CN115122295A - Obstacle crossing mechanism and robot - Google Patents
Obstacle crossing mechanism and robot Download PDFInfo
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- CN115122295A CN115122295A CN202110335614.5A CN202110335614A CN115122295A CN 115122295 A CN115122295 A CN 115122295A CN 202110335614 A CN202110335614 A CN 202110335614A CN 115122295 A CN115122295 A CN 115122295A
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- obstacle crossing
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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
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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Abstract
The invention relates to the technical field of welding, in particular to an obstacle crossing mechanism and a robot. The obstacle crossing mechanism comprises an installation frame, a clamping assembly, a driving assembly and a wheel assembly, wherein the clamping assembly and the driving assembly are arranged on the installation frame, the clamping assembly and the driving assembly can jointly lock the wheel assembly, an obstacle touches the driving assembly to enable the driving assembly to be located at an unlocking position, and the wheel assembly can float in the vertical direction relative to the installation frame, so that the obstacle crossing mechanism can easily cross the obstacle, and the problem that a robot has a fluctuated vehicle body in the obstacle crossing process is solved. According to the robot provided by the invention, the obstacle crossing mechanism is applied, so that the problem that the height of a vehicle body fluctuates in the obstacle crossing process of the robot can be prevented.
Description
Technical Field
The invention relates to the technical field of welding, in particular to an obstacle crossing mechanism and a robot.
Background
The existing robot comprises a wheel type magnetic adsorption robot, a crawler type magnetic adsorption robot and a wheel-crawler combined type magnetic adsorption robot, wherein when the robot passes through an obstacle, a vehicle body can be jacked up by the obstacle, and the using effect of the robot is seriously restricted by the height fluctuation of the vehicle body, such as the influence on welding quality, spraying quality, detection quality and the like.
Therefore, the obstacle crossing mechanism and the robot are needed to be invented for solving the problem of height fluctuation of a vehicle body when the robot crosses the obstacle.
Disclosure of Invention
The invention aims to provide an obstacle crossing mechanism and a robot, which can prevent the vehicle body from generating the problem of height fluctuation when the robot crosses an obstacle.
In order to achieve the purpose, the invention adopts the following technical scheme:
an obstacle crossing mechanism comprising:
a mounting frame;
the clamping assembly is arranged on the mounting frame; and
drive assembly and wheel subassembly, drive assembly sets up on the mounting bracket, the centre gripping subassembly with drive assembly can lock jointly wheel subassembly, the obstacle touching drive assembly so that drive assembly is in the unblock position, wheel subassembly can be relative the mounting bracket floats along vertical direction.
Preferably, the driving assembly includes:
the mounting frame is provided with a pivoting shaft, the driving arm and the driven arm are respectively pivoted with the pivoting shaft, the first end part of the driving arm is positioned above the wheel assembly, and the second end part of the driven arm is positioned above the wheel assembly; and
and the connecting piece is respectively in sliding connection with the driving arm, the driven arm and the mounting rack, and the barrier touches the position of the driving arm far away from the first end part so as to enable the first end part and the second end part to be far away from each other.
As a preferred scheme, the driving arm includes a driving rod and a first protrusion, the driving rod is pivoted with the pivot shaft, and the first end and the first protrusion are disposed on the driving rod and located at two sides of the pivot shaft;
the driven arm comprises a driven rod and a second bulge, the driven rod is pivoted with the pivoting shaft, and the second end part and the second bulge are arranged on two sides of the pivoting shaft;
the connecting piece is provided with an arc-shaped groove and a vertical groove, a third bulge is arranged on the mounting rack, the first bulge and the second bulge are arranged in the arc-shaped groove, the third bulge is arranged in the vertical groove, and the circle center of the arc-shaped groove and the pin joint shaft are eccentrically arranged.
As a preferred scheme, the driving rod includes a first support rod, a first link rod and a second support rod which are connected in sequence, the driven rod includes a third support rod, a second link rod and a fourth support rod which are connected in sequence, the pivot shaft includes a first pivot shaft and a second pivot shaft which are distributed on two sides of the wheel assembly, the first support rod and the third support rod are pivoted with the first pivot shaft, the second support rod and the fourth support rod are pivoted with the second pivot shaft, and the clamping assembly, the first link rod and the second link rod can clamp the wheel assembly together.
