CN210437286U - Be used for robot chassis climbing helping hand bearing structure - Google Patents
Be used for robot chassis climbing helping hand bearing structure Download PDFInfo
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- CN210437286U CN210437286U CN201921276685.7U CN201921276685U CN210437286U CN 210437286 U CN210437286 U CN 210437286U CN 201921276685 U CN201921276685 U CN 201921276685U CN 210437286 U CN210437286 U CN 210437286U
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- climbing
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Abstract
The utility model belongs to the technical field of auxiliary stay device's technique and specifically relates to a be used for robot chassis climbing helping hand bearing structure, it includes the chassis, installs the track in the chassis both sides, its characterized in that: the utility model discloses a robot support device, including chassis, support device, telescopic device, fixed plate, the strutting arrangement who supports the robot, the bearing arrangement is installed to the rear of chassis, the bearing arrangement is including fixing the fixed plate at chassis rear, the strutting arrangement's one end with the fixed plate rotates to be connected, the other end with strutting arrangement's one end rotates to be connected, telescopic device keeps away from strutting arrangement's one end with the fixed plate rotates to be connected, the fixed plate the strutting arrangement with enclose into the triangle-shaped structure between the telescopic device. The utility model aims at providing a be used for robot chassis climbing helping hand bearing structure, its advantage is through setting up the bearing structure at robot chassis rear, prevents that the condition that the robot emptys appears in the in-process of climbing and climbing stair.
Description
Technical Field
The utility model belongs to the technical field of auxiliary stay device's technique and specifically relates to a be used for robot chassis climbing helping hand bearing structure.
Background
At present, along with the development of the robot technology and the increasing expansion of social requirements, the robot plays a role in various fields, such as fire fighting, blasting, mining, agricultural fruit picking and transportation, fruit and vegetable spraying and other field work.
The existing robot driving structure mainly comprises a chassis, tracks arranged on two sides of the chassis, and equipment such as a driving motor arranged inside the chassis, wherein the robot inevitably encounters the situations that road conditions are complex, slopes are more terrains or stairs need to be climbed in the actual task execution process, and the tracks arranged on two sides of the chassis are driven to enhance the trafficability of the robot through the complex terrains when the robot climbs.
The above prior art solutions have the following drawbacks: in the process of climbing, if the gradient of ground and stairs is great, the center of gravity of the robot can cause the instability of the center of gravity of the robot along with the change of the gradient, and even the robot can have the danger of overturning, so that the robot is damaged, the operation is interrupted, and the economic loss is caused.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a be used for robot chassis climbing helping hand bearing structure, its advantage is through setting up the bearing structure at robot chassis rear, prevents that the condition that the robot emptys appears in the in-process of climbing and climbing stair.
The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme:
the utility model provides a be used for robot chassis climbing helping hand bearing structure, includes the chassis, installs the track in the chassis both sides, the bearing structure who supports the robot is installed to the rear on chassis, bearing structure is including fixing the fixing plate at chassis rear, the strutting arrangement of level setting and the telescoping device that the slope set up, strutting arrangement's one end with the fixing plate rotates to be connected, the other end with strutting arrangement's one end rotates to be connected, the telescoping device is kept away from strutting arrangement's one end with the fixing plate rotates to be connected, the fixing plate the strutting arrangement with enclose into the triangle-shaped structure between the telescoping device.
Through adopting above-mentioned technical scheme, the bearing structure that this application set up can support on the stair at the robot rear, prevents that the robot from causing the robot to take place to empty because centrobaric unstability at the in-process of climbing the building to cause the damage of robot, climbing the in-process of stair at the robot, strutting arrangement can laminate on the domatic of stair, if the robot has the tendency of empting backward, the telescoping device can provide the buffering to the robot, prevents that it from taking place to empty.
The utility model discloses further set up to: the utility model discloses a supporting device, including the backup pad of a pair of parallel arrangement, set up a plurality of auxiliary wheels between two backup pads and become holistic sleeve pipe with two backup pads rigid couplings, the backup pad is kept away from sheathed tube one end with the fixed plate rotates to be connected, the sleeve pipe is located the backup pad and keeps away from the one end of fixed plate, the pivot is worn to be equipped with in the cover pipe, the both ends cover of pivot is equipped with the pulley.
