CN207564459U - A kind of barrier-surpassing robot - Google Patents

Abstract

The utility model discloses an obstacle-surmounting robot, which includes first and second crawler chassis that can move relatively independently. Move over obstacles or re-adjust the attitude of the robot; on this basis, set up the mechanical arm according to the size and spacing of the two crawler chassis, and install the mechanical arm directly between the two crawler chassis, instead of Like the prior art scheme, other base-like connection structures connecting the manipulator and the crawler chassis are set, so that the manipulator can be completely stored and hidden between the two crawler chassis by turning and folding. It is completely folded and hidden between the two crawler chassis to avoid being damaged by bumps, and solves the technical problems of unreasonable structural design of the existing special crawler robot, and difficulty in taking into account the operability of the manipulator and the stability of overcoming obstacles.

Description

An obstacle-surpassing robot

technical field

The utility model relates to the technical field of crawler robots, in particular to an obstacle-surmounting robot.

Background technique

In today's life, more and more occasions require special crawler robots to work together. In urban life, special crawler robots can be used for urban search and rescue: looking for victims in the ruins and finding the path at the fastest speed; they can also perform detection Hazardous substances, eliminating dangerous situations that are not suitable for manual work, etc. In these dangerous conditions that are not conducive to manual operations, special crawler robots play an irreplaceable role. They can detect deeper than traditional search and rescue equipment, and enter narrow spaces that humans cannot enter or buildings that may collapse. Communicating information shooting to human beings is convenient for people to quickly make judgments and implement reasonable solutions to the on-site conditions.

For example, special robots such as Packbot have been developed very successfully in the military field. At present, the more mature robots are mainly equipped with three-degree-of-freedom robotic arms, which can grab objects in a wider range than ordinary robots. , can enter enclosed spaces, perform dangerous tasks, and be able to clear unexploded bombs and mines.

However, the inventors have found that there are still some problems in these maturely designed robots, which are mainly manifested in:

Some robots in these designs have the function of manipulators, but they cannot realize the functions available for robot overturning, that is, it is difficult for the robot to readjust to a normal posture to continue working after an accidental overturn; although some designs can achieve multi-posture transformation, Tilting is available, but it cannot perform more accurate operations on items, and can only better realize the function of overcoming obstacles.

In general, the disadvantages of existing robots of this type can be summarized as follows:

The chassis and operating arm of the robot are two relatively independent modules with a complex structure and limited carrying capacity of the operator;

For robots with manipulators, although most of the manipulators can be folded, the folding performance is limited. In actual use, there is still the problem that the manipulator is easy to break when the robot is over obstacles;

Most of the existing special crawler robots cannot have an operator at the same time, and can continue to move forward after the robot is tipped over.

To sum up, how to effectively solve the technical problems of the unreasonable structural design of the existing special crawler robots, and the difficulty in taking into account the operability of the manipulator and the stability of overcoming obstacles, etc., is an urgent problem for those skilled in the art.

Contents of the invention

In view of this, the purpose of this utility model is to provide an obstacle-surmounting robot whose structural design can effectively solve the unreasonable structural design of the existing special crawler robot, which is difficult to take into account the operability of the manipulator and the stability of the obstacle-surmounting, etc. technical issues.

In order to achieve the above object, the utility model provides the following technical solutions:

An obstacle-surmounting robot, comprising a first crawler chassis and a second crawler chassis that are symmetrical, arranged side by side and can move independently, an intermediate arm is arranged between the first crawler chassis and the second crawler chassis, and the intermediate arm The two sides of the head end are respectively rotatably connected with the first crawler chassis and the second crawler chassis, the width of the intermediate arm matches the distance between the first crawler chassis and the second crawler chassis, and the thickness is the same as the distance between the first crawler chassis and the second crawler chassis. The heights of the first crawler chassis or the second crawler chassis match, and the intermediate arm can be completely folded and stored in the space between the first crawler chassis and the second crawler chassis by rotation;

The intermediate arm is a hollow frame structure, the tail end of the intermediate arm is rotatably connected to a forearm, and the forearm can be completely folded and stored in the hollow space of the intermediate arm frame through rotation; the forearm is a hollow frame structure, so The tail end of the forearm is rotatably connected with an operating hand device, and the operating hand device can be completely folded and stored in the hollow space of the forearm frame through rotation.

