CN113859384A - Mobile robot with balance and obstacle crossing functions during movement enhancement - Google Patents
Mobile robot with balance and obstacle crossing functions during movement enhancement Download PDFInfo
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- CN113859384A CN113859384A CN202111077475.7A CN202111077475A CN113859384A CN 113859384 A CN113859384 A CN 113859384A CN 202111077475 A CN202111077475 A CN 202111077475A CN 113859384 A CN113859384 A CN 113859384A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention discloses a mobile robot with the functions of enhancing the balance during movement and crossing obstacles, which is used for monitoring patrol and reducing the workload of workers; the robot comprises a robot base, a support table and a monitoring mechanism, wherein the support table is installed on the upper side of the robot base; the driving wheels are rotationally connected to the lower side of the robot base in a symmetrical direction; the method comprises the following steps: the fixing base is connected to the lower end of the multiple sections of electric telescopic rods, the inside of the fixing base is rotatably connected with a rotating shaft through a bearing, and the front end of the rotating shaft is welded with an adjusting rod. This mobile robot with equilibrium and obstacle crossing function when reinforcing removes utilizes the guard plate, slide bar, second spring, slider and the buffer gear that the erection column is constituteed of robot front end installation, can cushion the protection to the robot, and the slide bar extrusion second spring of installation slides in the erection column on the guard plate, cushions the impulsive force, reduces the impact force that the robot received, guarantees the smooth and steady operation of robot.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a mobile robot with functions of enhancing balance during movement and crossing obstacles.
Background
The mobile robot is a mechanical device capable of automatically executing work tasks, can assist people in working, can replace people to do various and simple works, has various types and different functions, can select the mobile robot with a proper function according to a use place, can use the mobile robot with a monitoring patrol function to replace manual work in some fields, and reduces the labor intensity of workers.
However, the existing monitoring patrol robot still has shortcomings in the using process, when the robot encounters a rough road surface, the moving balance of the robot cannot be enhanced, the robot cannot be assisted to cross pothole obstacles, the robot is prone to toppling in the moving process, and when the robot encounters a front obstacle, the robot does not have a buffering and auxiliary steering mechanism, so that the robot is not beneficial to protection and follow-up patrol.
Therefore, we have proposed a mobile robot having an enhanced balance at the time of movement and an obstacle crossing function in order to solve the above-mentioned proposed problems.
Disclosure of Invention
The invention aims to provide a mobile robot with functions of enhancing balance during movement and crossing obstacles, and aims to solve the problems that the conventional monitoring patrol type robot in the market cannot enhance the movement balance of the robot when meeting uneven road surfaces of pits, cannot assist the robot to cross the pit obstacles, is easy to topple during the movement of the robot, does not have a buffer and an auxiliary steering mechanism when meeting front obstacles, and is not beneficial to the protection of the robot and the subsequent patrol.
In order to achieve the purpose, the invention provides the following technical scheme: a mobile robot with the functions of enhancing the balance during movement and crossing obstacles is used for monitoring patrol and reducing the workload of workers;
the robot comprises a robot base, a support table and a monitoring mechanism, wherein the support table is installed on the upper side of the robot base;
the driving wheels are rotationally connected to the lower side of the robot base in a symmetrical direction;
the mounting seats are symmetrically arranged on the left side and the right side of the robot base, and a plurality of sections of electric telescopic rods are fixed in the mounting seats through bolts;
the method comprises the following steps:
the fixed seat is connected to the lower end of the multi-section electric telescopic rod, a rotating shaft is rotatably connected inside the fixed seat through a bearing, and the front end of the rotating shaft is connected with an adjusting rod in a welding mode;
the bottom plate is hinged to the lower end of the adjusting rod, a mounting groove is formed in the bottom side of the bottom plate, and a ball is rotatably connected inside the mounting groove;
the gear is connected to the rear end of the rotating shaft in a key mode;
the tooth block is arranged on the inner side wall of the mounting seat;
the moving rod is elastically connected to the inner part of the lower side of the robot base through a first spring, an installation frame is installed at the lower end of the moving rod, and an auxiliary wheel is rotatably connected to the inner side of the installation frame;
the connecting rod is hinged to the outer side of the moving rod, one end, far away from the moving rod, of the connecting rod is hinged to a limiting block, and the limiting block penetrates through the lower side face of the robot base;
a pressure sensor installed inside a lower side of the robot base;
the supporting plate is installed on the front side of the robot base, a rotating rod is rotatably connected to the supporting plate through a bearing, installation columns are connected to the outer sides of the rotating rod in an equiangular mode, and sliding rods are elastically connected to the inner portions of the installation columns through second springs;
and the servo motor is arranged in the supporting plate and the output end of the servo motor is connected with the upper end of the rotating rod.
