CN113954980A - Multifunctional push plate with variable angle - Google Patents
Multifunctional push plate with variable angle Download PDFInfo
- Publication number
- CN113954980A CN113954980A CN202111303490.9A CN202111303490A CN113954980A CN 113954980 A CN113954980 A CN 113954980A CN 202111303490 A CN202111303490 A CN 202111303490A CN 113954980 A CN113954980 A CN 113954980A
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- plate
- tensioning
- push plate
- push
- power shaft
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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
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a variable-angle multifunctional push plate which comprises a push plate angle adjusting mechanism, a track tensioning mechanism, a track transmission mechanism and an imaging mechanism. The angle adjusting mechanism changes the pitch angle of the push plate on the robot chassis by controlling the push rod to stretch. The tensioning mechanism adjusts the tightness degree of the triangular crawler belt by adjusting the tensioning plate limiting bolt. The transmission mechanism can introduce power from a chassis motor of the robot or an additional motor, and the pair of triangular tracks are controlled to rotate by differential speed, so that the driving capability and the steering capability of the robot are improved. The imaging mechanism provides an observation visual angle in front of the robot push plate through the miniature camera fixed at the rear of the push plate, and is convenient to operate. The invention improves the trafficability and obstacle-crossing capability of the rescue robot in various complex environments, has simple structure and can be used for upgrading and reconstructing various mobile robots.
Description
Technical Field
The invention relates to the field of emergency rescue, in particular to a variable-angle push plate attached to a rescue robot. The robot can be used for climbing up and down stairs, crossing obstacles and crossing ditches and clearing obstacles.
Background
In the work of rescue and disaster relief, anti-terrorism and anti-riot, etc., complex and changeable field environments are often faced. When the traditional crawler-type rescue robot faces tasks such as going upstairs and downstairs, crossing obstacles and crossing ditches, the performance is not ideal due to the limitation of factors such as the gravity center of the robot, the length of a chassis and the like. Although the rocker arm type robot is greatly improved in the aspects, the system stability is poor due to the fact that the structure is complex, and the rocker arm and the chassis are integrated, and the structure is not suitable for upgrading and reconstructing a traditional crawler type rescue robot.
Disclosure of Invention
The invention aims to realize a variable-angle multifunctional push plate by using an electric push rod, so that a robot can safely and quickly pass through a pothole road surface, a steep stair and clear roadblocks, and meanwhile, the mechanism is relatively independent and can be directly additionally arranged on a traditional crawler-type rescue robot to be upgraded and reformed.
The purpose of the invention is realized by the following technical scheme: the utility model provides a multi-functional push pedal of variable angle, includes push pedal angle adjustment mechanism, track straining device, track drive mechanism and imaging mechanism, wherein:
the push plate angle adjusting mechanism comprises a push plate, a plugging screw, a push plate connecting plate, a swing arm plate, a power shaft flange, a fixed base, an electric push rod, a bearing, a single chip microcomputer and a double-path relay in a control cabinet;
the track tensioning mechanism comprises a tensioning plate B, a tensioning plate fastening bolt, a tensioning plate fastening nut, a tensioning plate A, a tensioning plate connecting plate and a tensioning plate limiting bolt;
the crawler belt transmission mechanism comprises a belt wheel baffle, a bearing, a driving chain wheel, a power shaft and a triangular crawler belt;
the imaging mechanism consists of a micro camera and a data transmission radio station in a control cabinet.
Further, two sides of the fixed base are respectively fixed with a transmission shaft flange through bolts, the left power shaft and the right power shaft are matched with the transmission shaft flange through bearings, and the swing arm plate and the tensioning plate A are respectively matched with the power shaft flange and the power shaft through bearings; one side of the push plate connecting plate is welded on the push plate, and the other side of the push plate connecting plate is provided with a threaded hole which is fixed on the swing arm plate through a screw, so that the push plate is fixedly connected with the swing arm plate; the whole mechanism main body structure can freely rotate relative to the power shaft.
Furthermore, the upper parts of the fixed base and the push plate are connected with an electric push rod through a plug screw, and when the push rod stretches out and draws back, the push plate is driven to rotate around the power shaft, so that the change control of the integral structure relative to the angle of the chassis is realized.