Preferably, in the above-mentioned obstacle-surmounting robot, the head end of the intermediate arm is connected with a first drive motor, and the first drive motor is installed and fixed in the first crawler chassis, and the head end of the intermediate arm is connected to the first drive motor. The first transmission wheel is fixedly installed on the adjacent side of the first crawler chassis, the output shaft of the first drive motor is connected to the first transmission wheel, and the intermediate arm is driven by the first transmission wheel. Rotate around its head.

Preferably, in the above-mentioned obstacle-surmounting robot, a first connection shaft that rotatably connects the two is provided between the head end of the intermediate arm and the first crawler chassis, and the first transmission wheel is fixedly installed on the first connecting axis.

Preferably, in the above-mentioned obstacle-surmounting robot, a second transmission wheel is provided on the other side of the intermediate arm head away from the first transmission wheel, and the second transmission wheel is provided on the inner side of the intermediate arm frame. The second transmission wheel is coaxial with the first transmission wheel, the second transmission wheel is rotatably connected to the intermediate arm, and a third transmission wheel is installed and fixed on the side adjacent to the first end of the forearm and the second transmission wheel. The third transmission wheel is in transmission connection with the second transmission wheel, and the forearm is driven to rotate around its head end through the third transmission wheel.

Preferably, in the above-mentioned obstacle-surmounting robot, a second drive motor is arranged in the second crawler chassis, and the second drive motor is connected with a fourth transmission wheel, and the fourth transmission wheel is fixedly installed on the second wheel in the circumferential direction. One end of the connecting shaft, the second connecting shaft rotatably connects the second crawler chassis and the intermediate arm, and the second transmission wheel is circumferentially fixedly mounted on the other end of the second connecting shaft.

Preferably, in the above-mentioned obstacle-surmounting robot, the tail end of the intermediate arm and the head end of the forearm are rotationally connected through a third connecting shaft, and the third transmission wheel is circumferentially fixedly mounted on the third connecting shaft.

Preferably, in the above-mentioned obstacle-surmounting robot, the operator device includes an operator installation frame, and a claw and a claw drive mechanism arranged in the operator installation frame, and the operator installation frame and the forearm The tail end is rotationally connected by the fourth connecting shaft;

A first bevel gear is installed and fixed coaxially with the fourth connecting shaft on one side of the operating hand mounting frame, and a third drive motor is fixed on the forearm, and the output shaft of the third drive motor is connected to the second bevel gear through the second bevel gear. The first bevel gear is connected in transmission.

Preferably, in the above-mentioned obstacle-crossing robot, the claw is rotatably connected to the operator installation frame, the tail end of the claw is fixed with a transmission worm gear, and the operator installation frame is fixed with a fourth drive motor, A worm is connected to the output shaft of the fourth driving motor, and the transmission worm gear is connected to the worm in transmission, and the opening and closing action of the claw is driven by the fourth driving motor.

Preferably, in the above-mentioned obstacle-surmounting robot, the first crawler chassis and the second crawler chassis both include a chassis frame and crawlers mounted on the chassis frame, and an elastic suspension device is arranged between the crawler belts and the chassis frame.

Preferably, in the above-mentioned obstacle-surmounting robot, the elastic suspension device includes multiple sets of suspension units, and each set of suspension units includes a pulley that contacts and connects with the inner surface of the track and is used to support the track. The supporting pulley is installed on the support shaft, and both ends of the support shaft are provided with shaft end fixing parts, and the shaft end fixing parts are limitedly connected with frame mounting parts, and the frame mounting parts are used for connecting with the chassis The frame is installed and fixed, and a supporting spring is arranged between the frame mounting part and the axle end fixing part.