Preferably, the slide bar is provided with a slide block and a protection plate:
the sliding blocks are symmetrically arranged at one ends of the sliding rods, which are positioned in the mounting columns, and are in sliding connection with the mounting columns;
and the protective plate is arranged at one end, far away from the sliding block, of the sliding rod.
Preferably, the depression section of the mounting seat on the left side is of a 9-shaped structure, the corresponding side walls and the bottom surfaces of the mounting seat and the adjusting rod are both of an open-shaped structure, and the design can reserve a space for rotation and movement of the adjusting rod, so that the mounting seat is prevented from blocking the adjusting rod.
Preferably, the tooth blocks are distributed at equal intervals at the joint of the mounting seat and the gear, the gear is coaxially connected with the adjusting rod, and the gear can rotate automatically when moving, so that the adjusting rod is driven to rotate synchronously, the angle of the adjusting rod is adjusted, and the adjusting rod moves downwards in an inclined manner.
Preferably, the balls are uniformly distributed on the bottom side surface of the bottom plate, the lowest point of the balls is lower than the lowest point of the bottom plate, and one half of the outer diameter of the balls is smaller than the depth of the mounting groove.
Preferably, the main section is "T" shape structure the carriage release lever is "T" shape structure with the side section pass through between the stopper the connecting rod is connected, and the stopper with the robot base is left right sliding connection, and the linkage of carriage release lever and stopper can be realized to this design, can drive the stopper when the carriage release lever removes and remove to avoid carriage release lever and stopper roll-off robot base.
Preferably, the pressure sensors and the limiting blocks are arranged correspondingly, and the pressure sensors and the limiting blocks are distributed in parallel and located in the same vertical plane, so that the design can ensure that the limiting blocks move to the positions of the pressure sensors to press the pressure sensors.
Preferably, the plane of looking down of guard plate is the arc structure, and the guard plate about the central point isogonism distribution of bull stick has 4, just the guard plate is the rubber material, and the usable guard plate of this design cushions the protection to the robot to utilize the guard plate to follow the rotation of bull stick and adjust the robot tip.
Compared with the prior art, the invention has the beneficial effects that: the mobile robot with the functions of enhancing the balance during movement and obstacle crossing,
(1) when one side of the mobile robot sinks into a pothole road surface and is unbalanced, an automatic adjustment type auxiliary moving mechanism consisting of an auxiliary wheel sunk into one side, an installation frame, a moving rod and a first spring can move towards the direction of resetting of the first spring, a connecting rod is utilized to link with a limiting block to move, the limiting block extrudes a pressure sensor to realize automatic transmission of signals, an auxiliary balance obstacle crossing mechanism consisting of the moving rod, an adjusting rod and a gear can be driven to move, self-rotation can be realized by utilizing the distribution of tooth blocks during gear movement, the rotation of the adjusting rod is realized, the adjusting rod moves downwards in an inclined direction to provide inclined thrust for the robot, the robot can be pushed out of the pothole road surface while the inclined side of the robot is gradually balanced, the robot can cross obstacles, and the balance obstacle crossing function of the robot is realized;
(2) utilize the guard plate of robot front end installation, the slide bar, the second spring, the buffer gear that slider and erection column are constituteed, can cushion the protection to the robot, the slide bar extrusion second spring of installation slides in the erection column on the guard plate, cushion the impulsive force, reduce the impact force that the robot received, guarantee the smooth operation of robot, and drive buffer gear rotates, can assist the robot to turn to, make the robot walk around the barrier and continue the operation, the flexibility and the security that improve the device and use.
Drawings
FIG. 1 is a schematic view of the main sectional structure of the present invention;
FIG. 2 is an enlarged view of a portion a of FIG. 2;
FIG. 3 is a schematic side sectional view of the movable rod of the present invention;
FIG. 4 is a schematic side sectional view of the stopper of the present invention;
FIG. 5 is a schematic front view of the present invention;
FIG. 6 is a schematic view of a top-down structure of the mounting base of the present invention;
FIG. 7 is an enlarged view of the structure at b in FIG. 6 according to the present invention;
fig. 8 is a schematic side sectional view of the mount of the present invention.