Furthermore, the tensioning mechanisms are bilaterally symmetrical and comprise two sets of tensioning plates and three connecting plates; threaded holes are formed in the two sides of the connecting plate, the connecting plate is connected with the tensioning plates on the two sides through screws, and the tensioning plates on the two sides are fastened through clockwise rotation of the screws; two tensioning plates are fixedly connected together by a set of tensioning plate fixing bolt on each side, are matched with the tensioning plate limiting bolt for limiting, and the length of the whole tensioning plate after matching is adjusted, so that the purpose of adjusting the tightness of the crawler belt is achieved.
Furthermore, the pair of triangular crawler belts are bilaterally symmetrical and are fixed through the three pairs of transmission belt wheels and belt wheel baffles on two sides of the transmission belt wheels; a pair of driving sprockets is further mounted on two sides of the belt wheel close to the fixed base, power is output from the chassis or the motor is mounted according to needs, and driving capacity of the robot is improved.
Furthermore, install miniature camera on the push pedal, miniature camera is fixed on the push pedal, transmits the picture to the screen through the HDMI line for operating personnel observes push pedal the place ahead condition in real time.
Furthermore, the remote controller sends out an instruction to be analyzed by the receiver, and the controller sends out a control signal to control the relay switch, so that the positive and negative of the voltage of the power supply input end of the push rod are controlled to control the extension of the push rod, and the pitch angle of the mechanism is adjusted.
The principle of the invention is as follows:
the remote controller sends out command to be analyzed by the receiver, the controller sends out control signal to control the relay switch, thereby controlling the positive and negative of the power supply input end voltage of the push rod to control the extension of the push rod, thereby adjusting the pitch angle of the mechanism, and the driving chain wheel can be meshed with the chassis motor or the output shaft of the additional motor to provide power. The robot can adapt to different terrains, and the trafficability, the shock absorption, the climbing capacity and the ditching capacity of the whole robot are improved.
The invention has the advantages and positive effects that:
the invention realizes the effective change of the pitch angle of the push plate mechanism by controlling the extension of the push rod, and the control strategy is simple, convenient and quick.
The invention is engaged with the chassis caterpillar chain wheel or the driving motor through the driving chain wheel, has novel design, solves the problem of unpowered design of the traditional push shovel structure, and has simple parts and easy replacement.
Compared with the original chassis structure, the structure of the crawler-type robot is relatively independent, and the transformation and the upgrading of the existing crawler-type robot are facilitated. Whether combined with a wheeled or tracked chassis, increases its contact area with the ground, increases trenching capacity, reduces vibration, climbs steeper stairs, etc.
Drawings
FIG. 1 is a schematic view of a variable angle multi-functional pusher of the present invention;
FIG. 2 is an exploded view of a variable angle multi-functional pusher plate of the present invention;
FIG. 3 shows the push plate installed on the tracked robot in a retracted state;
FIG. 4 shows the push plate installed on the tracked robot in a laid-down state.
Wherein: the device comprises a push plate 1, a push plate reinforcing rib 2, a stopper bolt 3, a miniature camera 4, a push plate connecting plate 5, a swing arm plate 6, a belt wheel baffle 7, a belt wheel fixing shaft B8, a bearing 9, a transmission belt wheel 10, a tensioning plate B11, a shaft sleeve 12, a tensioning plate fastening bolt 13, a tensioning plate A14, a belt wheel fixing shaft A15, a fixing shaft positioning bolt 16, a fixing shaft positioning gasket 17, a power shaft positioning bolt 18, a driving sprocket 19, a power shaft flange 20, a power shaft 21, a triangular crawler belt 22, a fixing base 23, a tensioning plate connecting plate 24, a tensioning plate limiting bolt 25, an electric push rod 26, a control cabinet 27 and a tensioning plate fastening nut 28.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
According to the embodiment of the invention, as shown in fig. 1-2, the multifunctional push plate with a variable angle mainly comprises a push plate 1, a miniature camera 4, a swing arm plate 6, a conveyor belt pulley 10, a tension plate B11, a tension plate fastening bolt 13, a tension plate a14, a driving sprocket 19, a triangular crawler belt 22, a fixed base 23, a tension plate connecting plate 24, a tension plate limiting bolt 25, an electric push rod 26 and a control cabinet 27, wherein:
the two sides of the fixed base 23 are respectively fixed with a power shaft flange 20 by bolts, the left and right power shafts 21 are matched with the power shaft flange 20 through bearings, and the swing arm plate 6 and the tensioning plate A14 are respectively matched with the power shaft flange and the power shaft through bearings. One side of the push plate connecting plate 5 is welded on the push plate 1, and the other side is provided with a threaded hole which is fixed on the swing arm plate 6 through a screw, so that the push plate 1 is fixedly connected with the swing arm plate 6. The whole mechanism main body structure can freely rotate relative to the power shaft 21.
