CN209051505U - A kind of multifunctional obstacle-surmounting robot system - Google Patents
A kind of multifunctional obstacle-surmounting robot system Download PDFInfo
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- CN209051505U CN209051505U CN201821873352.8U CN201821873352U CN209051505U CN 209051505 U CN209051505 U CN 209051505U CN 201821873352 U CN201821873352 U CN 201821873352U CN 209051505 U CN209051505 U CN 209051505U
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- connector
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- bottom plate
- rotating wheel
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Abstract
The utility model discloses a kind of multifunctional obstacle-surmounting robot system, it includes bottom plate, four of quadrangle climbing legs for being connected to bottom plate and the supporting legs being connected in the middle part of bottom plate four edges, the climbing leg being made of oscillating cylinder, connector, worm gear, worm screw, crawler belt, rotating wheel may be implemented normally to move, and may be implemented to complete other tasks while obstacle detouring in conjunction with the supporting leg being made of straight line cylinder, connector.The utility model combines driving with worm and gear with straight line cylinder and oscillating cylinder, has the characteristics of compact-sized, multi-functional multiple degrees of freedom, High power output, can be used for the tasks such as obstacle detouring, fire extinguishing, explosive.
Description
Technical field
The utility model belongs to robotic technology field, is related to a kind of multifunctional obstacle-surmounting robot system.
Background technique
In face of complicated landform, obstacle climbing ability is one of the ability of robot indispensability.Various barriers for example stair, fence,
The height of step is acid test to the obstacle detouring of robot.Crawler belt has the advantages that adapt to various landform, because in robot
Middle extensive use, Chinese patent 201510564857.0,201621087423.2,201621206018.8,
201710858066.8 successively propose crawler type obstacle crossing robot, but height limitation of the height of obstacle detouring by track wheel.
Chinese patent 201510084953.5,201610888246.6 separately designs front and back and all has caterpillar robot, but only has
One manipulator, only may be implemented lateral obstacle detouring, and obstacle clearing capability is influenced by track length.
Utility model content
The purpose of this utility model is to provide a kind of multifunctional obstacle-surmounting robot system for above-mentioned existing technological deficiency
System, the system structure is compact, multi-functional, multiple degrees of freedom, High power output.
The purpose of this utility model is realized by the following technical solutions:
A kind of multifunctional obstacle-surmounting robot system, which is characterized in that the system includes bottom plate, is connected to the bottom
Four climbing legs of the quadrangle of plate and the supporting leg being connected in the middle part of the bottom plate four edges；
The climbing leg includes oscillating cylinder one, connector one, oscillating cylinder two, worm gear one, worm screw one, crawler belt, turns
Driving wheel one, fixed plate one, oscillating cylinder three, worm screw two, worm gear two, rotating wheel two, the worm gear one and the rotating wheel
One is fixedly and coaxially connected, the worm screw two rotating wheel one and rotating wheel coaxially connected and described with the rotating wheel two
Two are connected by crawler haulage, and the axis of the rotating wheel one and rotating wheel two is also rotatably connected respectively in the fixed plate
One both ends, the worm gear one are engaged with the worm screw one, and the worm screw one coaxially connects with the oscillating cylinder two
It connects, the cylinder body of the oscillating cylinder two is fixed on the connector one, and the connector one is located at the bottom plate
Lower surface, the cylinder body of the oscillating cylinder one is fixedly connected with the upper surface of the bottom plate, rotation axis pass through bottom plate with
The connector one is fixedly connected；The oscillating cylinder three and the worm screw two are coaxially connected, and cylinder body is fixed on institute
In the fixed plate one stated；
The supporting leg includes oscillating cylinder four, connector two, straight line cylinder one, connector three, straight line cylinder two, connects
Fitting four, straight line cylinder three, connector five, the cylinder body of the oscillating cylinder four are fixed on the lower part of the bottom plate, turn
Moving axis pass through the bottom plate be fixedly connected with the connector two, the connector two, connector three, connector four,
Connector five is successively rotatably connected, and the both ends of the straight line cylinder one respectively can with the connector two, connector three
Rotation connection, the both ends of the straight line cylinder two are rotatably connected with the connector three, connector four respectively, described
The both ends of straight line cylinder three are rotatably connected with the connector four, connector five respectively, straight line cylinder one, straight line cylinder
Two, straight line cylinder three is rotatably connected it as power original part drive connection part two, connector three, connector four, connector five
Between relative rotation.
Further, the oscillating cylinder one, oscillating cylinder two, oscillating cylinder four can be replaced motor or hydraulic
Motor, straight line cylinder one, straight line cylinder two, straight line cylinder three can be replaced electric cylinders or hydraulic cylinder.
