CN113787981A

CN113787981A - Obstacle clearing device for competition robot

Info

Publication number: CN113787981A
Application number: CN202111189662.4A
Authority: CN
Inventors: 朱龚雷
Original assignee: Hangzhou Xiaoshou Universe Information Consulting Co ltd
Current assignee: Hangzhou Xiaoshou Universe Information Consulting Co ltd
Priority date: 2021-10-13
Filing date: 2021-10-13
Publication date: 2021-12-14

Abstract

The present invention relates to a obstacle removing device for a competition robot, comprising: a robot body capable of moving and detecting an obstacle; the two sliding obstacle clearing devices are respectively arranged on two sides of the robot body; the driving device is arranged on the robot body and is used for driving the two sliding obstacle clearing devices to move; the driving device can independently drive the two sliding obstacle clearing devices to move, the sliding obstacle clearing devices can slide relative to the robot body to clear obstacles under the driving of the driving device, and by means of the scheme, the robot can clear the obstacles in a targeted mode when clearing the obstacles, so that the operation load of the driving device in the obstacle clearing process is greatly reduced, the two push blocks are not prone to being blocked simultaneously, and the probability of escaping of the robot is increased.

Description

Obstacle clearing device for competition robot

Technical Field

The invention relates to a part used on a robot, in particular to an obstacle clearing device for a competition robot.

Background

Robots are the common name for automatic control machines (Robot), which include all machines that simulate human behavior or thought and other creatures. With the development of the times, the robot is gradually introduced into teaching, and has very important significance for the brain development of children.

The VEX robot Competition is also called VEX robot world championship Competition (VEX Robotics Competition), and is a world-level Competition aiming at expanding the interests of middle school students and college students in the fields of science, technology, engineering and mathematics and improving and promoting the team cooperation spirit, leadership ability and problem solving ability of teenagers by popularizing educational robots. The VEX robot competition has a plurality of different types of competition items, but the competition conditions are uniform, and a competitor needs to select different parts to build a robot and program the robot, so that the robot completes the corresponding competition items.

In a game, generally, an obstacle is disposed on a traveling path of a robot, and if the robot wants to smoothly complete a project, the robot needs to clear the obstacle so as to reach a predetermined position score, and a conventional obstacle clearing device for a robot is disposed at both sides of the robot, and when the robot is caught by the obstacle, the obstacle clearing device can push the obstacle to both sides so that the robot can continue to travel forward, as shown in fig. 1, and the structure thereof includes: two ejector pads 101 that the symmetry distributes and two people's both sides are at and, the connecting rod 102 of connecting two ejector pads, drive connecting rod horizontal motion's drive arrangement 3, and drive arrangement 3 drives ejector pad 101 horizontal motion through connecting rod 102 and pushes away the barrier from the route of marcing of robot when using, but this kind of structure still has some problems when in actual use:

1. when the push block on one side is clamped in the moving process, the push blocks on the two sides of the robot cannot normally clear the obstacles;

2. when an obstacle on one side is removed, the driving device needs to drive the two push blocks to move simultaneously, so that the running load of the driving device is increased, the capacity of a power supply device on the robot needs to be increased, and the quality of the robot is obviously increased.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide the obstacle clearing device for the match robot, which can independently drive the corresponding push block to clear the obstacle according to the position of the obstacle, is not easy to cause the obstacle clearing device to be blocked, and has lighter overall quality.

The technical scheme of the invention is realized as follows: an obstacle clearing device for a racing robot, comprising:

a robot body capable of moving and detecting an obstacle;

the two sliding obstacle clearing devices are respectively arranged on two sides of the robot body;

the driving device is arranged on the robot body and is used for driving the two sliding obstacle clearing devices to move;

the driving device can independently drive the two sliding obstacle clearing devices to move, and the sliding obstacle clearing devices can slide relative to the robot body to clear obstacles under the driving of the driving device.

The robot body moves through the four wheels, when the wheels of the robot are clamped by the obstacles in the advancing process, the robot can detect the position of the obstacles, the driving device drives the sliding obstacle clearing device on one side of the obstacles to move, the obstacles are pushed to the position far away from the robot body, and after the obstacles are cleared, the robot continues to move forwards.

By adopting the technical scheme, when the robot clears the obstacle, the obstacle on one side can be cleared in a targeted manner, only the push block on one side can be driven in the clearing process, the operation load of the driving device in the obstacle clearing process is greatly reduced, and meanwhile, when the two sides of the robot are simultaneously blocked by the obstacle, and the sliding obstacle clearing device on one side is blocked, the sliding obstacle clearing device on the other side can still operate, so that the escape probability of the robot is increased.

The invention is further configured to further include: and the protection device is arranged outside the driving device in an openable mode and used for protecting the driving device.