The fixed base 23 and the upper part of the push plate 1 are connected with an electric push rod 26 through a plug screw, and when the push rod stretches, the push plate 1 can be driven to rotate around the power shaft 21, so that the change control of the integral structure relative to the chassis angle is realized.
The electric push rod 26 has a push rod stroke of 180mm, and the maximum push force and the maximum pull force are 3500N. According to different working environments, the load requirements for clearing obstacles and the angle and stroke requirements of the push plate required by the robot are different, and the corresponding push rod can be selected according to actual conditions.
The tensioning mechanism is bilaterally symmetrical and consists of two sets of tensioning plates and three connecting plates. Threaded holes are formed in two sides of the tensioning plate connecting plate 24, and the tensioning plate connecting plate is connected with the tensioning plates on the two sides through screws to fasten the tensioning plates on the two sides. A set of tension plate fixing bolts 13 and power shaft positioning screws 28 are used for fixedly connecting a tension plate B11 and a tension plate A14 at each side, and meanwhile, the tension plate fixing bolts are matched with the tension plate limiting bolts 25 for limiting, the length of the whole tension plate after matching is adjusted, and therefore the purpose of adjusting the tightness of the crawler belt is achieved.
The transmission mechanism consists of a pair of triangular tracks 22, three pairs of conveyor pulleys 10, pulley guards 7 on both sides of the pulleys, and a pair of drive sprockets 19. The whole device is bilaterally symmetrical, the triangular crawler belts are fixed on three pairs of conveying belt wheels, and the three pairs of conveying belt wheels are respectively fixed on 2 power shafts 21 and 2 fixed shafts 8 and 15. A transmission belt wheel and a driving chain wheel 19 are connected to the left power shaft and the right power shaft, and the transmission belt wheels on the fixed shafts can rotate relatively through the matching of bearings. The device can be drawn forth power and drive the track rotation with the driving sprocket meshing from chassis motor or independent motor as required, increases the driving force of robot. Because the power shafts of the left triangular crawler belt and the right triangular crawler belt are relatively independent, the triangular crawler belts can also realize differential rotation to increase the steering capacity of the robot.
The miniature camera 4 is fixed on the push plate 1, and the picture is transmitted to the screen through the HDMI line, so that an operator can observe the situation in front of the push plate in real time.
The control cabinet is internally provided with a singlechip controller, a two-way relay and a data transmission station. The micro camera is used for receiving signals, controlling the push rod to stretch and retract and outputting videos of the micro camera. The control system can be integrated with the whole vehicle control system according to the requirement.
The fixed base 23 is fixed on the chassis, and the power shaft 21 is provided with the fixed base 23, a power shaft flange 20, a transmission belt wheel 10, a swing arm plate 6, a driving chain wheel 19 and a tension plate A14. The fixed base 23 and the power shaft flange 20 are fastened by bolts, the fixed shaft and the swing arm plate are matched with the flange through bearings, and the tensioning plate is matched with the power shaft through bearings. When the electric push rod stretches, the electric push rod can rotate around the power shaft, so that the angle of the push plate can be adjusted. The belt wheel and the driving chain wheel are fixedly connected with the power shaft, the belt wheel on the fixed shaft is matched through a bearing, and when the driving chain wheel is meshed with the power source, the belt wheel is driven by the power shaft to rotate to drive the triangular crawler belt.