The obstacle-surmounting robot provided by the utility model includes a first crawler chassis and a second crawler chassis which are symmetrically arranged side by side and can move independently. An intermediate arm is arranged between the first crawler chassis and the second crawler chassis. The two sides of the head end of the intermediate arm are respectively rotatably connected with the first crawler chassis and the second crawler chassis, and the width of the intermediate arm matches the distance between the first crawler chassis and the second crawler chassis, and the thickness Matching the height of the first crawler chassis or the second crawler chassis, the intermediate arm can be completely folded and stored in the space between the first crawler chassis and the second crawler chassis by rotation;

The intermediate arm is a hollow frame structure, the tail end of the intermediate arm is rotatably connected to a forearm, and the forearm can be completely folded and stored in the hollow space of the intermediate arm frame through rotation; the forearm is a hollow frame structure, so The tail end of the forearm is rotatably connected with an operating hand device, and the operating hand device can be completely folded and stored in the hollow space of the forearm frame through rotation.

In the technical solution provided by the utility model, the obstacle-crossing robot includes first and second crawler chassis that can move relatively independently. Mutual independent movement, turning over obstacles or readjusting the robot posture; on this basis, the mechanical arm is set according to the size and spacing of the two crawler chassis, and the mechanical arm is directly installed between the two crawler chassis, Instead of setting other similar base-like connection structures connecting the mechanical arm and the crawler chassis in the prior art scheme, the mechanical arm can be completely stored and hidden between the two crawler chassis by turning and folding, which includes directly located on the two crawler tracks. The intermediate arm between the chassis, and other front-end functional components of the robotic arm, such as the forearm and the operator, can be folded and stored inside the intermediate arm, so as to achieve better protection for the robotic arm of the robot. It is completely folded and hidden between the two crawler chassis to avoid being damaged by bumps; at the same time, due to the fact that there are two independent crawler chassis set side by side, the obstacle-surpassing performance and attitude stability of the robot are fully guaranteed without being restrained by the mechanical arm structure. . To sum up, the obstacle-surmounting robot provided by the utility model effectively solves the technical problems of unreasonable structural design of the existing special crawler robot, and difficulty in taking into account the operability of the mechanical arm and the stability of obstacle-overriding.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic diagram of the overall structure of the obstacle-surmounting robot provided by the embodiment of the present invention;

Fig. 2 is a structural schematic diagram of the elastic suspension device of the obstacle-surmounting robot provided by the embodiment of the present invention;

Fig. 3 is a schematic structural view of the operating hand device of the obstacle-surmounting robot provided by the embodiment of the present invention.

The markings in the attached drawings are as follows:

First crawler chassis 1, crawler belt 1-1, chassis frame 1-2, elastic suspension device 1-3, supporting pulley 1-31, support shaft 1-32, shaft end fixing part 1-33, frame mounting part 1-34, support spring 1-35, first connecting shaft 1-4, second crawler chassis 2, second connecting shaft 2-1, middle arm 3, outer plate 3-1, third connecting shaft 3-2, The second transmission wheel 3-3, the forearm 4, the fourth connecting shaft 4-1, the operating hand device 5, the claw part 5-1, the operating hand mounting frame 5-2, the transmission worm gear 5-3, the worm screw 5-4, the first Four drive motors 5-5, the third drive motor 5-6, the first bevel gear 5-7, the second bevel gear 5-8.

Detailed ways

The embodiment of the utility model discloses an obstacle-surmounting robot to solve the technical problems that the structural design of the existing special crawler robot is unreasonable, and it is difficult to balance the operability of the mechanical arm and the stability of the obstacle-overriding.

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

Please refer to FIG. 1 , which is a schematic diagram of the overall structure of the obstacle-surmounting robot provided by the embodiment of the present invention.