By adopting the technical scheme, the auxiliary wheel can be attached to the stairs and rotate along with the movement of the robot in the stair climbing process of the robot, and when the robot works on a plane, the pulley can be supported on the ground to lift the auxiliary wheel off the ground, so that the auxiliary wheel is prevented from being worn due to long-time sliding between the auxiliary wheel and the ground; when the robot climbs the building, if the domatic great time of stair, the robot can take place to topple over backward, when toppling over, the pulley can support on stair, prevents that the further backward of robot from toppling over.
The utility model discloses further set up to: the auxiliary wheel is connected with the supporting plate through a bolt.
Through adopting above-mentioned technical scheme, after the auxiliary wheel used for a long time, wearing and tearing of different degrees can appear, if the auxiliary wheel appears wearing and tearing, can pull down it and change.
The utility model discloses further set up to: the auxiliary wheel is a rubber wheel.
Through adopting above-mentioned technical scheme, strutting arrangement's weight can be alleviateed to the rubber wheel to when the laminating of auxiliary wheel is on stair slope surface, can increase with the frictional force on stair surface.
The utility model discloses further set up to: the telescopic device comprises a pair of pneumatic springs, one end of each pneumatic spring is arranged on the rotating shaft and located between the pulleys and the sleeves, the other end of each pneumatic spring is connected with the fixing plate in a rotating mode, each pneumatic spring comprises a fixing rod which is hollow inside and provided with an opening at one end, a telescopic rod which is arranged inside the fixing rod and slides along the fixing plate, and a spring which is arranged inside the fixing rod and enables the telescopic rod to be always in an extending state.
Through adopting above-mentioned technical scheme, when the robot is climbing the in-process of stair, pneumatic spring can provide the effect of support and buffering to it, prevents that the robot from empting.
The utility model discloses further set up to: the fixed plate is fixedly connected with two sets of lug plates, and the supporting plate and the pneumatic spring are rotatably connected with the fixed plate through the lug plates.
Through adopting above-mentioned technical scheme, the otic placode of setting on the fixed plate makes backup pad and pneumatic spring's one end can rotate with the fixed plate and be connected, when needs change pneumatic spring, can pull down pneumatic spring and change other specifications.
The utility model discloses further set up to: and a baffle ring is arranged between the pneumatic spring and the pulley.
Through adopting above-mentioned technical scheme, when the robot worked, the fender ring can prevent that the pulley from producing the friction between pivoted in-process and the pneumatic spring, causing pneumatic spring's damage.
To sum up, the utility model discloses a beneficial technological effect does:
1. the supporting structure can be abutted to a stair behind the robot, the robot is prevented from toppling due to unstable gravity center in the stair climbing process of the robot, the robot is prevented from being damaged, the supporting device can be attached to the slope surface of the stair in the stair climbing process of the robot, and if the robot has a tendency of toppling backwards, the telescopic device can provide buffering for the robot and prevent the robot from toppling;
2. the supporting device enables the auxiliary wheel to be attached to a stair and rotate along with the movement of the robot in the stair climbing process of the robot, and when the robot works on a plane, the pulley can be supported on the ground to enable the auxiliary wheel to be lifted off the ground, so that the auxiliary wheel is prevented from being worn due to the fact that the auxiliary wheel slides between the auxiliary wheel and the ground for a long time; when the robot climbs a building, if the slope of the stair is large, the robot can topple backwards, and when the robot topples, the pulley can be abutted against the stair, so that the robot is prevented from further toppling backwards;
3. when the robot is in the in-process of climbing stair, pneumatic spring can provide support and the effect of buffering to it, prevents that the robot from toppling over.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic view of the support structure of the present invention;
fig. 3 is a cross-sectional view of the pneumatic spring of the present invention.