Preferably, the clamping assembly includes:
the first clamping mechanism comprises a first elastic piece and a first clamping piece, and two ends of the first elastic piece are respectively connected with the mounting frame and the first clamping piece; and
the second clamping mechanism comprises a second elastic piece and a second clamping piece, two ends of the second elastic piece are respectively connected with the mounting frame and the second clamping piece, and the first elastic piece and the second elastic piece drive the first clamping piece and the second clamping piece to clamp the wheel assembly together.
Preferably, the clamping assembly further comprises:
the first clamping piece penetrates through the first guide rod and can slide along the first guide rod; and
the second guide rod is arranged on the mounting frame, and the second clamping piece penetrates through the second guide rod and can slide along the second guide rod.
Preferably, the first guide rods are arranged into two groups, and the two groups of first guide rods are positioned on two sides of the first elastic piece and clamp the first elastic piece together; the second guide rods are arranged into two groups, and the two groups of second guide rods are distributed on two sides of the second elastic piece and clamp the second elastic piece together.
Preferably, the wheel assembly comprises a clamping portion, a connecting portion and a wheel, the clamping portion is arranged at one end of the connecting portion, the clamping portion is arranged between the first clamping piece and the second clamping piece, and the wheel is rotatably arranged at the other end of the connecting portion.
Preferably, the clamping portion is provided with a first triggering structure, the first clamping piece is provided with a second triggering structure, the second clamping piece is provided with a third triggering structure, and when the wheel assembly moves upwards, the second triggering structure and the third triggering structure are respectively matched with the first triggering structure, so that the first clamping piece and the second clamping piece are far away from each other.
A robot comprises a vehicle body and the obstacle crossing mechanism, wherein the mounting frame is connected with the vehicle body.
The invention has the beneficial effects that:
the obstacle crossing mechanism comprises an installation frame, a clamping assembly, a driving assembly and a wheel assembly, wherein the clamping assembly and the driving assembly are arranged on the installation frame, the wheel assembly can be locked by the clamping assembly and the driving assembly together, an obstacle touches the driving assembly, so that the driving assembly is located at an unlocking position, and the wheel assembly can float in the vertical direction relative to the installation frame, so that the obstacle crossing mechanism can easily cross the obstacle, and the problem of height fluctuation of a vehicle body of a robot in the obstacle crossing process is solved.
According to the robot provided by the invention, the obstacle crossing mechanism is applied, so that the problem that the height of a vehicle body fluctuates in the obstacle crossing process of the robot can be prevented.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention 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 the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a robot provided in an embodiment of the present invention;
FIG. 2 is a first schematic structural diagram of an obstacle crossing mechanism according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an obstacle crossing mechanism according to an embodiment of the present invention.
The figures are labeled as follows:
1000-a robot; 2000-wall surface;
100-obstacle crossing mechanism; 200-a vehicle body;
1-a mounting frame; 11-a third protrusion; 12-a pivot shaft;
2-a clamping assembly; 21-a first clamping mechanism; 211-a first elastic member; 212-a first clamp; 2121-third inclined plane; 22-a second clamping mechanism; 221-a second elastic member; 222-a second clamp; 2221-a fourth slope; 23-a first guide bar; 231-a first limiting part; 24-a second guide bar; 241-a second limiting part;
3-a drive assembly; 31-the master arm; 311-active lever; 312 — a first protrusion; 32-a follower arm; 321-a driven rod; 322-a second projection; 33-a connector; 331-an arc-shaped slot; 332-vertical slots;
4-a wheel assembly; 41-a clamping part; 411-a first bevel; 412-a second bevel; 42-a connecting portion; 43-vehicle wheels.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present embodiment, the technical solutions of the present embodiment are further described below by referring to the drawings and the detailed description.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
As shown in fig. 1, the robot 1000 provided in this embodiment includes a vehicle body 200 and obstacle crossing mechanisms 100, the obstacle crossing mechanisms 100 are disposed on both sides of the vehicle body 200, and the obstacle crossing mechanisms 100 can drive the vehicle body 200 to perform a wall climbing operation along a wall surface 2000, so that the wall climbing robot 1000 can be transferred to different positions of the wall attachment surface 2000. The vehicle body 200 includes a frame on which the obstacle detouring mechanism 100 is disposed, and a functional member, which may be a welding gun or a camera, and may be disposed according to different functions of the robot 1000.