The invention is further arranged such that the drive means comprises:

the first gear is rotatably arranged on the robot body, and a first driving groove is formed in the end face of the first gear;

the second gear is rotatably arranged on one side of the first gear, is meshed with the first gear and is provided with a second driving groove on the end surface;

the driving source is arranged on the robot body and is used for driving the first gear to rotate;

the first driven wheel is arranged in the first driving groove, and a first connecting part is arranged on the end face of the first driven wheel far away from the center;

the second driven wheel is arranged in the second driving groove, and a second connecting part is arranged on the end face of the second driven wheel far away from the center;

the first ends of the two transmission rods are respectively connected with the first connecting part and the second connecting part, and the second ends of the two transmission rods are respectively connected with the two sliding obstacle clearing devices;

when the first gear rotates towards the first direction, the first driven wheel is driven to rotate, and when the first gear rotates towards the second direction, the first driven wheel is not driven; the transmission mode of the second gear and the second driven wheel is the same as that of the first gear and the first driven wheel, and the second driven wheel is not driven when the first driven wheel is driven.

The invention further provides that the first driven wheel comprises:

a driven wheel body;

the plurality of extending parts are distributed along the circumferential direction of the driven wheel body at intervals, the first end of each extending part is connected with the side wall of the driven wheel body, the second end of each extending part extends along the circumferential direction of the driven wheel body, a gap is formed between the second end of each extending part and the side wall of the driven wheel body, and the second end of each extending part can be close to or far away from the side wall of the driven wheel body under the action of external force;

the side wall of the first driving groove is provided with a clamping groove matched with the second end of the extending part, when the first gear rotates towards the first direction, the end part of the second end of the extending part is abutted against the side wall of the clamping groove, at the moment, the first gear drives the first driven wheel to rotate, and when the first gear rotates towards the second direction, the end part of the second end of the extending part is separated from the side wall of the clamping groove.

The invention further provides that the extension comprises:

a first transmission part arranged at the end part of the second end of the extension part;

the second transmission part is arranged on the surface of one side of the extending part far away from the driven wheel body;

the engaging groove includes:

the first transmission groove is matched with the first transmission part;

the second transmission groove is matched with the second transmission part;

when the first gear rotates towards the first direction, the first transmission part abuts against the side wall of the first transmission groove, and the second transmission part abuts against the side wall of the second transmission groove.

The invention is further arranged such that the sliding obstacle clearing device comprises:

a fixing sleeve having a sliding groove therein;

one end of the push block is connected with the sliding groove in a sliding manner;

the mounting sleeve is arranged on the side wall of the sliding groove, and a mounting groove is formed in the mounting sleeve;

the first end of the movable rod is arranged in the mounting groove in a sliding mode, and the second end of the movable rod is connected with the push block;

the first end of the elastic element is fixed in the mounting groove, and the second end of the elastic element is connected with the first end of the movable rod;

the driving device is connected with one end of the push block, which is positioned in the sliding groove, and the installation sleeve, the movable rod and the elastic element are all provided with a plurality of parts and are distributed on the side wall of the sliding groove at intervals.

The invention is further configured to further include:

the fixing frame is arranged on the side wall of the sliding groove;

the first end of the swinging rod is connected to the fixed frame, the second end of the swinging rod is connected to the pushing block, and the position of the swinging rod, which is close to the middle, is connected with the movable rod;

the plurality of swing rods are distributed at intervals along the sliding direction of the push block, and the swing rods can swing in the sliding process of the push block.

The invention further provides that the protection device comprises:

a fixed lower case, which surrounds the outside of the driving device and is fixed on the robot body;

the movable upper shell is matched with the fixed lower shell, the first end of the movable upper shell is hinged with the fixed lower shell, and the second end of the movable upper shell is connected with the fixed lower shell through a locking device;

when the second end of the movable upper shell is connected with the fixed lower shell, the movable upper shell can cover the driving device, and the locking device can lock and release the movable upper shell and the fixed lower shell.

The invention is further arranged such that the locking device comprises:

a control groove provided on an upper surface of the fixed lower case;

the locking groove is arranged at the position of the bottom surface of the movable upper shell opposite to the control groove;

the middle part of the movable lever is rotationally connected with the control groove, and the first end of the movable lever is provided with a locking head which is matched with the locking groove;

the elastic supporting piece is arranged on the side wall of the control groove and close to the second end of the movable lever, and one end of the elastic supporting piece is contacted with the movable lever;

the sliding unlocking groove is arranged on the side wall of the control groove and comprises a first unlocking groove and a second unlocking groove which are communicated with each other;

a sliding unlocking block which is connected with the sliding unlocking groove in a sliding way, and one end of the sliding unlocking block is contacted with the second end of the movable lever;

wherein, when the unlocking piece that slides is located first unlocking groove, elastic support piece tightly blocks the locking head in locking the groove, when the unlocking piece that slides is in the second unlocking groove to keeping away from the gliding in-process of first unlocking groove direction, locking head withdraws from locking the groove.

In order to facilitate the understanding of the obstacle clearing device, the invention also discloses a use method suitable for the obstacle clearing device, which comprises the following steps:

s1, testing: opening the protection device, testing whether the driving device is normal, and closing the protection device in a normal state;

s2, walking detection: the robot body moves along a specific route, stops moving when the side surface of the robot body is clamped by an obstacle, and judges which side is clamped;

s3, clearing obstacles: the driving device is started to drive the sliding obstacle clearing device on the corresponding side to move, obstacles are cleared, and the driving device continues to move after the obstacles are cleared.