The miniature camera 4 transmits the video signal to the control cabinet through the HDMI line, and transmits the video signal to an operator through the data transmission radio station, so that the field environment is monitored.
When the tensioning mechanism adjusts the tightness of the crawler belt, the 4 tensioning plate fastening bolts 13 are taken down firstly, then the limiting bolts 25 are rotated, and when the limiting bolts prop the tensioning plates 11 and 14 to the proper position of the tensioning degree of the crawler belt, the tensioning plate fastening bolts are screwed, so that the adjustment is completed.
As shown in fig. 3, the push plate is mounted on the tracked robot in a retracted state; FIG. 4 shows the push plate mounted on the tracked robot in a laid-down state.
The angle adjustment of the push plate has the functions of manual adjustment and automatic start and stop at the designated position. During manual adjustment, an operator sends a signal to the controller through the remote controller, and after the controller receives the signal and analyzes the signal, the controller controls the on-off of the relay according to the signal, so that the positive and negative voltages at the two ends of the power supply input of the electric push rod 26 are changed, and the extension and the stop of the push rod are realized. When the push rod moves, the controller receives a Hall signal transmitted by the push rod, so that the moving direction and distance of the push rod are calculated, and when the push rod reaches a preset position, the controller sends a signal to control the push rod to stop automatically.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, but various changes may be apparent to those skilled in the art, and it is intended that all inventive concepts utilizing the inventive concepts set forth herein be protected without departing from the spirit and scope of the present invention as defined and limited by the appended claims.
Claims (7)
1. The utility model provides a multi-functional push pedal of variable angle which characterized in that: including push pedal angle adjustment mechanism, track straining device, track drive mechanism and imaging mechanism, wherein:
the push plate angle adjusting mechanism comprises a push plate, a plugging screw, a push plate connecting plate, a swing arm plate, a power shaft flange, a fixed base, an electric push rod, a bearing, a single chip microcomputer and a double-path relay in a control cabinet;
the track tensioning mechanism comprises a tensioning plate B, a tensioning plate fastening bolt, a tensioning plate fastening nut, a tensioning plate A, a tensioning plate connecting plate and a tensioning plate limiting bolt;
the crawler belt transmission mechanism comprises a belt wheel baffle, a bearing, a driving chain wheel, a power shaft and a triangular crawler belt;
the imaging mechanism comprises a micro camera and a data transmission station in the control cabinet.
2. The multifunctional push plate with the variable angle according to claim 1, characterized in that the two sides of the fixed base are respectively fixed with a power shaft flange by bolts, the left and right power shafts are matched with the power shaft flange through bearings, and the swing arm plate and the tension plate A are respectively matched with the power shaft flange and the power shaft through bearings; one side of the push plate connecting plate is welded on the push plate, and the other side of the push plate connecting plate is provided with a threaded hole which is fixed on the swing arm plate through a screw, so that the push plate is fixedly connected with the swing arm plate; the whole mechanism main body structure can freely rotate relative to the power shaft.
3. The multifunctional push plate with the variable angle according to claim 1, characterized in that the fixed base and the upper part of the push plate are connected with an electric push rod through a tucking screw, and when the push rod is extended, the push plate is driven to rotate around a power shaft, so that the change control of the angle of the whole structure relative to the chassis is realized.
4. The variable angle multi-functional push plate according to claim 1, characterized in that the tensioning mechanism is bilaterally symmetrical and comprises two sets of tensioning plates and three connecting plates; threaded holes are formed in the two sides of the connecting plate, the connecting plate is connected with the tensioning plates on the two sides through screws, and the tensioning plates on the two sides are fastened through clockwise rotation of the screws; two tensioning plates are fixedly connected together by a set of tensioning plate fixing bolt on each side, are matched with the tensioning plate limiting bolt for limiting, and the length of the whole tensioning plate after matching is adjusted, so that the purpose of adjusting the tightness of the crawler belt is achieved.