Further, the bottom plate, connector one, fixed plate one, connector two, connector three, connector four, connection
Part five is made of aluminium alloy.
Further, the connector one is L shape, and the connector three is V-arrangement.
Further, the connector three, connector four are hollow component.
The beneficial effects of the utility model are:
1. the climbing leg of the utility model has lateral, longitudinal multi-direction multiple degrees of freedom, it is multiple to can be realized simultaneously joint
The movement in direction；
2. the utility model is utilized with Worm Wheel System, has the characteristics that High power output, self-locking；
3. the climbing leg of the utility model may be implemented normally to move, while obstacle detouring may be implemented in conjunction with supporting leg
Complete other tasks.
Detailed description of the invention
Fig. 1 is the integral mechanical structure schematic diagram of the multifunctional obstacle-surmounting robot system of the utility model；
Fig. 2 is the mechanical structure schematic diagram of the single climbing leg of the multifunctional obstacle-surmounting robot system of the utility model；
Fig. 3 is the mechanical structure schematic diagram of the multifunctional obstacle-surmounting robot system overall support leg of the utility model；
Fig. 4 is the mechanical structure schematic diagram of the single supporting leg of the multifunctional obstacle-surmounting robot system of the utility model；
Fig. 5 is the Obstacle Negotiation process schematic of the multifunctional obstacle-surmounting robot system of the utility model；
In figure: supporting leg 1, climbing leg 1, supporting leg 23, bottom plate 4, climbing leg 25, supporting leg 36, climbing leg three
7, oscillating cylinder 1, supporting leg 49, climbing leg 4 10, connector 1, oscillating cylinder 2 12, worm gear 1, worm screw 1,
Crawler belt 15, fixed plate 1, oscillating cylinder 3 18, worm screw 2 19, worm gear 2 20, rotating wheel 2 21, swings gas at rotating wheel 1
Cylinder 4 22, connector 2 23, straight line cylinder 1, connector 3 25, straight line cylinder 2 26, connector 4 27, straight line cylinder three
28, connector 5 29, step 30.
Specific embodiment
The utility model is described in detail below according to attached drawing and preferred embodiment, the purpose of this utility model and effect will become
It must be more clearly understood that, below in conjunction with drawings and examples, the present invention will be further described in detail.It should be appreciated that herein
Described specific embodiment is only used to explain the utility model, is not used to limit the utility model.
As shown in Figs 1-4, the multifunctional obstacle-surmounting robot system of the utility model, including bottom plate 4, be connected to it is described
The climbing leg 1 of quadrangle of bottom plate 4, climbing leg 25, climbing leg 37, climbing leg 4 10 and be connected to bottom plate 4 four
Supporting leg 1, supporting leg 23, supporting leg 36, supporting leg 49 in the middle part of side；
The structure of four supporting legs is identical, and the structure of four climbing legs is identical；
Illustrate to climb leg 1, climbing leg 25, climbing leg 37, the connection for climbing leg 4 10 for climbing leg 37 below
Situation.
Leg 37 is climbed to include oscillating cylinder 1, connector 1, oscillating cylinder 2 12, worm gear 1, worm screw 1, carry out
Band 15, rotating wheel 1, fixed plate 1, oscillating cylinder 3 18, worm screw 2 19, worm gear 2 20, rotating wheel 2 21, worm gear 1
It is fixedly and coaxially connected with rotating wheel 1, worm screw 2 19 and rotating wheel 2 21 are coaxially connected, and rotating wheel 1 and rotating wheel two
21 are sequentially connected by crawler belt 15, and the axis of rotating wheel 1 and rotating wheel 2 21 is also rotatably connected respectively in fixed plate 1
Both ends, worm gear 1 are engaged with worm screw 1, and worm screw 1 and oscillating cylinder 2 12 are coaxially connected, the cylinder body of oscillating cylinder 2 12
It is fixed on connector 1, connector 1 is located at the lower surface of bottom plate 4, the cylinder body of oscillating cylinder 1 and the upper table of bottom plate 4
Face is fixedly connected, and rotation axis passes through bottom plate 4 and is fixedly connected with connector 1；Oscillating cylinder 3 18 with worm screw 2 19 is coaxial connects
It connects, cylinder body is fixed in fixed plate 1；
One 8 band follower link 1 of oscillating cylinder, oscillating cylinder 2 12, worm gear 1, worm screw 1, crawler belt 15, rotation
One 16, fixed plate 1, oscillating cylinder 3 18, worm screw 2 19, worm gear 2 20, rotating wheel 2 21 is taken turns transversely or longitudinally to rotate.
