up in the left and right sides of mobile robot 1 afterbody, provide more reliable and stable auxiliary stay effect for mobile robot 1.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.
Claims (8)
1. The utility model provides a walking mechanism is assisted to mobile robot which characterized in that: comprises a supporting arm (2), a vertical mounting plate (3), a guide rod (4) and a guide sleeve (5), wherein the vertical mounting plate (3) is fixedly arranged at the tail part of the mobile robot (1), the front end of the supporting arm (2) is rotationally fixedly connected with the bottom end of the vertical mounting plate (3), the bottom end of the guide sleeve (5) is rotationally fixedly connected with the rear end of the supporting arm (2), the top end of the guide rod (4) is rotationally fixedly connected with the top end of the vertical mounting plate (3), the guide sleeve (5) is sleeved at the lower part of the guide rod (4), the guide rod (4) and the guide sleeve (5) are sleeved with a supporting spring (6), the top end of the guide rod (4) can form a limit support for the top end of the supporting spring (6), and the bottom end of the guide sleeve (5) can form a limit support for the bottom end of the supporting spring (, the supporting arm (2), the vertical mounting plate (3), the guide rod (4), the guide sleeve (5) and the supporting spring (6) form an elastic triangular supporting mechanism.
2. A mobile robot assisted walking mechanism according to claim 1, characterized in that: supporting wheel (7) are installed to support arm (2) rear end, supporting wheel (7) are used for supporting with ground contact.
3. A mobile robot assisted walking mechanism according to claim 1, characterized in that: the vertical mounting plate (3) is detachably and fixedly mounted at the tail of the robot through a bolt (8).
4. A mobile robot assisted walking mechanism according to claim 1, characterized in that: the top end of the guide sleeve (5) is provided with a limiting step (9), and the bottom end of the guide rod (4) is provided with a limiting ring table (10).
5. A mobile robot assisted walking mechanism according to claim 1, characterized in that: the guide bar (4) top has first limiting plate (11), uide sleeve (5) bottom has second limiting plate (12), first limiting plate (11) with supporting spring (6) top contact forms spacingly, second limiting plate (12) with supporting spring (6) bottom contact forms spacingly.
6. The mobile robot-assisted walking mechanism according to claim 5, wherein: the top end of the supporting spring (6) is fixedly connected with the first limiting plate (11), and the bottom end of the supporting spring (6) is fixedly connected with the second limiting plate (12).
7. A mobile robot assisted walking mechanism according to claim 1, characterized in that: vertical mounting panel (3) top has first rotation connecting seat (13), the bottom has second rotation connecting seat (14), support arm (2) rear end has third rotation connecting seat (15), support arm (2) front end with second rotation connecting seat (14) is rotationally fixed connection, guide sleeve (5) bottom with third rotation connecting seat (15) is rotationally fixed connection, guide bar (4) top with first rotation connecting seat (13) is rotationally fixed connection.
8. A mobile robot assisted walking mechanism according to claim 1, characterized in that: the auxiliary walking mechanism comprises two groups of elastic triangular supporting mechanisms which are symmetrically arranged on the left side and the right side of the tail of the mobile robot (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011440631.7A CN112478005A (en) | 2020-12-08 | 2020-12-08 | Auxiliary walking mechanism of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011440631.7A CN112478005A (en) | 2020-12-08 | 2020-12-08 | Auxiliary walking mechanism of mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN112478005A true CN112478005A (en) | 2021-03-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011440631.7A Pending CN112478005A (en) | 2020-12-08 | 2020-12-08 | Auxiliary walking mechanism of mobile robot |
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| Country | Link |
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| CN (1) | CN112478005A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113371088A (en) * | 2021-07-02 | 2021-09-10 | 中国科学院合肥物质科学研究院 | Magnetic adsorption crawler-type wall-climbing robot |
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| US20150107917A1 (en) * | 2013-10-22 | 2015-04-23 | Energy Control Limited | Suspension Structure for an Electric Wheelchair |
| CN208325447U (en) * | 2018-06-21 | 2019-01-04 | 江苏迪伦智能科技有限公司 | A kind of robot differential gear device for aiding overpass obstacle |
| CN209159842U (en) * | 2018-09-25 | 2019-07-26 | 重庆理工大学 | Auxiliary stair-climbing mechanism and crawler type merchandising machine people for caterpillar robot |
| CN211155583U (en) * | 2019-11-12 | 2020-08-04 | 深圳市杉川机器人有限公司 | Floor sweeping robot |
| CN212654446U (en) * | 2020-07-30 | 2021-03-05 | 航天科工智能机器人有限责任公司 | Mobile robot passive auxiliary walking device and mobile robot |
-
2020
- 2020-12-08 CN CN202011440631.7A patent/CN112478005A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1579715A (en) * | 2003-08-01 | 2005-02-16 | 三星电子株式会社 | Mobile robot |
| US20060076167A1 (en) * | 2004-10-01 | 2006-04-13 | Mark Setrakian | Bimodal conveyance mechanism |
| US20150107917A1 (en) * | 2013-10-22 | 2015-04-23 | Energy Control Limited | Suspension Structure for an Electric Wheelchair |
| CN208325447U (en) * | 2018-06-21 | 2019-01-04 | 江苏迪伦智能科技有限公司 | A kind of robot differential gear device for aiding overpass obstacle |
| CN209159842U (en) * | 2018-09-25 | 2019-07-26 | 重庆理工大学 | Auxiliary stair-climbing mechanism and crawler type merchandising machine people for caterpillar robot |
| CN211155583U (en) * | 2019-11-12 | 2020-08-04 | 深圳市杉川机器人有限公司 | Floor sweeping robot |
| CN212654446U (en) * | 2020-07-30 | 2021-03-05 | 航天科工智能机器人有限责任公司 | Mobile robot passive auxiliary walking device and mobile robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113371088A (en) * | 2021-07-02 | 2021-09-10 | 中国科学院合肥物质科学研究院 | Magnetic adsorption crawler-type wall-climbing robot |
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Application publication date: 20210312 |
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| RJ01 | Rejection of invention patent application after publication |