The advantageous effects of the present invention will be explained in detail in the embodiments, thereby making the advantageous effects more apparent.

Drawings

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

Fig. 1 is a schematic diagram of a prior art structure.

Fig. 2 is a schematic structural diagram of a first embodiment of the present invention.

Fig. 3 is a schematic view of the driving device driving the sliding obstacle clearing device to move according to the embodiment of the invention.

Fig. 4 is a schematic view of a first gear structure according to an embodiment of the present invention.

Fig. 5 is a schematic structural view of a first driven wheel according to an embodiment of the present invention.

Fig. 6 is a schematic view of a structure of a locking groove in the embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a second embodiment of the present invention.

Fig. 8 is a schematic structural view of the sliding obstacle clearing device in a static state according to the embodiment of the invention.

Fig. 9 is a schematic structural view of a state that the sliding obstacle removing device cleans obstacles according to the embodiment of the present invention.

FIG. 10 is a schematic structural diagram of a locking device according to an embodiment of the present invention.

Fig. 11 is a schematic view of an external structure of a protection device according to an embodiment of the present invention.

The labels in the figures are:

1-a robot body, 101-a push block, 102-a connecting rod, 2-a sliding obstacle clearing device, 201-a fixed sleeve, 202-a sliding groove, 203-a mounting sleeve, 204-a mounting groove, 205-a movable rod, 206-an elastic element, 207-a fixed frame, 208-a swinging rod, 3-a driving device, 301-a first gear, 3011-a first driving groove, 3012-a clamping groove, 30121-a first side wall, 30122-a second side wall, 30123-a third side wall, 30124-a second driving groove, 302-a second gear, 303-a driving source, 304-a first driven wheel, 3041-a driven wheel body, 3042-an extending part, 3043-a first driving part, 3044-a second driving part, 3045-a first connecting part and 4-a protective device, 401-fixed lower shell, 402-movable upper shell, 501-control groove, 502-locking groove, 503-movable lever, 504-locking head, 505-elastic support, 5061 first unlocking groove, 5062-second unlocking groove, 507-sliding unlocking block, 508-push rod and 509-unlocking outer groove.

Detailed Description

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

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

Example 1

As shown in fig. 2, the present embodiment discloses an obstacle clearing device for a racing robot, including: a robot body 1 capable of moving and detecting an obstacle; two sliding obstacle clearing devices 2 which are respectively arranged at two sides of the robot body 1; the driving device 3 is arranged on the robot body 1 and is used for driving the two sliding obstacle clearing devices 2 to move; the driving device 3 can independently drive the two sliding obstacle clearing devices 2 to move, and the sliding obstacle clearing devices 2 can slide relative to the robot body 1 to clear obstacles under the driving of the driving device 3.

In this embodiment, the robot body 1 includes four main body plates, four wheels mounted on the main body plates, a control unit disposed on the main body plates, and a detection device disposed on the main body plates, the four wheels are controlled by four motors respectively, the control unit controls the four motors to rotate at a speed and a direction, so as to realize the linear walking and steering of the robot body 1, the two sliding obstacle clearing devices 2 are disposed at two sides of the robot body 1, specifically, at two sides in front of the traveling direction of the robot body 1, since the front wheels are mainly blocked when the robot body 1 is blocked by an obstacle during the moving process, the sliding obstacle clearing devices 2 are mounted at positions near the front sides of the front wheels, and are drivingly mounted on the robot body 1, which can be controlled by the control unit, when the robot body 1 is blocked by an obstacle, what detection device detected that the barrier blockked is the wheel of which side, and detection completion back detection device gives the control unit with signal transmission, and the control unit sends the instruction to drive arrangement 3, and drive arrangement 3 drives the slip obstacle clearing device 2 of barrier one side, pushes away the barrier from the front wheel for robot body 1 can continue to move ahead, and the slip obstacle clearing device 2 at barrier clearing in-process opposite side keeps static.

In the embodiment, the obstacle clearing system is formed by the detection device, the control unit and the driving device 3, so that obstacles can be cleared in a targeted manner, meanwhile, the driving device 3 drives one sliding obstacle clearing device 2 independently, and when the original power supply device is used, a larger driving force can be provided for a single sliding obstacle clearing device 2, so that the obstacle clearing effect is improved; and when the original driving force is kept, a power supply device with smaller capacity can be selected, and the whole mass of the robot is reduced at the moment.

In the present embodiment, the directions of movement of the two sliding obstacle clearance devices 2 are parallel.

Example 2

As shown in fig. 7, the difference from the previous embodiment is that the direction of movement of the two sliding obstacle clearance devices 2 is at an angle.

Example 3

As shown in fig. 2, in this embodiment, in addition to the characteristic structure of the foregoing embodiment, the method further includes: and a protection device 4 which is arranged outside the driving device 3 in an openable way and is used for protecting the driving device 3.