The obstacle-surmounting robot provided by the embodiment of the utility model includes a first crawler chassis and a second crawler chassis that are symmetrical, arranged side by side and can move independently, and an intermediate arm is arranged between the first crawler chassis and the second crawler chassis , the two sides of the head end of the intermediate arm are respectively rotatably connected with the first crawler chassis and the second crawler chassis, and the width of the intermediate arm matches the distance between the first crawler chassis and the second crawler chassis . The thickness matches the height of the first crawler chassis or the second crawler chassis, and the intermediate arm can be completely folded and stored in the space between the first crawler chassis and the second crawler chassis by rotation;

The intermediate arm is a hollow frame structure, the tail end of the intermediate arm is rotatably connected to a forearm, and the forearm can be completely folded and stored in the hollow space of the intermediate arm frame through rotation; the forearm is a hollow frame structure, so The tail end of the forearm is rotatably connected with an operating hand device, and the operating hand device can be completely folded and stored in the hollow space of the forearm frame through rotation.

Wherein it should be noted that, since the first and second crawler chassis can move independently, two drive motors or motor groups that drive the movement of the two are respectively arranged inside the two. The wheel transmission is connected to drive the track to rotate and drive the track chassis to move forward.

In addition, the preferred structure of the middle arm is a pair of outer plates whose shape is basically consistent with the side shape of the crawler chassis, and a beam is arranged between the outer plates. The distance between the outer plates is smaller than the height of the crawler chassis to prevent the normal operation of the track chassis from being affected, and there is sufficient hollow space between the two outer plates for the storage of the forearm and the operator. The structure of this kind of mechanical arm or intermediate arm not only has good folding and storage performance, but also has good load-bearing performance, especially when the two sides of the head end of the intermediate arm are equipped with rotatable shaft structures and the crawler chassis on both sides rotate. When connected, the mechanical properties of the robotic arm of the robot are more excellent, and operations with greater load or resistance can be performed.

Since the mechanical arm in the technical solution provided by this embodiment has better connection and structural characteristics, the relative separation of the middle arm or the forearm of the mechanical arm and the first and second crawler chassis can be rotated to assist the robot's obstacle-crossing action, and also The extension of the mechanical arm can assist the robot to perform posture flip or correction.

Further, a cover plate can be provided on the top of the two outer plates to protect the mechanical arm stored between the first and second crawler chassis. The cover plate is rotatably connected to the middle arm, and is connected to the first transmission wheel through a transmission structure. , when the middle arm is extended or retracted, the cover is opened or closed synchronously to provide further protection to prevent gravel particles from entering the transmission mechanism of the mechanical arm and affecting the performance of the mechanical arm.

It should also be noted that in this technical solution, not only a forearm that can be stretched out and rotated can be provided between the intermediate arm and the operating hand, but more rotating arms can also be provided. It is only necessary to ensure that each layer of rotating arms can be rotated It can be folded and stored into the swing arm of the previous level.

In the technical solution provided by this embodiment, the obstacle-crossing robot includes first and second crawler chassis that can move relatively independently. Mutual independent movement, turning over obstacles or readjusting the robot posture; on this basis, the mechanical arm is set according to the size and spacing of the two crawler chassis, and the mechanical arm is directly installed between the two crawler chassis, Instead of setting other similar base-like connection structures connecting the mechanical arm and the crawler chassis in the prior art scheme, the mechanical arm can be completely stored and hidden between the two crawler chassis by turning and folding, which includes directly located on the two crawler tracks. The intermediate arm between the chassis, and other front-end functional components of the robotic arm, such as the forearm and the operator, can be folded and stored inside the intermediate arm, so as to achieve better protection for the robotic arm of the robot. It is completely folded and hidden between the two crawler chassis to avoid being damaged by bumps; at the same time, due to the fact that there are two independent crawler chassis set side by side, the obstacle-surpassing performance and attitude stability of the robot are fully guaranteed without being restrained by the mechanical arm structure. . To sum up, the obstacle-surmounting robot provided by the utility model effectively solves the technical problems of unreasonable structural design of the existing special crawler robot, and difficulty in taking into account the operability of the mechanical arm and the stability of obstacle-overriding.