Combine fig. 2 to include mounting bracket 1 to obstacle crossing mechanism 100, centre gripping subassembly 2, drive assembly 3 and wheel subassembly 4, mounting bracket 1 is connected with automobile body 200, centre gripping subassembly and drive assembly 3 set up on the mounting bracket, wheel subassembly 4 can be locked jointly to centre gripping subassembly 2 and drive assembly 3, obstacle touching drive assembly 3, make drive assembly 3 be in the unblock position, wheel subassembly 4 can float along vertical direction relative mounting bracket 1, thereby can realize obstacle crossing mechanism 100 and hinder crossing the light of obstacle, prevent that robot 1000 from hindering the problem that the in-process automobile body height undulation appears more.
Referring to fig. 2, the structure of the driving assembly 3 is described, as shown in fig. 2, the driving assembly 3 includes a driving arm 31, a driven arm 32, and a connecting member 33, the mounting frame 1 is provided with a pivot shaft 12, the driving arm 31 and the driven arm 32 are respectively pivoted to the pivot shaft 12, a first end of the driving arm 31 and a second end of the driven arm 32 are both located above the wheel assembly 4, and the connecting member 33 is respectively connected to the driving arm 31, the driven arm 32, and the mounting frame 1 in a sliding manner. The obstacle touches the position of the active arm 31 far away from the first end portion, so that the first end portion and the second end portion are far away from each other, thereby realizing that the wheel assembly 4 floats in the vertical direction relative to the mounting frame 1, and further realizing the obstacle crossing function of the obstacle crossing mechanism 100.
In order to achieve synchronous movement of the driving arm 31 and the driven arm 32 by only touching the driving arm 31, as shown in fig. 2, the driving arm 31 includes a driving lever 311 and a first protrusion 312, the driving lever 311 is pivoted to the pivot shaft 12, and the first end and the first protrusion 312 are disposed on the driving lever 311 and located at two sides of the pivot shaft 12. The driven arm 32 includes a driven rod 321 and a second protrusion 322, the driven rod 321 is pivoted to the pivot shaft 12, and the second end and the second protrusion 322 are disposed on two sides of the pivot shaft 12. The connecting member 33 is provided with an arc-shaped groove 331 and a vertical groove 332, the mounting bracket 1 is provided with a third protrusion 11, the first protrusion 312 and the second protrusion 322 are disposed in the arc-shaped groove 331, the third protrusion 11 is disposed in the vertical groove 332, and the center of the arc-shaped groove is eccentrically disposed with the pivot shaft 12.
When the circle center of the arc-shaped groove 331 is located above the pivot shaft 12, when the driving rod 311 rotates clockwise, the connecting piece 33 can slide downward relative to the mounting frame 1, the second protrusion 322 can slide counterclockwise along the arc-shaped groove 331, so that the driven rod 321 rotates counterclockwise, and only the driving rod 311 is driven by a barrier, so that the driving rod 311 and the driven rod 321 are simultaneously away from each other.
When the circle center of the arc-shaped groove 331 is located below the pivot shaft 12, when the driving rod 311 rotates clockwise, the connecting piece 33 can slide upward relative to the mounting frame 1, the second protrusion 322 can slide counterclockwise along the arc-shaped groove 331, so that the driven rod 321 rotates counterclockwise, and only the driving rod 311 is driven through a barrier, so that the driving rod 311 and the driven rod 321 can be simultaneously separated from each other.
As a preferred scheme, the driving rod 311 includes a first supporting rod, a first connecting rod and a second supporting rod which are connected in sequence, the driven rod 321 includes a third supporting rod, a second connecting rod and a fourth supporting rod which are connected in sequence, the pivot shaft 12 includes a first pivot shaft and a second pivot shaft which are distributed at two sides of the wheel assembly 4, the first supporting rod and the third supporting rod are pivoted with the first pivot shaft, the second supporting rod and the fourth supporting rod are pivoted with the second pivot shaft, the clamping assembly 2, the first connecting rod and the second connecting rod can clamp the wheel assembly 4 together, and since the first connecting rod and the second connecting rod are respectively in contact with the wheel assembly 4 with a large length, a good clamping effect on the wheel assembly 4 can be achieved.