The robot is generally placed outside the match field in the process of waiting for the match to do not protect the region of depositing the robot, and in addition the player need carry out the debugging before the match to the robot, and be familiar with the match field, and the player of debugging no longer is a small number on the match field, can avoid the condition that can appear trampling the robot, through set up protector 4 in drive arrangement 3 outside, can play the effect of a protection to drive arrangement 3. And the protective device 4 is arranged to be openable, so that the driving device 3 is convenient to debug and overhaul.

Of course, the protective scope of the guard 4 is not limited to the drive device 3.

Example 4

In this embodiment, in addition to the characteristic structure of the foregoing embodiment, as further shown in fig. 2 to 5, the driving device 3 includes: a first gear 301 rotatably provided on the robot body 1, and having a first driving groove 3011 on an end surface thereof; a second gear 302 rotatably disposed on one side of the first gear 301, engaged with the first gear 301, and having a second driving groove on an end surface thereof; a driving source 303 provided on the robot body 1 for driving the first gear 301 to rotate; a first driven wheel 304 provided in the first driving groove 3011, and having a first connecting portion 3045 provided at a position away from the center on the end surface thereof; the second driven wheel is arranged in the second driving groove, and a second connecting part is arranged on the end face of the second driven wheel far away from the center; the first ends of the two transmission rods are respectively connected with the first connecting part 3045 and the second connecting part, and the second ends of the two transmission rods are respectively connected with the two sliding obstacle clearing devices 2;

in this embodiment, the first gear 301 and the second gear 302 are both mounted on the robot body 1 through a rotating shaft and a bracket, the first gear 301 and the second gear 302 are of the same structure, and are connected by external engagement, the driving source 303 can use a driving motor, the driving source 303 directly drives one of the gears to rotate, the rotation of the other gear is driven by the engagement transmission force between the two gears, and the rotation directions of the two gears are opposite, one end surface of each of the two gears is provided with a driving groove, i.e. a first driving groove 3011 and a second driving groove, the first driven wheel 304 is disposed in the first driving groove 3011, the first driven wheel 304 is disposed coaxially with the first gear 301, the second driven wheel is disposed in the second driving groove, and the second driven wheel is disposed coaxially with the second gear 302, when the first gear 301 rotates in a first direction, when the first gear 301 rotates in a second direction, the first driven wheel 304 is not driven, and the first direction and the second direction are opposite rotation directions; the first coupling portion 3045 and the second coupling portion are eccentrically disposed on the end surfaces of the first driven wheel 304 and the second driven wheel, respectively, and one end of the transmission rod is rotatably coupled to the corresponding coupling portion.

As shown in fig. 3, the operation principle of the driving device 3 in the present embodiment is: when the driving source 303 drives the first gear 301 to rotate in the first direction, the first gear 301 drives the second gear 302 to rotate in the second direction, the first driven wheel 304 is driven to rotate during the rotation of the first gear 301, the first end of the transmission rod is driven to do circular motion by the first connecting portion 3045 during the rotation of the first driven wheel 304, the second end of the transmission rod drives the sliding obstacle clearing device 2 to horizontally slide back and forth to clear obstacles, and the first driven wheel 304, the transmission rod and the sliding obstacle clearing device 2 together form a crank-slider mechanism. The transmission mode of the second gear 302 and the second driven wheel is the same as that of the first gear 301 and the first driven wheel 304, and since the rotation direction of the first gear 301 is opposite to that of the second gear 302, the second driven wheel is not driven when the first driven wheel 304 is driven.

Example 5

On the basis of embodiment 4, this embodiment discloses a structure of the first driven wheel 304, which specifically includes: a driven wheel body 3041; a plurality of extension portions 3042, the plurality of extension portions 3042 are circumferentially distributed along the driven wheel body 3041 at intervals, a first end of each extension portion 3042 is connected to a sidewall of the driven wheel body 3041, a second end of each extension portion 3042 extends circumferentially along the driven wheel body 3041, a gap is provided between the second end of the extension portion 3042 and the sidewall of the driven wheel body 3041, and the second end of the extension portion 3042 can be close to or far from the sidewall of the driven wheel body 3041 under the action of external force; the side wall of the first driving groove 3011 is provided with a engaging groove 3012 that is engaged with the second end of the extending portion 3042, when the first gear 301 rotates in the first direction, the end of the second end of the extending portion 3042 abuts against the side wall of the engaging groove 3012, at this time, the first gear 301 drives the first driven wheel 304 to rotate, and when the first gear 301 rotates in the second direction, the end of the second end of the extending portion 3042 is separated from the side wall of the engaging groove 3012.