In order to further optimize the above-mentioned technical solution, preferably on the basis of the above-mentioned embodiment, in the above-mentioned obstacle-crossing robot, the head end of the intermediate arm is connected with a first drive motor, and the first drive motor is installed and fixed on the In the first crawler chassis, a first transmission wheel is fixedly installed on the side adjacent to the head end of the intermediate arm and the first crawler chassis, and the output shaft of the first drive motor is driven by the first transmission wheel. connected, the intermediate arm is driven to rotate around its head end through the first transmission wheel.

In the technical solution provided by this embodiment, the driving motor that drives the middle arm to rotate, open or close is arranged in the first crawler chassis, which can effectively save the space inside the middle arm and facilitate the storage of the forearm, and the driving motor is arranged in the crawler chassis The technical solution can also simplify the wiring of the robot, and centralize the wiring of the motor in the crawler chassis.

In addition, it should be noted that the head end of the intermediate arm is the end connected to the crawler chassis as the center of rotation, the gear side plane of the first transmission gear is parallel to the rotation plane of the intermediate arm, and the first transmission gear and the intermediate arm form a circle. To ensure that the rotation of the intermediate arm can be driven by the gear; further, the preferred solution is that the first drive motor is only used to drive the rotation of the intermediate arm, not as the power of other parts in the robot, so as to facilitate accurate Independent control ensures the maneuverability of the robotic arm.

In order to further optimize the above-mentioned technical solution, preferably on the basis of the above-mentioned embodiment, in the above-mentioned obstacle-surmounting robot, a first connecting shaft that rotatably connects the two is provided between the head end of the intermediate arm and the first crawler chassis , the first transmission wheel is circumferentially fixedly installed on the first connecting shaft.

In the technical solution provided in this embodiment, a first connecting shaft is arranged between the head end of the intermediate arm and the first crawler chassis, and the structure of the first connecting shaft ensures a stable connection relationship between the intermediate arm and the crawler chassis. The relative rotation performance between the two is guaranteed through the connection of the shaft structure. Wherein the first transmission wheel is installed on the first connecting shaft, and the two are circumferentially fixed. There are several different alternative technical solutions here: First, the first transmission wheel is arranged in the first crawler chassis, The transmission mechanism inside the chassis is driven to rotate by the first drive motor, and the rotation is directly transmitted to the first connecting shaft through the first transmission wheel. Driving the intermediate arm to rotate, this technical solution has a relatively simple structure and can be used as an optimal technical solution.

In order to further optimize the above-mentioned technical solution, preferably on the basis of the above-mentioned embodiment, in the above-mentioned obstacle-crossing robot, a second transmission wheel is provided on the other side of the head end of the intermediate arm away from the first transmission wheel, and the second transmission wheel The wheel is arranged on the inner side of the intermediate arm frame, the second transmission wheel is coaxial with the first transmission wheel, the second transmission wheel is rotatably connected to the intermediate arm, and the front end of the forearm is connected to the second transmission wheel. A third transmission wheel is installed and fixed on the adjacent side of the wheel, and the third transmission wheel is connected in transmission with the second transmission wheel, and the forearm is driven to rotate around its head end through the third transmission wheel.

In the technical solution provided by this embodiment, the rotation of the forearm is driven by the second and third transmission wheels that are independently transmitted relative to the first transmission wheel, which optimizes the operability of the mechanical arm; The axial design makes the transmission performance of the mechanical arm better, and the torques of the mutual rotation between different sections of the mechanical arm will not affect each other; there are many options for the transmission connection between the second and third transmission wheels, such as the use of gear sets Cooperating with the connection of the long drive shaft, in this technical solution, it is preferred that sprockets are used for the second and third drive wheels, and the two are connected by a drive chain, so that the transmission is stable, the mechanical properties are good, and the space is saved.