5. The multifunctional push plate with the variable angle according to claim 1, characterized in that a pair of triangular caterpillar tracks are bilaterally symmetrical and fixed by three pairs of transmission pulleys and pulley baffles at two sides of the transmission pulleys; a pair of driving sprockets is further mounted on two sides of the belt wheel close to the fixed base, power is output from the chassis or the motor is mounted according to needs, and driving capacity of the robot is improved.
6. The multifunctional push plate with the variable angle according to claim 1, wherein a micro camera is mounted on the push plate, the micro camera is fixed on the push plate, and the pictures are transmitted to a screen through an HDMI cable for an operator to observe the situation in front of the push plate in real time.
7. The multi-functional push pedal of claim 1, wherein the remote controller sends out commands to be analyzed by the receiver, and the controller sends out control signals to control the relay switch, so as to control the positive and negative control of the voltage at the power input end of the push rod to extend and retract, thereby adjusting the pitch angle of the mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111303490.9A CN113954980A (en) | 2021-11-05 | 2021-11-05 | Multifunctional push plate with variable angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111303490.9A CN113954980A (en) | 2021-11-05 | 2021-11-05 | Multifunctional push plate with variable angle |
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| Publication Number | Publication Date |
|---|---|
| CN113954980A true CN113954980A (en) | 2022-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111303490.9A Pending CN113954980A (en) | 2021-11-05 | 2021-11-05 | Multifunctional push plate with variable angle |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010000945A (en) * | 2008-06-20 | 2010-01-07 | Mitsubishi Denki Tokki System Kk | Crawler running apparatus |
| CN205203161U (en) * | 2015-09-28 | 2016-05-04 | 苑雪山 | Portable remote control is ridden instead of walk and is followed robot |
| CN206926736U (en) * | 2017-07-26 | 2018-01-26 | 赵吉富 | A kind of self-rescuing device for trapped of united reaper |
| CN108100063A (en) * | 2018-02-02 | 2018-06-01 | 福建（泉州）哈工大工程技术研究院 | A kind of replaceable rubber belt track wheel of inverted trapezoidal suitable for short wheelbase mobile chassis |
| CN207510547U (en) * | 2017-11-29 | 2018-06-19 | 哈工大机器人（合肥）国际创新研究院 | A kind of robot swinging arm that can adjust tensioner |
| CN208559580U (en) * | 2018-02-02 | 2019-03-01 | 安信通科技（澳门）有限公司 | Creeper truck for robot ambulation |
| CN111218960A (en) * | 2020-04-09 | 2020-06-02 | 宜宾钢猫科技有限公司 | Cement silo bottom cleaning robot and cleaning method |
| CN112124176A (en) * | 2020-10-09 | 2020-12-25 | 江苏浩吉矿用装备有限公司 | Bracket carrier for coal mine |
-
2021
- 2021-11-05 CN CN202111303490.9A patent/CN113954980A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010000945A (en) * | 2008-06-20 | 2010-01-07 | Mitsubishi Denki Tokki System Kk | Crawler running apparatus |
| CN205203161U (en) * | 2015-09-28 | 2016-05-04 | 苑雪山 | Portable remote control is ridden instead of walk and is followed robot |
| CN206926736U (en) * | 2017-07-26 | 2018-01-26 | 赵吉富 | A kind of self-rescuing device for trapped of united reaper |
| CN207510547U (en) * | 2017-11-29 | 2018-06-19 | 哈工大机器人（合肥）国际创新研究院 | A kind of robot swinging arm that can adjust tensioner |
| CN108100063A (en) * | 2018-02-02 | 2018-06-01 | 福建（泉州）哈工大工程技术研究院 | A kind of replaceable rubber belt track wheel of inverted trapezoidal suitable for short wheelbase mobile chassis |
| CN208559580U (en) * | 2018-02-02 | 2019-03-01 | 安信通科技（澳门）有限公司 | Creeper truck for robot ambulation |
| CN111218960A (en) * | 2020-04-09 | 2020-06-02 | 宜宾钢猫科技有限公司 | Cement silo bottom cleaning robot and cleaning method |
| CN112124176A (en) * | 2020-10-09 | 2020-12-25 | 江苏浩吉矿用装备有限公司 | Bracket carrier for coal mine |
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Application publication date: 20220121 |