As shown in fig. 5, in this embodiment, the driven wheel body 3041 is a circular cake-shaped solid, in which the middle portion thereof is provided with a mounting hole connected to the rotating shaft, a first end of the extending portion 3042 is fixed on the outer peripheral wall of the driven wheel body 3041, a gap is provided between the surface of the extending portion 3042 away from the driven wheel body 3041 and the sidewall of the first driving slot 3011, and a second end of the extending portion 3042 contacts with the sidewall of the first driving slot 3011;

in this embodiment, the engaging slot 3012 is disposed on a sidewall of the first driving slot 3011, and when the engaging slot 3012 is opposite to the second end of the extending portion 3042, the second end of the extending portion 3042 enters the engaging slot 3012; as shown in fig. 6, the engaging slot 3012 includes a first side wall 30121, a second side wall 30122 and a third side wall 30123, wherein an included angle between the first side wall 30121 and the second side wall 30122 of the engaging slot 3012 is less than 126 degrees, an included angle between the second side wall 30122 and the third side wall 30123 is greater than 147 degrees, when the first gear 301 rotates along the first direction, the second end of the extending portion 3042 enters the engaging slot 3012 through the third side wall 30123 of the engaging slot 3012 and abuts against the first side wall of the engaging slot 3012, so that the first gear 301 drives the first driven wheel 304 to rotate from the second end to the first end of the extending portion 3042; when the first gear 301 rotates in the second direction, the second end of the extending portion 3042 exits from the engaging slot 3012 at the third side wall 30123 of the engaging slot 3012, and can still exit from the engaging slot 3012 when the subsequent extending portion 3042 enters the engaging slot 3012 again;

in the present embodiment, in order to ensure the transmission effect, the number of the extension portions 3042 is at least three, and the extension portions are uniformly spaced on the outer peripheral wall of the driven wheel body 3041.

In the present embodiment, the second driven wheel has the same structure as the first driven wheel 304.

Example 6

On the basis of embodiment 5, this embodiment discloses a structure of an extension portion 3042 and an engaging groove 3012, and specifically, the extension portion 3042 includes: a first transmission portion 3043 provided at an end of the second end of the extension portion 3042; a second transmission portion 3044 provided on a surface of the extension portion 3042 on a side away from the driven wheel body 3041; the engaging groove 3012 includes: a first transmission groove adapted to the first transmission portion 3043; a second transmission slot 30124, which is adapted to the second transmission portion 3044; when the first gear 301 rotates in the first direction, the first transmission portion 3043 abuts against a sidewall of the first transmission groove, and the second transmission portion 3044 abuts against a sidewall of the second transmission groove 30124.

As shown in fig. 4 and fig. 5, in this embodiment, the first transmission portion 3043 is disposed on a side of the second end of the extending portion 3042 away from the driven wheel body 3041, the first transmission portion 3043 is an inclined surface, the second transmission portion 3044 is disposed in a middle of a side surface of the extending portion 3042 away from the driven wheel body 3041, the second transmission portion 3044 is an arc shape, the first side wall 30121 and the second side wall 30122 of the engaging slot 3012 form a first transmission slot, the second side wall 30122 of the engaging slot 3012 is provided with a second transmission slot 30124, when the first gear 301 drives the first transmission wheel to rotate, the first transmission portion 3043 abuts against a side wall of the first transmission slot, that is, the first transmission portion 3043 abuts against the first side wall 30121 of the engaging slot 3012, the second transmission portion 3044 abuts against a side wall of the second transmission portion 3044, and the first transmission portion 3043 and the second transmission portion 3044 transmit torque together.

Example 7

In this embodiment, on the basis of the foregoing embodiment, the further slide obstacle clearing device 2 includes: a fixing sleeve 201 having a sliding groove 202 therein; a push block 101, one end of which is slidably connected with the sliding groove 202; a mounting sleeve 203 which is provided on a side wall of the sliding groove 202 and has a mounting groove 204 therein; a first end of the movable rod 205 is slidably arranged in the mounting groove 204, and a second end of the movable rod is connected with the push block 101; an elastic member 206 having a first end fixed in the mounting groove 204 and a second end connected to a first end of the movable bar 205; the driving device 3 is connected with one end of the push block 101, which is located in the sliding groove 202, and a plurality of the mounting sleeves 203, the movable rods 205 and the elastic elements 206 are distributed on the side wall of the sliding groove 202 at intervals.

As shown in fig. 8-9, in this embodiment, the opposite side walls of the fixed sleeve 201 are provided with openings communicating with the sliding groove 202, the push block 101 can extend out of or retract into the sliding groove 202 from the opening on one side, the second end of the transmission rod can be connected to the push block 101 through the opening on the other side, when the first driven wheel 304 is driven by the first gear 301 to rotate, the first driven wheel 304 drives the push block 101 to horizontally slide in the sliding groove 202 through the first connecting portion 3045 and the transmission rod in cooperation, the mounting sleeve 203 is provided on the side wall of the sliding groove 202 near the transmission rod, the opening of the mounting groove 204 faces the push block 101, the movable rod 205 slides in the mounting groove 204 along the sliding direction of the push block 101, the elastic element 206 can be a spring, the elastic element 206 is fixedly connected to one end of the movable rod 205 located in the mounting groove 204, when the push block 101 is pushed out toward the sliding groove 202, the push block 101 drives the elastic element 206 to extend and store elastic potential energy through the movable rod 205, in the process that the pushing block 101 slides into the sliding groove 202, the elastic element 206 provides a pulling force to the pushing block 101, so that the pushing block 101 can be smoothly retracted into the sliding groove 202, and the pushing block 101 is prevented from being clamped. Meanwhile, when the push block 101 is impacted when clearing the obstacle, the elastic element 206 can buffer the impact on the push block 101; and because the crank-slider mechanism has dead points in the operation process, the inertia of the push block 101 when returning to the sliding groove 202 can be increased through the arrangement of the elastic element 206, the influence of the dead points is effectively avoided, and the push block 101 is prevented from being clamped.