Oscillating cylinder 2 12 drives crawler belt 15, rotating wheel 1, fixed plate 1, oscillating cylinder three by worm gear 1, worm screw 1
18, worm screw 2 19, worm gear 2 20, rotating wheel 2 21 are swung.Oscillating cylinder 3 18 drives crawler belt by worm screw 2 19, worm gear 2 20
15, rotating wheel 1, rotating wheel 2 21 rotate.
Illustrate the connection of supporting leg 1, supporting leg 23, supporting leg 36, supporting leg 49 by taking supporting leg 49 as an example below
Situation.
Supporting leg 49 includes oscillating cylinder 4 22, connector 2 23, straight line cylinder 1, connector 3 25, straight line cylinder
2 26, connector 4 27, straight line cylinder 3 28, connector 5 29, the cylinder body of oscillating cylinder 4 22 are fixed on the lower part of bottom plate 4,
Its rotation axis passes through bottom plate 4 and is fixedly connected with connector 2 23, connector 2 23, connector 3 25, connector 4 27, connector
5 29 are successively rotatably connected, and the both ends of straight line cylinder 1 are rotatably connected with connector 2 23, connector 3 25 respectively, directly
The both ends of line cylinder 2 26 are rotatably connected with connector 3 25, connector 4 27 respectively, the both ends difference of straight line cylinder 3 28
It is rotatably connected with connector 4 27, connector 5 29, straight line cylinder 1, straight line cylinder 2 26,3 28 conduct of straight line cylinder
Power original part drive connection part 2 23, connector 3 25, connector 4 27, connector 5 29 be rotatably connected between opposite turn
It is dynamic.
Preferably, oscillating cylinder 1, oscillating cylinder 2 12, oscillating cylinder 4 22 can be replaced motor or hydraulic horse
It reaches, straight line cylinder 1, straight line cylinder 2 26, straight line cylinder 3 28 can be replaced electric cylinders or hydraulic cylinder.
For the weight for mitigating system entirety, bottom plate 4, connector 1, fixed plate 1, connector 2 23, connector three
25, connector 4 27, connector 5 29 are made of aluminium alloy；Connector 3 25, connector 4 27 are hollow component.
It is convenient, flexible in order to move, it is preferable that connector 1 is L shape, and connector 3 25 is V-arrangement.
The multifunctional obstacle-surmounting robot system motion state of the utility model is as follows: illustrating to move for climbing leg 37
Process, oscillating cylinder 3 18 drive rotating wheel 2 21, crawler belt 15, rotating wheel 1 and climbing by worm screw 2 19, worm gear 2 20
Leg 25 moves laterally together, and climbing leg 1, climbing leg 4 10 move together.When needing longitudinal movement, leg 37 is climbed by putting
Cylinder 1 of taking offence drives 90 degree of rotation, and climbing leg 4 10 drives 90 degree of rotation, climbing leg 37 and climbing by corresponding oscillating cylinder
Leg 4 10 moves together, and climbing leg 1, climbing leg 25 equally drive 90 degree of rotation to move together by corresponding oscillating cylinder.
As shown in figure 5, when such as passing through step 30, climbing leg 25, climbing leg 37 swing certain when needing lateral obstacle detouring
Angle Forward and barrier joint, while supporting leg 36 and barrier support, climbing leg 25, climbing leg 37 are realized simultaneously
Climbing and Forward.For climbing leg 37, oscillating cylinder 3 18 drives worm screw 2 19, worm gear 2 20, rotating wheel 2 21, crawler belt
15, rotating wheel 1, fixed plate 1 rotation Forward, oscillating cylinder 2 12 drive worm gear 1, worm screw 1, crawler belt 15,
Rotating wheel 1, fixed plate 1, oscillating cylinder 3 18, worm screw 2 19, worm gear 2 20, the swing of rotating wheel 2 21 and supporting leg
36 match realization climbing, and then entire robot system Forward, supporting leg 1, climb phase between leg 4 10 at climbing leg 1
Mutually coordinate to realize swinging support, final to realize lateral obstacle detouring, supporting leg 23, supporting leg 49 then can be used for during the motion
Other tasks are completed, supporting leg 23, supporting leg 49 are for assisting climbing, supporting leg 1, supporting leg three during longitudinal obstacle detouring
6 for completing other tasks.
The utility model realizes the control of multifunctional obstacle-surmounting robot pose, and may be implemented by controlling each cylinder
Accurate TRAJECTORY CONTROL, the utility model possess the incomparable advantage of other cylinders driving multifunctional obstacle-surmounting robot.
It will appreciated by the skilled person that the foregoing is merely the preferred embodiments of utility model, and do not have to
In limitation utility model, although utility model is described in detail referring to previous examples, for those skilled in the art
Member for, can still modify to the technical solution of aforementioned each case history, or to part of technical characteristic into
Row equivalent replacement.With within principle, modification, equivalent replacement for being made etc. should be included in practical new all spirit in utility model
Within the protection scope of type.