In order to further optimize the above-mentioned technical solution, preferably on the basis of the above-mentioned embodiment, in the above-mentioned obstacle-surmounting robot, a second drive motor is arranged in the second crawler chassis, and the second drive motor is connected to a fourth transmission wheel , the fourth transmission wheel is fixedly installed on one end of the second connecting shaft in the circumferential direction, and the second connecting shaft connects the second crawler chassis and the intermediate arm in rotation, and the second transmission wheel is fixedly installed on the second connecting shaft in the circumferential direction. The other end of the two connecting shafts. One end of the second connecting shaft located in the second crawler chassis can be equipped with a transmission gear or a sprocket structure, so as to transmit the rotation of the second drive motor to the second transmission wheel.

In the technical solution provided by this embodiment, the rotation of the forearm is driven by the second driving motor arranged in the second crawler chassis, and the setting position of the motor is similar to that of the first driving motor. The transmission mechanism and other advantages; further setting the second connecting shaft, thereby connecting both sides of the mechanical arm to the crawler chassis on both sides, further stabilizing the connection position between the mechanical arm and the crawler chassis, so that the mechanical arm can Has better load-bearing performance.

In order to further optimize the above-mentioned technical solution, preferably on the basis of the above-mentioned embodiment, in the above-mentioned obstacle-surpassing robot, the tail end of the intermediate arm and the head end of the forearm are rotationally connected through a third connecting shaft, and the third transmission The wheel is circumferentially fixedly mounted on the third connecting shaft.

In the technical solution provided by this embodiment, a third connection shaft is provided at the connection position between the intermediate arm and the forearm. For its advantages, reference can be made to the description of the beneficial effects of the first and second connection shafts in the above-mentioned embodiments.

Please refer to FIG. 3 . FIG. 3 is a schematic structural diagram of an operator device of an obstacle-surmounting robot provided by an embodiment of the present invention.

In order to further optimize the above-mentioned technical solution, preferably on the basis of the above-mentioned embodiment, in the above-mentioned obstacle-crossing robot, the operator device includes an operator installation frame, and claws and claws arranged in the operator installation frame a driving mechanism, the operator's mounting bracket is rotatably connected to the tail end of the forearm through a fourth connecting shaft;

A first bevel gear is installed and fixed coaxially with the fourth connecting shaft on one side of the operating hand mounting frame, and a third drive motor is fixed on the forearm, and the output shaft of the third drive motor is connected to the second bevel gear through the second bevel gear. The first bevel gear is connected in transmission.

In the technical solution provided by this embodiment, the operator mounting frame is rotatably connected to the tail end of the forearm through the fourth connecting shaft, the installation effect is stable, and the effect of rotating and adjusting the angle of the operator is guaranteed; on the side of the operator mounting frame, The first bevel gear is coaxially installed and fixed with the fourth connecting shaft. The structure of the bevel gear can effectively change the direction of rotation transmission, so that the third drive motor can be more easily installed and fixed in the forearm, and the third drive motor can be adjusted according to the needs of the robot. The transmission ratio between the first bevel gear and the second bevel gear is used to more properly adjust the rotation of the operator device and the load that the operator can bear.

In order to further optimize the above-mentioned technical solution, preferably on the basis of the above-mentioned embodiment, in the above-mentioned obstacle-crossing robot, the claw is rotatably connected to the operator mounting frame, and the tail end of the claw is fixed with a transmission worm gear. A fourth driving motor is installed and fixed on the operator’s mounting bracket, a worm is connected to the output shaft of the fourth driving motor, the transmission worm gear is connected to the worm, and the claw is driven by the fourth driving motor. The opening and closing action of the parts.