In this embodiment, a first limit structure is disposed at the notch of the mounting groove 204, a second limit structure is disposed at an end of the movable rod 205 close to the elastic element 206, and the first limit structure and the second limit structure are mutually matched to prevent the movable rod 205 from coming out of the mounting groove 204.

In this embodiment, the method further includes: a fixing frame 207 provided on a side wall of the sliding groove 202; a swing rod 208, the first end of which is connected to the fixed frame 207, the second end of which is connected to the push block 101, and the position near the middle of which is connected to the movable rod 205; a plurality of swing levers 208 are arranged and spaced along the sliding direction of the push block 101, and the swing levers 208 swing during the sliding process of the push block 101.

In the sliding process of the push block 101, the swing rod 208 can swing along with the push block 101, so that the sliding stability of the push block 101 is improved, the movable rod 205 is connected with the push block 101 through the swing rod 208, the first end of the swing rod 208 is rotatably connected to the fixed frame 207, and the fixed frame 207 allows the swing rod 208 to slide while rotating, so that when the push block 101 is impacted, the transmission of impact vibration can be performed through the swing rod 208 and the movable rod 205, and the influence of the impact on the first driven wheel 304 is reduced.

In the present embodiment, two swing levers 208 are provided in common on the surface of the push block 101 on one side in the sliding direction thereof, but the number of swing levers 208 is not limited to that in the present embodiment.

Example 8

The embodiment discloses a structure of the foregoing protection device 4, specifically including: a fixed lower case 401, which surrounds the outside of the driving device 3, and is fixed to the robot body 1; a movable upper shell 402 which is matched with the fixed lower shell 401, a first end of which is hinged with the fixed lower shell 401, and a second end of which is connected with the fixed lower shell 401 through a locking device; wherein, when the second end of the movable upper shell 402 is connected with the fixed lower shell 401, the movable upper shell 402 can cover the driving device 3, and the locking device can lock and release the movable upper shell 402 and the fixed lower shell 401.

Including fixed inferior valve 401 surrounds drive arrangement 3, fixed inferior valve 401 upper surface opening, the player can debug and overhaul drive arrangement 3 through the upper surface opening part of fixed inferior valve 401, the bottom surface and the fixed superior valve one side of the first end of activity superior valve 402 are articulated, the opening that protection device 4 can be realized in the upset that moves about superior valve 402, when protection device 4 closed, through locking device with the locking of activity superior valve 402 and fixed inferior valve 401, avoid in the robot handling or at the match in-process activity superior valve 402 automatic opening.

In this embodiment, the locking device includes: a control groove 501 provided on the upper surface of the fixed lower case 401; a locking groove 502 provided at a position opposite to the control groove 501 on the bottom surface of the movable upper case 402; the middle part of the movable lever 503 is rotatably connected with the control groove 501, and the first end of the movable lever is provided with a locking head 504 which is matched with the locking groove 502; an elastic support member 505 provided on a side wall of the control groove 501 at a position close to the second end of the movable lever 503, one end of which is in contact with the movable lever 503; a slide unlocking groove provided on a side wall of the control groove 501, which includes a first unlocking groove 5061 and a second unlocking groove 5062 communicating with each other; a slide unlocking piece 507 slidably connected to the slide unlocking groove, one end of which is in contact with the second end of the movable lever 503; wherein the resilient support 505 tightly locks the locking head 504 in the locking groove 502 when the slide unlocking block 507 is located in the first unlocking groove 5061, and wherein the locking head 504 is withdrawn from the locking groove 502 during the sliding of the slide unlocking block 507 in the second unlocking groove 5062 in a direction away from the first unlocking groove 5061.

In this embodiment, the section of the locking groove 502 is L-shaped, the middle of the movable lever 503 is rotatably connected to the sidewall of the control groove 501 via a rotating shaft, the locking head 504 and the first end of the movable lever 503 together form an L-shaped structure, the first unlocking groove 5061 and the second unlocking groove 5062 are perpendicular to each other, the L-shaped structure is locked in the locking groove 502 in the locked state of the movable upper shell 402 and the fixed lower shell 401, the sliding unlocking block 507 is located in the first unlocking groove 5061, one end of the sliding unlocking block 507 is in contact with the position of the movable lever 503 close to the rotating shaft or the sliding unlocking block 507 is separated from the movable lever 503, when unlocking is required, the sliding unlocking block 507 is slid from the first unlocking groove 5061 into the second unlocking groove 5062, the sliding unlocking block 507 is in contact with the movable lever 503, specifically, the sliding unlocking block 507 is in contact with the surface of the movable lever 503 far away from the elastic support 505, and then the sliding unlocking block 507 is slid in the direction far away from the first unlocking groove 5061, in the process, the sliding unlocking block 507 pushes the second end of the movable lever 503 toward the side close to the elastic support 505, and at the same time, the first end of the movable lever 503 swings to withdraw the L-shaped structure from the locking groove 502, and at this time, the locking device releases the movable upper shell 402 and the fixed lower shell 401.