Referring to fig. 2, the structure of the clamping assembly 2 is described, as shown in fig. 2, the clamping assembly 2 includes a first clamping mechanism 21 and a second clamping mechanism 22, the first clamping mechanism 21 includes a first elastic member 211 and a first clamping member 212, two ends of the first elastic member 211 are respectively connected to the mounting frame 1 and the first clamping member 212, the second clamping mechanism 22 includes a second elastic member 221 and a second clamping member 222, two ends of the second elastic member 221 are respectively connected to the mounting frame 1 and the second clamping member 222, and the first elastic member 211 and the second elastic member 221 jointly drive the first clamping member 212 and the second clamping member 222 to jointly clamp the wheel assembly 4. Specifically, the first elastic member 211 and the second elastic member 221 of the present embodiment may be selected from springs and the like.
Preferably, as shown in fig. 2, the clamping assembly 2 further includes a first guide rod 23 and a second guide rod 24, the first guide rod 23 and the second guide rod 24 are both disposed on the mounting frame 1, the first clamping member 212 is disposed on the first guide rod 23 in a penetrating manner and can slide along the first guide rod 23, and the second clamping member 222 is disposed on the second guide rod 24 in a penetrating manner and can slide along the second guide rod 24. The first guide rod 23 and the second guide rod 24 can respectively realize the respective guide functions of the first clamping piece 212 and the second clamping piece 222, and the clamping accuracy of the first clamping piece 212 and the second clamping piece 222 is improved.
Preferably, as shown in fig. 2, the first guide rods 23 are arranged in two groups, the two groups of first guide rods 23 are located on two sides of the first elastic member 211 and clamp the first elastic member 211 together, the two groups of second guide rods 24 are arranged in two groups, the two groups of second guide rods 24 are distributed on two sides of the second elastic member 221 and clamp the second elastic member 221 together, so that the first elastic member 211 and the second elastic member 221 can extend and retract along the horizontal direction, the first elastic member 211 and the second elastic member 221 are prevented from being bent in the deformation process, and the first clamping member 212 and the second clamping member 222 can achieve a good clamping effect on the wheel assembly 4.
Preferably, as shown in fig. 2 and 3, a first limiting portion 231 is formed at one end of the first guide rod 23 away from the mounting frame 1, a second limiting portion 241 is formed at one end of the second guide rod 24 away from the mounting frame 1, the first limiting portion 231 can limit the first clamping member 212 from sliding out of the first guide rod 23, and the second limiting portion 241 can limit the second clamping member 222 from sliding out of the second guide rod 24.
Referring now to fig. 3, the structure of the wheel assembly 4 is described, as shown in fig. 3, the wheel assembly 4 includes a clamping portion 41, a connecting portion 42, and a wheel 43, the clamping portion 41 is disposed at one end of the connecting portion 42, the clamping portion 41 is disposed between the first clamping member 212 and the second clamping member 222, the wheel 43 is rotatably disposed at the other end of the connecting portion 42, and the clamping assembly 2 can clamp the clamping portion 41.
Preferably, the clamping portion 41 is provided with a first triggering structure, the first clamping member 212 is provided with a second triggering structure, the second clamping member 222 is provided with a third triggering structure, and when the wheel assembly 4 moves upwards, the second triggering structure and the third triggering structure are respectively matched with the first triggering structure, so that the first clamping member 212 and the second clamping member 222 are away from each other. Specifically, as shown in fig. 3, the first trigger structure includes a first inclined surface 411 and a second inclined surface 412 disposed on the clamping portion 41, the first inclined surface 411 and the second inclined surface 412 are both inclined from top to bottom, the second trigger structure includes a third inclined surface 2121 disposed on the first clamping member 212, the third trigger structure includes a fourth inclined surface 2221 disposed on the second clamping member 222, and the third inclined surface 2121 and the fourth inclined surface 2221 are both inclined from top to bottom in a direction away from the center line of the clamping portion 41. When the wheel assembly 4 moves upward, the first inclined surface 411 can slide along the third inclined surface 2121, and the second inclined surface 412 can slide along the fourth inclined surface 2221, so that the first clamping member 212 and the second clamping member 222 can move away from each other. In other embodiments, the first trigger structure includes a first inclined surface 411 and a second inclined surface 412 disposed on the clamping portion 41, the first inclined surface 411 and the second inclined surface 412 are both inclined outwards from top to bottom, the second trigger structure includes a first abutting protrusion disposed on the first clamping member 212, the third trigger structure includes a second abutting protrusion disposed on the second clamping member 222, the first abutting protrusion abuts against the first inclined surface 411, and the second abutting protrusion abuts against the second inclined surface 412. This is also achieved when the wheel assembly 4 moves upwards, the first abutment protrusion slides along the first inclined surface 411 and the second abutment protrusion slides along the second inclined surface 412, so that the first clamping member 212 and the second clamping member 222 are separated from each other.