The technical solution provided by this embodiment realizes the operation control of the opening and closing of the claws through the transmission of worm gears. This structure has a large transmission ratio, which effectively improves the output rotation torque of the fourth drive motor and improves the claws. The pressure that can be exerted by the grasping operation of the claw also slows down the action speed of the opening and closing of the claw, which is convenient for the operator to perform more precise control of the claw; and the worm gear transmission has self-locking performance, which can ensure the claw through this design. After grabbing the target, the grip action will not be relaxed due to the disappearance of the driving force, which effectively optimizes the use effect of the operator.

Please refer to FIG. 2 . FIG. 2 is a schematic structural diagram of an elastic suspension device of an obstacle-surmounting robot provided by an embodiment of the present invention.

In order to further optimize the above-mentioned technical solution, preferably on the basis of the above-mentioned embodiment, in the above-mentioned obstacle-surmounting robot, the first crawler chassis and the second crawler chassis both include a chassis frame and crawlers installed on the chassis frame, so An elastic suspension device is arranged between the track and the chassis frame.

In order to further optimize the above-mentioned technical solution, preferably on the basis of the above-mentioned embodiment, in the above-mentioned obstacle-surpassing robot, the elastic suspension device includes multiple sets of suspension units, and each set of suspension units includes a The contact connection is used to support the idler pulley of the crawler. The idler pulley is installed on the support shaft. Both ends of the support shaft are provided with shaft end fixing parts. The vehicle frame mounting part is used for mounting and fixing with the chassis frame, and a supporting spring is arranged between the vehicle frame mounting part and the axle end fixing part.

The technical solutions provided in the above embodiments strengthen the shock-absorbing performance of the obstacle-crossing robot by setting the elastic suspension device, which can realize the relatively soft contact between the crawler belt and the road surface, and can effectively protect the drive and connection structure inside the robot, corresponding to a certain extent. The adaptability of the robot to the road surface has also been improved, and the obstacle surmounting performance of the robot has been improved; multiple groups of suspension units in the embodiment are preferably arranged symmetrically on the upper and lower sides of the chassis frame, and the track is supported by the supporting pulley, and the The pressure of the track pulley on the track is transmitted to the chassis frame through the support shaft and the connected support spring to realize elastic suspension; a cavity structure is preferably set between the shaft end fixing part and the frame mounting part for loading the support spring , and a pre-tightening screw that can be screwed in and out is set in the cavity structure, and the compression amount of the support spring is adjusted through the rotation of the pre-tightening screw, so as to adjust the hardness of the elastic suspension device, so as to adapt to different road conditions or the robot. self-respect.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

The above description of the disclosed embodiments enables those skilled in the art to realize or use the utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims (12)