In the figure, 1, a chassis; 2. a crawler belt; 3. a support structure; 31. a fixing plate; 311. an ear plate; 32. a telescoping device; 321. a pneumatic spring; 3211. fixing the rod; 3212. a telescopic rod; 3213. a spring; 33. a support device; 331. a support plate; 332. an auxiliary wheel; 333. a sleeve; 334. a rotating shaft; 335. a pulley; 4. and (4) a baffle ring.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, for the utility model discloses a be used for robot chassis climbing helping hand bearing structure, including chassis 1, install track 2 in chassis 1 both sides and set up bearing structure 3 at chassis 1 rear, the robot is climbing the in-process of stair, and bearing structure 3 can support on the stair at robot rear, prevents that the robot from causing the robot to take place to empty because centrobaric unstability in the in-process of climbing the building to cause the damage of robot.
Referring to fig. 1 and 2, bearing structure 3 includes fixed plate 31, telescoping device 32 and strutting arrangement 33, interconnect encloses into the triangle-shaped structure between the three, fixed plate 31 passes through the bolt fastening at the rear on chassis 1, strutting arrangement 33 level sets up, one end is rotated with fixed lower extreme and is connected, the other end sets up with the articulated one end of telescoping device 32, telescoping device 32 slope sets up, and keep away from and rotate with the one end of strutting arrangement 33 pin joint and the upper end of fixed plate 31 and be connected, at the in-process that the robot climbs the stair, strutting arrangement 33 can laminate on the domatic of stair, if the robot has the trend of toppling over backward, telescoping device 32 can provide the buffering to the robot, prevent that it from taking place to topple over.
The supporting device 33 comprises a pair of supporting plates 331 and a plurality of auxiliary wheels 332 arranged between the two supporting plates 331, one end of the supporting plate 331 close to the fixing plate 31 is rotatably connected with the supporting plate 331 through an ear plate 311 fixedly connected to the fixing plate 31, the auxiliary wheels 332 are rotatably connected with the two supporting plates 331 through bolts, the auxiliary wheels 332 can be attached to stairs and rotate along with the movement of the robot in the process of climbing stairs, and the auxiliary wheels 332 are made of rubber, so that the auxiliary wheels 332 can be worn to different degrees after being used for a long time, and can be detached for replacement if the auxiliary wheels 332 are worn. One end of each of the two support plates 331, which is far away from the fixed plate 31, is fixedly connected into a whole through a sleeve 333, a rotating shaft 334 is arranged in the sleeve 333 in a penetrating manner, pulleys 335 are sleeved at two ends of the rotating shaft 334, and when the robot works on a plane, the pulleys 335 can be supported on the ground to lift the auxiliary wheel 332 off the ground, so that the auxiliary wheel 332 is prevented from being worn due to long-time sliding between the auxiliary wheel 332 and the ground; when the robot climbs the building, if the domatic great time of stair, the robot can take place to topple over backward, when toppling over, pulley 335 can support on the stair, prevents that the further backward of robot from toppling over.
Referring to fig. 2 and 3, the telescopic device 32 includes a pair of pneumatic springs 321 symmetrically disposed on two sides of the supporting device 33, one end of the pneumatic spring 321 is rotatably connected to the fixing plate 31 through the ear plate 311, and the other end of the pneumatic spring 321 is sleeved on the rotating shaft 334 and located between the sleeve 333 and the pulley 335. The pneumatic spring 321 includes a fixing rod 3211 having a hollow interior and an open end, an expansion link 3212 inside the fixing rod 3211 and sliding along the fixing plate 31, and a spring 3213 provided inside the fixing rod 3211 and keeping the expansion link 3212 in an extended state at all times.
A baffle ring 4 is arranged between the pneumatic spring 321 and the pulley 335 on both sides of the supporting device 33 to prevent the pulley 335 from rubbing against the pneumatic spring 321 during rotation and damaging the pneumatic spring 321.
The implementation principle of the embodiment is as follows: the supporting structure 3 that sets up can be installed in the rear of robot chassis 1, climbs the in-process of stair at the robot, and auxiliary wheel 332 can paste on the stair, and pulley 335 supports all the time on the stair, prevents that the focus of robot from can leading to the fact the focus of robot unstable along with the change of slope to make the robot take place the danger of toppling over backward, and telescoping device 32 can select different specification and dimension's pneumatic spring 321 according to the weight of robot.
The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.