In the figure: 1. a robot base; 2. a support table; 3. a monitoring mechanism; 4. a mounting seat; 5. a multi-section electric telescopic rod; 6. a fixed seat; 7. a rotating shaft; 8. adjusting a rod; 9. a base plate; 10. mounting grooves; 11. a ball bearing; 12. a gear; 13. a tooth block; 14. a drive wheel; 15. a first spring; 16. a travel bar; 17. a mounting frame; 18. an auxiliary wheel; 19. a connecting rod; 20. a limiting block; 21. a pressure sensor; 22. a support plate; 23. a servo motor; 24. a rotating rod; 25. mounting a column; 26. a slider; 27. a second spring; 28. a slide bar; 29. and (4) a protective plate.
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.
Referring to fig. 1-8, the present invention provides a technical solution: a mobile robot with the functions of enhancing the balance during movement and crossing obstacles is used for monitoring patrol and reducing the workload of workers;
the robot comprises a robot base 1, a supporting table 2 is arranged on the upper side of the robot base, and a monitoring mechanism 3 is arranged at the upper end of the supporting table 2;
the driving wheels 14 are rotationally connected to the lower side of the robot base 1 in a symmetrical direction;
the mounting seats 4 are symmetrically arranged on the left side and the right side of the robot base 1, and a plurality of sections of electric telescopic rods 5 are fixed in the mounting seats 4 through bolts;
the method comprises the following steps:
the fixed seat 6 is connected to the lower end of the multi-section electric telescopic rod 5, the inside of the fixed seat 6 is rotatably connected with a rotating shaft 7 through a bearing, and the front end of the rotating shaft 7 is welded and connected with an adjusting rod 8;
the bottom plate 9 is hinged to the lower end of the adjusting rod 8, a mounting groove 10 is formed in the bottom side of the bottom plate 9, and a ball 11 is rotatably connected inside the mounting groove 10;
a gear 12 which is connected with the rear end of the rotating shaft 7 in a key way;
the tooth block 13 is arranged on the inner side wall of the mounting seat 4;
a moving rod 16 elastically connected to the inside of the lower side of the robot base 1 by a first spring 15, wherein an installation frame 17 is installed at the lower end of the moving rod 16, and an auxiliary wheel 18 is rotatably connected to the inside of the installation frame 17;
the connecting rod 19 is hinged to the outer side of the moving rod 16, one end, far away from the moving rod 16, of the connecting rod 19 is hinged to a limiting block 20, and the limiting block 20 penetrates through the lower side face of the robot base 1;
a pressure sensor 21 installed inside the lower side of the robot base 1;
a support plate 22 installed at the front side of the robot base 1, wherein a rotating rod 24 is rotatably connected to the support plate 22 through a bearing, an installation column 25 is equally angularly connected to the outer side of the rotating rod 24, and a sliding rod 28 is elastically connected to the inside of the installation column 25 through a second spring 27;
and a servo motor 23 installed inside above the support plate 22, and an output end of the servo motor 23 is connected with an upper end of the rotating rod 24.
The mounting seat 4 on the left side has a 9-shaped structure in a plan section, and the corresponding side walls and bottom surfaces of the mounting seat 4 and the adjusting rod 8 are both of an open structure. The gear blocks 13 are distributed at equal intervals at the joint of the mounting seat 4 and the gear 12, and the gear 12 and the adjusting rod 8 are coaxially connected. The balls 11 are uniformly distributed on the bottom side surface of the bottom plate 9, the lowest point of the balls 11 is lower than the lowest point of the bottom plate 9, and one half of the outer diameter of the balls 11 is smaller than the depth of the mounting groove 10. The moving rod 16 with the main section of a T-shaped structure is connected with the limiting block 20 with the side section of the T-shaped structure through the connecting rod 19, and the limiting block 20 is connected with the robot base 1 in a left-right sliding mode. The pressure sensor 21 and the limiting block 20 are arranged correspondingly, and the pressure sensor 21 and the limiting block 20 which are distributed in parallel are located in the same vertical plane.