In this embodiment, the elastic supporting member 505 includes a top block and a locking spring, the top block is connected to the sidewall of the control slot 501 through the locking spring, the top block contacts with the second end of the movable lever 503, and the locking spring presses the top block against the second end of the movable lever 503 when the locking device locks the movable upper shell 402 and the fixed lower shell 401, so that the L-shaped structure at the first end of the movable lever 503 is locked in the locking slot 502.

In this embodiment, the slide unlocking block 507 is connected to the sidewall of the control slot 501 through a tension spring.

As shown in fig. 11, in this embodiment, an unlocking outer groove 509 is provided on the outer wall of the fixed lower shell 401 at a position opposite to the sliding unlocking groove, and the sliding unlocking block 507 extends to the unlocking outer groove 509 through a push rod 508, so that the push block 101 is pushed in the unlocking outer groove 509, and the locking and releasing of the movable upper shell 402 and the fixed lower shell 401 can be realized.

Example 9

The embodiment discloses a method for using the obstacle clearing device in the above embodiment, which includes the following steps:

s1, testing: opening the protection device 4, testing whether the driving device 3 is normal, and closing the protection device 4 in a normal state;

s2, walking detection: the robot body 1 moves along a specific route, stops moving when the side surface of the robot body 1 is clamped by an obstacle, and judges which side is clamped;

s3, clearing obstacles: the driving device 3 is started to drive the sliding obstacle clearing device 2 on the corresponding side to move, obstacles are cleared, and the driving device continues to move after the obstacles are cleared;

the test process is completed before the match, the walking detection and the obstacle clearing are the circulating steps of the robot in the match process, the robot walking instruction is programmed into a control unit of the robot, the robot detects the obstacle in the walking process, the wheels stop rotating after the obstacle is detected, the excessive electricity consumption is avoided, and the robot continues to advance after the obstacle is cleared.

It should be noted that the description of the structure and principle of the first driven wheel 304 in the present invention is also applicable to the second driven wheel.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. An obstacle clearing device for a racing robot, comprising:

a robot body (1) capable of moving and detecting an obstacle;

two sliding obstacle clearing devices (2) which are respectively arranged on two sides of the robot body (1);

the driving device (3) is arranged on the robot body (1) and is used for driving the two sliding obstacle clearing devices (2) to move;

the driving device (3) can independently drive the two sliding obstacle clearing devices (2) to move, and the sliding obstacle clearing devices (2) can slide relative to the robot body (1) to clear obstacles under the driving of the driving device (3).

2. A race robot obstacle clearance device according to claim 1, characterized by further comprising:

and the protective device (4) is arranged outside the driving device (3) in an openable mode and used for protecting the driving device (3).

3. A race robot obstacle clearing device according to claim 2, characterized in that said drive means (3) comprises:

the first gear (301) is rotatably arranged on the robot body (1), and a first driving groove (3011) is arranged on the end face of the first gear;

the second gear (302) is rotatably arranged on one side of the first gear (301), is meshed with the first gear (301), and is provided with a second driving groove on the end surface;

a driving source (303) which is arranged on the robot body (1) and is used for driving the first gear (301) to rotate;

a first driven wheel (304) which is arranged in the first driving groove (3011), and a first connecting part (3045) is arranged on the end surface of the first driven wheel at a position far away from the center;

the first ends of the two transmission rods are respectively connected with a first connecting part (3045) and a second connecting part, and the second ends of the two transmission rods are respectively connected with the two sliding obstacle clearing devices (2);

when the first gear (301) rotates, the second gear (302) is driven to rotate in the opposite direction, when the first gear (301) rotates towards the first direction, the first driven wheel (304) is driven to rotate, and when the first gear (301) rotates towards the second direction, the first driven wheel (304) is not driven; the transmission mode of the second gear (302) and the second driven wheel is the same as that of the first gear (301) and the first driven wheel (304), and the second driven wheel is not driven when the first driven wheel (304) is driven.