1. An obstacle-surmounting robot, comprising a first crawler chassis and a second crawler chassis that are symmetrical, arranged side by side and can move independently, it is characterized in that an intermediate crawler chassis is provided between the first crawler chassis and the second crawler chassis The two sides of the head end of the intermediate arm are respectively connected to the first crawler chassis and the second crawler chassis, and the width of the intermediate arm is the same as the distance between the first crawler chassis and the second crawler chassis. Matching, the thickness matches the height of the first crawler chassis or the second crawler chassis, and the intermediate arm can be completely folded and stored in the space between the first crawler chassis and the second crawler chassis by rotation; The intermediate arm is a hollow frame structure, the tail end of the intermediate arm is rotatably connected to a forearm, and the forearm can be completely folded and stored in the hollow space of the intermediate arm frame through rotation; the forearm is a hollow frame structure, so The tail end of the forearm is rotatably connected with an operating hand device, and the operating hand device can be completely folded and stored in the hollow space of the forearm frame through rotation. 2. The obstacle-surmounting robot according to claim 1, wherein the head end of the intermediate arm is connected with a first drive motor, and the first drive motor is installed and fixed in the first crawler chassis, A first transmission wheel is fixedly installed on the side adjacent to the first end of the intermediate arm and the first crawler chassis, and the output shaft of the first drive motor is connected to the first transmission wheel through transmission. A drive wheel drives the intermediate arm to rotate around its head end. 3. The obstacle-surmounting robot according to claim 2, characterized in that, a first connection shaft that rotatably connects the two is provided between the head end of the intermediate arm and the first crawler chassis, and the first transmission The wheel is circumferentially fixedly mounted on the first connecting shaft. 4. The obstacle-surmounting robot according to claim 2, wherein a second transmission wheel is provided on the other side of the middle arm head away from the first transmission wheel, and the second transmission wheel is arranged in the middle The inner side of the arm frame, the second transmission wheel is coaxial with the first transmission wheel, the second transmission wheel is rotatably connected to the intermediate arm, and the first end of the forearm is adjacent to the second transmission wheel A third transmission wheel is installed and fixed, and the third transmission wheel is in transmission connection with the second transmission wheel, and the forearm is driven to rotate around its head end through the third transmission wheel. 5. The obstacle-surmounting robot according to claim 4, characterized in that, a second drive motor is arranged in the second crawler chassis, and the second drive motor is connected with a fourth drive wheel, and the fourth drive The wheel is fixedly installed on one end of the second connecting shaft in the circumferential direction, and the second connecting shaft connects the second crawler chassis and the intermediate arm in rotation, and the second transmission wheel is fixedly installed on the other end of the second connecting shaft in the circumferential direction . 6. The obstacle-surmounting robot according to claim 4, wherein the tail end of the intermediate arm and the head end of the forearm are rotationally connected by a third connecting shaft, and the third transmission wheel is circumferentially fixedly mounted on the third connecting shaft. 7. The obstacle-surmounting robot according to any one of claims 1 to 6, characterized in that, the operator device includes an operator mounting frame, and claws and claw drive components arranged in the operator mounting frame mechanism, the operating hand mounting frame is rotationally connected to the tail end of the forearm through the fourth connecting shaft; A first bevel gear is installed and fixed coaxially with the fourth connecting shaft on one side of the operating hand mounting frame, and a third drive motor is fixed on the forearm, and the output shaft of the third drive motor is connected to the second bevel gear through the second bevel gear. The first bevel gear is connected in transmission. 8. The obstacle-surmounting robot according to claim 7, wherein the claw is rotatably connected to the operating hand mounting frame, the tail end of the claw is fixed with a transmission worm gear, and the operating hand mounting frame A fourth drive motor is installed and fixed, the output shaft of the fourth drive motor is connected with a worm, and the transmission worm gear is connected with the worm in transmission, and the opening and closing action of the claw is driven by the fourth drive motor. 9. The obstacle-surmounting robot according to claim 1, characterized in that, the first crawler chassis and the second crawler chassis all include a chassis frame and crawlers mounted on the chassis frame, and the gap between the crawler belt and the chassis frame There is an elastic suspension device between them. 10. The obstacle-surmounting robot according to claim 9, wherein the elastic suspension device includes multiple groups of suspension units, and each group of suspension units includes a contact connection with the inner surface of the crawler belt for supporting The supporting pulley of the crawler track, the supporting pulley is installed on the supporting shaft, and the two ends of the supporting shaft are provided with shaft end fixing parts, and the shaft end fixing parts are limitedly connected with frame mounting parts, and the vehicle frame The mounting part is used for mounting and fixing with the chassis frame, and a supporting spring is arranged between the vehicle frame mounting part and the axle end fixing part. 11. The obstacle-surmounting robot according to claim 1, wherein a fifth drive motor is installed on the first crawler chassis, and a sixth drive motor is installed on the rear end of the second crawler chassis, and each drive motor passes through a cone. The gear transmission drives the track wheels to provide forward power for the chassis. 12. The obstacle-surmounting robot according to claim 1, characterized in that the intermediate arm and the forearm are controlled independently of each other to change the posture of the robot and improve the obstacle-surmounting performance of the robot.