Preferably, the wheel 43 of the present embodiment is a magnetic wheel, so that the wheel 43 and the avoidance wheel 2000 can be tightly attached to each other, and the robot 1000 can be prevented from falling off the wall surface 2000.
For the convenience of understanding the obstacle crossing mechanism 100, the operation principle of the obstacle crossing mechanism 100 will be described with reference to fig. 2 and 3:
as shown in fig. 2 and 3, when the obstacle crossing mechanism 100 operates beyond the right, the lower end of the driving rod 311 first touches an obstacle, the driving rod 311 rotates clockwise, the connecting member 33 moves downward, the connecting member 33 drives the driven rod 321 to rotate counterclockwise, and the wheel assembly 4 can move upward, so that obstacle avoidance on the obstacle is realized.
When the wheel assembly 4 passes through an obstacle, the first elastic piece 211 and the second elastic piece 221 are close to each other, so that the wheel assembly 4 is pushed downwards, the driving rod 311 is driven by the wheel 43 to rotate anticlockwise, the driven rod 321 is driven by the wheel 43 to rotate clockwise, the clamping of the clamping portion 41 by the first connecting rod, the second connecting rod, the third inclined surface 2121 and the fourth inclined surface 2221 is realized, the obstacle crossing mechanism 100 is used for rigidly supporting the vehicle body 200, and the vehicle body 200 is prevented from sinking in the operation process.
It is noted that the foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined by the appended claims and their equivalents.
Claims (10)
1. An obstacle crossing mechanism, comprising:
a mounting frame (1);
the clamping assembly (2) is arranged on the mounting frame (1); and
drive assembly (3) and wheel subassembly (4), drive assembly (3) set up on mounting bracket (1), centre gripping subassembly (2) with drive assembly (3) can lock jointly wheel subassembly (4), the obstacle touching drive assembly (3) are so that drive assembly (3) are in the unblock position, wheel subassembly (4) can be relative mounting bracket (1) is floated along vertical direction.
2. The obstacle crossing mechanism of claim 1, wherein the drive assembly (3) comprises:
the driving arm (31) and the driven arm (32) are arranged on the mounting frame (1), a pivoting shaft (12) is arranged on the mounting frame (1), the driving arm (31) and the driven arm (32) are respectively pivoted with the pivoting shaft (12), a first end portion of the driving arm (31) is located above the wheel assembly (4), and a second end portion of the driven arm (32) is located above the wheel assembly (4); and
and the connecting piece (33) is respectively connected with the driving arm (31), the driven arm (32) and the mounting rack (1) in a sliding manner, and an obstacle touches the position, away from the first end part, of the driving arm (31) so as to enable the first end part and the second end part to be away from each other.
3. The obstacle crossing mechanism according to claim 2, wherein the active arm (31) comprises an active lever (311) and a first protrusion (312), the active lever (311) is pivoted to the pivot shaft (12), and the first end portion and the first protrusion (312) are provided on the active lever (311) on both sides of the pivot shaft (12);
the driven arm (32) comprises a driven rod (321) and a second protrusion (322), the driven rod (321) is pivoted with the pivoting shaft (12), and the second end part and the second protrusion (322) are arranged on two sides of the pivoting shaft (12);
arc wall (331) and vertical groove (332) have been seted up on connecting piece (33), be provided with third arch (11) on mounting bracket (1), first arch (312) with second arch (322) set up in arc wall (331), third arch (11) set up in vertical groove (332), the centre of a circle of arc wall (331) with pin joint axle (12) eccentric settings.