When the robot base 1 is hung and inclined to the left side when encountering a hollow ground, the extrusion of the flat ground to the auxiliary wheel 18 is released, the first spring 15 can control the moving rod 16 to move downwards and reset, so as to control the connecting rod 19 hinged at the outer side to rotate and move, the connecting rod 19 pulls the limiting block 20 hinged at the end part to move, the limiting block 20 with the side section of a T-shaped structure can stably move at the bottom side of the robot base 1, the limiting block 20 extrudes the pressure sensor 21, the pressure sensor 21 transmits a signal to the controller in the mobile robot, the controller controls the multi-section electric telescopic rod 5 to start working, the multi-section electric telescopic rod 5 pushes the fixing base 6 arranged below to move downwards, as shown in the combined graph 6 and the graph 8, the gear 12 and the adjusting rod 8 synchronously move downwards along with the fixing base 6, and the gear 12 is meshed and connected with the tooth block 13, so that the gear 12 at the left position can be controlled to rotate clockwise as shown in the graph 1, and then the adjusting rod 8 coaxially connected by the rotating shaft 7 is controlled to rotate, the adjusting rod 8 rotates and moves downwards to push the robot in an inclined direction, the inclined left side of the robot is gradually pushed to the horizontal direction, the balance of the robot is ensured, one side of the robot which is sunk into a pit is pushed to a flat road surface at one side, the robot is assisted to cross obstacles, when the inclined surface at the left side of the robot enters the flat road surface, the flat road surface continues to extrude the auxiliary wheel 18, the auxiliary wheel 18 moves upwards, so that the moving rod 16 is pushed to pull the first spring 15 to move upwards, the first spring 15 starts to accumulate force, and when the moving rod 16 moves upwards, the connecting rod 19 connected in a pulling hinged mode rotates reversely and moves, so that the limiting block 20 connected with the end portion of the connecting rod 19 in a hinged mode is pulled to move reversely, the extrusion of the limiting block 20 on the pressure sensor 21 is released, at this moment, the pressure sensor 21 transmits a signal to the controller, the multi-section electric telescopic rod 5 is controlled to reset and stop control, the fixed seat 6 is driven to move upwards, the gear 12 and the adjusting rod 8 move upwards synchronously along with the fixed seat 6, the gear 12 rotates reversely, the adjusting rod 8 is accommodated into the mounting seat 4, the robot is continuously patrolled, if the right side of the robot is sunk into the pothole ground, and the right side balance obstacle crossing mechanism assists the robot in the steps.
The slide rod 28 is provided with a slide block 26 and a protection plate 29: the sliding blocks 26 are symmetrically arranged at one ends of the sliding rods 28, which are positioned inside the mounting columns 25, and the sliding blocks 26 are in sliding connection with the mounting columns 25; and the protection plate 29 is arranged at one end of the sliding rod 28 far away from the sliding block 26. The plane of looking down of guard plate 29 is the arc structure to 4 have been distributed to the equal angle of guard plate 29 about the central point of bull stick 24, and guard plate 29 is the rubber material.
When the robot collides with a front obstacle, as shown in fig. 3 and 5-7, a protective plate 29 made of rubber is firstly contacted with the obstacle, a sliding rod 28 arranged on the protective plate 29 can extrude a second spring 27 to slide in a mounting column 25 to buffer the impact force, so as to protect the mobile robot, the servo motor 23 can be powered on, a rotating rod 24 connected with the control output end of the servo motor 23 rotates, the rotating rod 24 controls the mounting column 25 arranged on the outer side to rotate, the mounting column 25 controls the sliding rod 28 penetrating through the mounting column 25 to rotate, the sliding rod 28 drives the protective plate 29 to rotate, and the front end of the robot is assisted to turn.
The working principle is as follows: when the mobile robot with the functions of enhancing the balance during movement and crossing obstacles is used, firstly, a user firstly transports the whole device shown in fig. 1 into a working area, the robot starts to work, monitoring patrol can be carried out by matching with the operation of the monitoring mechanism 3, the auxiliary wheel 18 is not extruded by the flat ground when the user encounters a hollow ground, the movable rod 16 moves downwards and resets, the limiting block 20 moves to extrude the pressure sensor 21, the pressure sensor 21 transmits a signal to a controller in the mobile robot, the controller controls the multi-section electric telescopic rod 5 to start working, the adjusting rod 8 pushes the robot in an inclined direction, the inclined left side of the robot is gradually pushed to the horizontal direction to carry out auxiliary balance obstacle avoidance on the robot, and when the robot collides with a front obstacle, a protective plate 29, a protective plate made of rubber material is combined with the functions shown in fig. 3 and 5-7, The sliding rod 28 and the second spring 27 buffer the impact force, protect the mobile robot, the servo motor 23 is powered on, and the protection plate 29 rotates to assist the steering of the front end of the robot, so as to ensure the robot to continue moving smoothly.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (8)
1. A mobile robot with the functions of enhancing the balance during movement and crossing obstacles is used for monitoring patrol and reducing the workload of workers;
the robot comprises a robot base, a support table and a monitoring mechanism, wherein the support table is installed on the upper side of the robot base;