4. A race robot obstacle clearing device, as set forth in claim 3, characterized in that said first driven wheel (304) comprises:

a driven wheel body (3041);

the extending portions (3042) are circumferentially distributed at intervals along the driven wheel body (3041), a first end of each extending portion (3042) is connected with a side wall of the driven wheel body (3041), a second end of each extending portion (3042) circumferentially extends along the driven wheel body (3041), a gap is formed between the second end of each extending portion (3042) and the side wall of the driven wheel body (3041), and the second end of each extending portion (3042) can be close to or far away from the side wall of the driven wheel body (3041) under the action of external force;

the side wall of the first driving groove (3011) is provided with a clamping groove (3012) which is matched with the second end of the extending portion (3042), when the first gear (301) rotates towards the first direction, the end of the second end of the extending portion (3042) is abutted against the side wall of the clamping groove (3012), at the moment, the first gear (301) drives the first driven wheel (304) to rotate, and when the first gear (301) rotates towards the second direction, the end of the second end of the extending portion (3042) is separated from the side wall of the clamping groove (3012).

5. A race robot obstacle clearing device, according to claim 4, characterized in that said extension portion (3042) comprises:

a first transmission part (3043) provided at an end of the second end of the extension part (3042);

a second transmission part (3044) which is arranged on the surface of one side of the extension part (3042) far away from the driven wheel body (3041);

the engaging groove (3012) includes:

a first transmission groove adapted to the first transmission portion (3043);

a second transmission slot (30124) adapted to the second transmission portion (3044);

when the first gear (301) rotates towards the first direction, the first transmission part (3043) abuts against the side wall of the first transmission groove, and the second transmission part (3044) abuts against the side wall of the second transmission groove (30124).

6. An obstacle clearing device for a competition robot according to claim 2, characterized in that the sliding obstacle clearing device (2) comprises:

a fixing sleeve (201) having a sliding groove (202) therein;

a push block (101) with one end connected with the sliding groove (202) in a sliding way;

a mounting sleeve (203) which is arranged on the side wall of the sliding groove (202) and is internally provided with a mounting groove (204);

a first end of the movable rod (205) is arranged in the mounting groove (204) in a sliding manner, and a second end of the movable rod is connected with the push block (101);

the first end of the elastic element (206) is fixed in the mounting groove (204), and the second end of the elastic element is connected with the first end of the movable rod (205);

the driving device (3) is connected with one end, located in the sliding groove (202), of the push block (101), and the mounting sleeve (203), the movable rod (205) and the elastic element (206) are multiple and distributed on the side wall of the sliding groove (202) at intervals.

7. A race robot obstacle clearance device according to claim 6, characterized by further comprising:

a fixing frame (207) arranged on the side wall of the sliding groove (202);

a swinging rod (208), the first end of which is connected to the fixed frame (207), the second end of which is connected to the pushing block (101), and the position near the middle of which is connected with the movable rod (205);

the number of the swing rods (208) is multiple, the swing rods are distributed at intervals along the sliding direction of the push block (101), and the swing rods (208) can swing in the sliding process of the push block (101).

8. A race robot obstacle clearing device according to claim 2, characterized in that said guard means (4) comprises:

a fixed lower case (401) which surrounds the outside of the drive device (3) and is fixed to the robot body (1);

the movable upper shell (402) is matched with the fixed lower shell (401), the first end of the movable upper shell is hinged with the fixed lower shell (401), and the second end of the movable upper shell is connected with the fixed lower shell (401) through a locking device;

when the second end of the movable upper shell (402) is connected with the fixed lower shell (401), the movable upper shell (402) can cover the driving device (3), and the locking device can lock and release the movable upper shell (402) and the fixed lower shell (401).

9. A racing robot obstacle clearing device as claimed in claim 8, wherein said locking means includes:

a control groove (501) provided on the upper surface of the lower stationary case (401);

a locking groove (502) which is arranged at the position where the bottom surface of the movable upper shell (402) is opposite to the control groove (501);

the middle part of the movable lever (503) is rotationally connected with the control groove (501), and the first end of the movable lever is provided with a locking head (504) which is matched with the locking groove (502);

the elastic support piece (505) is arranged on the side wall of the control groove (501) and is close to the second end of the movable lever (503), and one end of the elastic support piece is contacted with the movable lever (503);

a sliding unlocking groove which is arranged on the side wall of the control groove (501) and comprises a first unlocking groove (5061) and a second unlocking groove (5062) which are communicated with each other;

a slide unlocking block (507) which is slidably connected with the slide unlocking groove and one end of which is contacted with the second end of the movable lever (503);

when the sliding unlocking block (507) is positioned in the first unlocking groove (5061), the elastic supporting piece (505) tightly clamps the locking head (504) in the locking groove (502), and when the sliding unlocking block (507) slides in the direction away from the first unlocking groove (5061) in the second unlocking groove (5062), the locking head (504) is withdrawn from the locking groove (502).

10. A method of using the obstacle clearing device for a racing robot as set forth in any one of claims 2 to 9, comprising the steps of:

s1, testing: opening the protection device (4), testing whether the driving device (3) is normal, and closing the protection device (4) in a normal state;

s2, walking detection: the robot body (1) moves along a specific route, when the side surface of the robot body (1) is clamped by an obstacle, the robot body stops moving, and whether the side is clamped is judged;

s3, clearing obstacles: the driving device (3) is started to drive the sliding obstacle clearing device (2) on the corresponding side to move, obstacles are cleared, and the obstacles continue to move after being cleared.