4. The obstacle crossing mechanism according to claim 3, wherein the driving link (311) comprises a first supporting rod, a first connecting rod and a second supporting rod which are connected in sequence, the driven link (321) comprises a third supporting rod, a second connecting rod and a fourth supporting rod which are connected in sequence, the pivot shaft (12) comprises a first pivot shaft and a second pivot shaft which are distributed at two sides of the wheel assembly (4), the first supporting rod and the third supporting rod are pivoted with the first pivot shaft, the second supporting rod and the fourth supporting rod are pivoted with the second pivot shaft, and the clamping assembly (2), the first connecting rod and the second connecting rod can jointly clamp the wheel assembly (4).
5. Obstacle crossing mechanism according to any of claims 1 to 4, characterized in that said gripping assembly (2) comprises:
the first clamping mechanism (21) comprises a first elastic piece (211) and a first clamping piece (212), and two ends of the first elastic piece (211) are respectively connected with the mounting frame (1) and the first clamping piece (212); and
the second clamping mechanism (22) comprises a second elastic piece (221) and a second clamping piece (222), two ends of the second elastic piece (221) are respectively connected with the mounting frame (1) and the second clamping piece (222), and the first elastic piece (211) and the second elastic piece (221) drive the first clamping piece (212) and the second clamping piece (222) to clamp the wheel assembly (4) together.
6. The obstacle crossing mechanism of claim 5, wherein the clamp assembly (2) further comprises:
the first guide rod (23) is arranged on the mounting frame (1), and the first clamping piece (212) penetrates through the first guide rod (23) and can slide along the first guide rod (23); and
the second guide rod (24) is arranged on the mounting frame (1), and the second clamping piece (222) penetrates through the second guide rod (24) and can slide along the second guide rod (24).
7. The obstacle crossing mechanism according to claim 6, wherein the first guide bars (23) are provided in two sets, the two sets of first guide bars (23) are located on both sides of the first elastic member (211) and clamp the first elastic member (211) together; the second guide rods (24) are arranged into two groups, and the two groups of second guide rods (24) are distributed on two sides of the second elastic piece (221) and clamp the second elastic piece (221) together.
8. The obstacle crossing mechanism according to claim 5, wherein the wheel assembly (4) comprises a clamping portion (41), a connecting portion (42), and a wheel (43), the clamping portion (41) is disposed at one end of the connecting portion (42), the clamping portion (41) is disposed between the first clamping member (212) and the second clamping member (222), and the wheel (43) is rotatably disposed at the other end of the connecting portion (42).
9. The obstacle crossing mechanism according to claim 8, wherein a first trigger structure is arranged on the clamping portion (41), a second trigger structure is arranged on the first clamping member (212), a third trigger structure is arranged on the second clamping member (222), and when the wheel assembly (4) moves upwards, the second trigger structure and the third trigger structure respectively cooperate with the first trigger structure to enable the first clamping member (212) and the second clamping member (222) to be far away.
10. A robot, characterized in that it comprises a body (200) and an obstacle crossing mechanism according to any one of claims 1 to 9, said mounting frame (1) being connected to said body (200).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110335614.5A CN115122295A (en) | 2021-03-29 | 2021-03-29 | Obstacle crossing mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110335614.5A CN115122295A (en) | 2021-03-29 | 2021-03-29 | Obstacle crossing mechanism and robot |
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| Publication Number | Publication Date |
|---|---|
| CN115122295A true CN115122295A (en) | 2022-09-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110335614.5A Pending CN115122295A (en) | 2021-03-29 | 2021-03-29 | Obstacle crossing mechanism and robot |
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| CN (1) | CN115122295A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115929085A (en) * | 2022-10-26 | 2023-04-07 | 广东爆破工程有限公司 | Anti-explosion shed convenient for position adjustment and adjustment method thereof |
-
2021
- 2021-03-29 CN CN202110335614.5A patent/CN115122295A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115929085A (en) * | 2022-10-26 | 2023-04-07 | 广东爆破工程有限公司 | Anti-explosion shed convenient for position adjustment and adjustment method thereof |
| CN115929085B (en) * | 2022-10-26 | 2023-08-25 | 广东爆破工程有限公司 | Gun avoiding shed convenient to adjust position and adjusting method thereof |
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