Claims (5)
1. a kind of multifunctional obstacle-surmounting robot system, which is characterized in that the system include bottom plate (4), be connected to it is described
Four climbing legs of the quadrangle of bottom plate (4) and the supporting leg being connected in the middle part of described bottom plate (4) four edges；
The climbing leg includes oscillating cylinder one (8), connector one (11), oscillating cylinder two (12), worm gear one (13), worm screw
One (14), crawler belt (15), rotating wheel one (16), fixed plate one (17), oscillating cylinder three (18), worm screw two (19), worm gear two
(20), rotating wheel two (21), the worm gear one (13) are fixedly and coaxially connected with the rotating wheel one (16), the worm screw
Two (19) rotating wheel one (16) coaxially connected and described with the rotating wheel two (21) and rotating wheel two (21) pass through crawler belt
(15) it is sequentially connected, the axis of the rotating wheel one (16) and rotating wheel two (21) is also rotatably connected respectively in the fixation
The both ends of plate one (17), the worm gear one (13) are engaged with the worm screw one (14), the worm screw one (14) with it is described
Oscillating cylinder two (12) it is coaxially connected, the cylinder body of the oscillating cylinder two (12) is fixed on the connector one (11)
On, the connector one (11) is located at the lower surface of the bottom plate (4), the cylinder body of the oscillating cylinder one (8) and institute
The upper surface for the bottom plate (4) stated is fixedly connected, and rotation axis passes through bottom plate (4) and is fixedly connected with the connector one (11)；Institute
The oscillating cylinder three (18) stated and the worm screw two (19) are coaxially connected, and cylinder body is fixed on the fixed plate one (17)
On；
The supporting leg include oscillating cylinder four (22), connector two (23), straight line cylinder one (24), connector three (25),
Straight line cylinder two (26), connector four (27), straight line cylinder three (28), connector five (29), the oscillating cylinder four (22)
Cylinder body be fixed on the lower part of the bottom plate (4), rotation axis passes through the bottom plate (4) and the connector two (23)
It is fixedly connected, the connector two (23), connector three (25), connector four (27), connector five (29) successively can be rotated
Connection, the both ends of the straight line cylinder one (24) rotatably connect with the connector two (23), connector three (25) respectively
It connecing, the both ends of the straight line cylinder two (26) are rotatably connected with the connector three (25), connector four (27) respectively,
The both ends of the straight line cylinder three (28) are rotatably connected with the connector four (27), connector five (29) respectively, directly
Line cylinder one (24), straight line cylinder two (26), straight line cylinder three (28) are used as power original part drive connection part two (23), connector
Three (25), connector four (27), connector five (29) be rotatably connected between relative rotation.
2. multifunctional obstacle-surmounting robot system according to claim 1, which is characterized in that the oscillating cylinder one (8),
Oscillating cylinder two (12), oscillating cylinder four (22) can be replaced motor or hydraulic motor, straight line cylinder one (24), straight line gas
Cylinder two (26), straight line cylinder three (28) can be replaced electric cylinders or hydraulic cylinder.
3. multifunctional obstacle-surmounting robot system according to claim 1, which is characterized in that the bottom plate (4), connector
One (11), fixed plate one (17), connector two (23), connector three (25), connector four (27), connector five (29) are by aluminium
Alloy is made.
4. multifunctional obstacle-surmounting robot system according to claim 1, which is characterized in that the connector one (11) is
L shape, the connector three (25) are V-arrangement.
5. multifunctional obstacle-surmounting robot system according to claim 1, which is characterized in that the connector three (25),
Connector four (27) is hollow component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821873352.8U CN209051505U (en) | 2018-11-14 | 2018-11-14 | A kind of multifunctional obstacle-surmounting robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821873352.8U CN209051505U (en) | 2018-11-14 | 2018-11-14 | A kind of multifunctional obstacle-surmounting robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209051505U true CN209051505U (en) | 2019-07-02 |
Family
ID=67053379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821873352.8U Withdrawn - After Issue CN209051505U (en) | 2018-11-14 | 2018-11-14 | A kind of multifunctional obstacle-surmounting robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209051505U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278890A (en) * | 2018-11-14 | 2019-01-29 | 嘉兴学院 | A kind of multifunctional obstacle-surmounting robot system |
-
2018
- 2018-11-14 CN CN201821873352.8U patent/CN209051505U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278890A (en) * | 2018-11-14 | 2019-01-29 | 嘉兴学院 | A kind of multifunctional obstacle-surmounting robot system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190702 Effective date of abandoning: 20200521 |
|
| AV01 | Patent right actively abandoned |