the driving wheels are rotationally connected to the lower side of the robot base in a symmetrical direction;
the mounting seats are symmetrically arranged on the left side and the right side of the robot base, and a plurality of sections of electric telescopic rods are fixed in the mounting seats through bolts;
the method is characterized in that: the method comprises the following steps:
the fixed seat is connected to the lower end of the multi-section electric telescopic rod, a rotating shaft is rotatably connected inside the fixed seat through a bearing, and the front end of the rotating shaft is connected with an adjusting rod in a welding mode;
the bottom plate is hinged to the lower end of the adjusting rod, a mounting groove is formed in the bottom side of the bottom plate, and a ball is rotatably connected inside the mounting groove;
the gear is connected to the rear end of the rotating shaft in a key mode;
the tooth block is arranged on the inner side wall of the mounting seat;
the moving rod is elastically connected to the inner part of the lower side of the robot base through a first spring, an installation frame is installed at the lower end of the moving rod, and an auxiliary wheel is rotatably connected to the inner side of the installation frame;
the connecting rod is hinged to the outer side of the moving rod, one end, far away from the moving rod, of the connecting rod is hinged to a limiting block, and the limiting block penetrates through the lower side face of the robot base;
a pressure sensor installed inside a lower side of the robot base;
the supporting plate is installed on the front side of the robot base, a rotating rod is rotatably connected to the supporting plate through a bearing, installation columns are connected to the outer sides of the rotating rod in an equiangular mode, and sliding rods are elastically connected to the inner portions of the installation columns through second springs;
and the servo motor is arranged in the supporting plate and the output end of the servo motor is connected with the upper end of the rotating rod.
2. A mobile robot having an enhanced balance while moving and obstacle crossing function according to claim 1, wherein: be provided with slider and guard plate on the slide bar:
the sliding blocks are symmetrically arranged at one ends of the sliding rods, which are positioned in the mounting columns, and are in sliding connection with the mounting columns;
and the protective plate is arranged at one end, far away from the sliding block, of the sliding rod.
3. A mobile robot having an enhanced balance while moving and obstacle crossing function according to claim 1, wherein: the depression section of the mounting seat on the left side is of a 9-shaped structure, and the corresponding side walls and the bottom surfaces of the mounting seat and the adjusting rod are both of an open structure.
4. A mobile robot having an enhanced balance while moving and obstacle crossing function according to claim 1, wherein: the tooth blocks are distributed at the joint of the mounting seat and the gear at equal intervals, and the gear is coaxially connected with the adjusting rod.
5. A mobile robot having an enhanced balance while moving and obstacle crossing function according to claim 1, wherein: the balls are uniformly distributed on the bottom side surface of the bottom plate, the lowest point of the balls is lower than the lowest point of the bottom plate, and one half of the outer diameter of each ball is smaller than the depth of the mounting groove.
6. A mobile robot having an enhanced balance while moving and obstacle crossing function according to claim 1, wherein: the main section is of a T-shaped structure, the moving rod is connected with the limiting blocks of which the side sections are of T-shaped structures through the connecting rods, and the limiting blocks are connected with the robot base in a left-right sliding mode.
7. A mobile robot having an enhanced balance while moving and obstacle crossing function according to claim 1, wherein: the pressure sensors and the limiting blocks are arranged correspondingly, and the pressure sensors and the limiting blocks are distributed in parallel and are located in the same vertical plane.
8. A mobile robot having an enhanced balance while moving and obstacle crossing function according to claim 2, wherein: the plane of looking down of guard plate is the arc structure, and the guard plate about the central point isogonism of bull stick distributes and has 4, just the guard plate is the rubber material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111077475.7A CN113859384A (en) | 2021-09-15 | 2021-09-15 | Mobile robot with balance and obstacle crossing functions during movement enhancement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111077475.7A CN113859384A (en) | 2021-09-15 | 2021-09-15 | Mobile robot with balance and obstacle crossing functions during movement enhancement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113859384A true CN113859384A (en) | 2021-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111077475.7A Withdrawn CN113859384A (en) | 2021-09-15 | 2021-09-15 | Mobile robot with balance and obstacle crossing functions during movement enhancement |
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| Country | Link |
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| CN (1) | CN113859384A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117842622A (en) * | 2024-01-18 | 2024-04-09 | 徐州奔蓝机械科技有限公司 | Remote control inspection robot for mining rubber belt conveyor |
-
2021
- 2021-09-15 CN CN202111077475.7A patent/CN113859384A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117842622A (en) * | 2024-01-18 | 2024-04-09 | 徐州奔蓝机械科技有限公司 | Remote control inspection robot for mining rubber belt conveyor |
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Application publication date: 20211231 |