Claims (7)
1. The utility model provides a be used for robot chassis climbing helping hand bearing structure, includes chassis (1), installs track (2) in chassis (1) both sides, its characterized in that: supporting structure (3) of supporting robot are installed to the rear on chassis (1), supporting structure (3) including fixed plate (31), the strutting arrangement (33) that the level set up and telescoping device (32) that the slope set up fixed plate (1) rear, strutting arrangement (33) the one end with fixed plate (31) rotate to be connected, the other end with the one end of strutting arrangement (33) is rotated to be connected, telescoping device (32) are kept away from the one end of strutting arrangement (33) with fixed plate (31) rotate to be connected, fixed plate (31) strutting arrangement (33) with enclose into the triangle-shaped structure between telescoping device (32).
2. The power-assisted supporting structure for chassis climbing of the robot according to claim 1, characterized in that: strutting arrangement (33) include a pair of parallel arrangement's backup pad (331), set up a plurality of auxiliary wheels (332) between two backup pad (331) and become holistic sleeve pipe (333) with two backup pad (331) rigid couplings, backup pad (331) are kept away from the one end of sleeve pipe (333) with fixed plate (31) rotate and connect, sleeve pipe (333) are located backup pad (331) and are kept away from the one end of fixed plate (31), wear to be equipped with pivot (334) in sleeve pipe (333), the both ends cover of pivot (334) is equipped with pulley (335).
3. The power-assisted supporting structure for chassis climbing of the robot in accordance with claim 2, wherein: the auxiliary wheel (332) is connected with the supporting plate (331) through a bolt.
4. The power-assisted supporting structure for chassis climbing of the robot in accordance with claim 2, wherein: the auxiliary wheel (332) is a rubber wheel.
5. The power-assisted supporting structure for chassis climbing of the robot in accordance with claim 2, wherein: the telescopic device (32) comprises a pair of pneumatic springs (321), one end of each pneumatic spring (321) is sleeved on the rotating shaft (334) and located between the pulley (335) and the sleeve (333), the other end of each pneumatic spring is rotatably connected with the fixing plate (31), each pneumatic spring (321) comprises a fixing rod (3211) which is hollow inside and has an opening at one end, a telescopic rod (3212) which is arranged inside the fixing rod (3211) and slides along the fixing plate (31), and a spring (3213) which is arranged inside the fixing rod (3211) and enables the telescopic rod (3212) to be in an extending state all the time.
6. The power-assisted supporting structure for chassis climbing of the robot in accordance with claim 5, wherein: the fixed plate (31) is fixedly connected with two sets of ear plates (311), the supporting plate (331) and the pneumatic spring (321) are rotatably connected with the fixed plate (31) through the set ear plates (311).
7. The power-assisted supporting structure for chassis climbing of the robot in accordance with claim 5, wherein: a baffle ring (4) is arranged between the pneumatic spring (321) and the pulley (335).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921276685.7U CN210437286U (en) | 2019-08-07 | 2019-08-07 | Be used for robot chassis climbing helping hand bearing structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921276685.7U CN210437286U (en) | 2019-08-07 | 2019-08-07 | Be used for robot chassis climbing helping hand bearing structure |
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| Publication Number | Publication Date |
|---|---|
| CN210437286U true CN210437286U (en) | 2020-05-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921276685.7U Active CN210437286U (en) | 2019-08-07 | 2019-08-07 | Be used for robot chassis climbing helping hand bearing structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634390A (en) * | 2020-06-05 | 2020-09-08 | 山东交通学院 | Remote control drowning rescue device |
| CN111976853A (en) * | 2020-07-13 | 2020-11-24 | 中南林业科技大学 | Walking mechanism for artificial intelligent robot |
-
2019
- 2019-08-07 CN CN201921276685.7U patent/CN210437286U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634390A (en) * | 2020-06-05 | 2020-09-08 | 山东交通学院 | Remote control drowning rescue device |
| CN111976853A (en) * | 2020-07-13 | 2020-11-24 | 中南林业科技大学 | Walking mechanism for artificial intelligent robot |
| CN111976853B (en) * | 2020-07-13 | 2022-08-05 | 中南林业科技大学 | Walking mechanism for artificial intelligent robot |
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