CN212071955U - Ladder climbing equipment for robot - Google Patents
Ladder climbing equipment for robot Download PDFInfo
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- CN212071955U CN212071955U CN202020144805.4U CN202020144805U CN212071955U CN 212071955 U CN212071955 U CN 212071955U CN 202020144805 U CN202020144805 U CN 202020144805U CN 212071955 U CN212071955 U CN 212071955U
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Abstract
The utility model relates to the technical field of robot, especially, relate to a cat ladder equipment for robot, wherein, include: the front ladder stand limbs are respectively connected with a first side and a second side close to the front part of the main body through a first connecting shaft; the rear ladder stand limbs are connected with a first side and a second side which are close to the rear part of the main body through a second connecting shaft respectively; at least four angle sensors are respectively installed on each front ladder limb and each rear ladder limb and used for sensing the ladder climbing direction of each front ladder limb and each rear ladder limb and correcting the ladder climbing angle of each front ladder limb and each rear ladder limb. The technical scheme of the utility model beneficial effect lies in: compare prior art can respond to the cat ladder traffic direction of every preceding cat ladder limb and every back cat ladder limb to correct the cat ladder angle of every preceding cat ladder limb and every back cat ladder limb, thereby can realize comparatively complicated cat ladder action, avoid robot to produce the card machine problem with cat ladder equipment.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a cat ladder equipment for robot.
Background
To can automatic cat ladder mechanical equipment, there is more structural design, but the automatic cat ladder structure that exists at present, its action part often realizes rigid connection through single transmission structure and motor, and action part is when the cat ladder, if the climbing angle is not good leads to the part to block when motionless, leads to the unable smooth and easy work of mechanical device, takes place to tumble even, and the motor is burnt out easily.
Therefore, in view of the above problems, how to prepare an automatic ladder climbing device for an intelligent robot becomes a difficult problem to be solved by those skilled in the art.
Disclosure of Invention
Aiming at the problems in the prior art, the ladder climbing equipment for the robot is provided, and is applied to an intelligent robot, wherein the intelligent robot comprises a main body;
its characterized in that, this cat ladder equipment for robot specifically includes:
the utility model provides a cat ladder equipment for robot, wherein, include:
a main body, a first and a second main bodies,
the front ladder stand comprises two front ladder stand limbs, a first connecting shaft and a second connecting shaft, wherein each front ladder stand limb is connected with a first side and a second side which are close to the front part of the main body in a steering way respectively;
the rear ladder climbing device comprises two rear ladder climbing limbs, a first connecting shaft and a second connecting shaft, wherein each rear ladder climbing limb is connected with a first side and a second side close to the rear part of the main body in a steerable mode through the second connecting shaft;
at least four angle sensors are arranged on each front ladder stand limb and each rear ladder stand limb respectively and used for sensing the running direction of the ladder stand of each front ladder stand limb and each rear ladder stand limb and correcting the ladder stand angle of each front ladder stand limb and each rear ladder stand limb.
Preferably each said front ladder limb includes a first ladder hook.
Preferably each said rear ladder limb includes a second ladder hook.
Preferably, each front ladder climbing limb further comprises a mechanical claw which is arranged on the first side of the first ladder climbing hook, and when the ladder climbing angles of the front ladder climbing limb and/or each rear ladder climbing limb are wrong, the overall ladder climbing form of the ladder climbing equipment for the robot is adjusted.
Preferably, the robot ladder climbing device further comprises a central control device, wherein the central control device is installed inside the front part of the main body and used for controlling the ladder climbing angle of each front ladder climbing limb and each rear ladder climbing limb according to an external control signal.
Preferably, each front ladder climbing limb and each rear ladder climbing limb adopt a seven-shaft transmission structure.
Preferably, the ladder climbing apparatus for a robot further includes a head mounted to an upper portion of the main body, the head further including:
the first camera is arranged at the front part of the head and used for the robot to acquire remote environment information by using the ladder climbing equipment;
the second camera is connected with the first camera and used for the robot to acquire the near environment information by using the ladder climbing equipment;
the third camera is connected with the second camera;
the fourth camera is arranged at the rear part of the head and connected to the third camera, and the third camera and the fourth camera are used for the robot to acquire surrounding environment information through the ladder climbing equipment.
Preferably, the head further comprises:
a radar device, the radar device is connected respectively first camera, the second camera third camera and the fourth camera is right with a constant speed rotation the environmental information far away, near environmental information and environmental information all around carries out the monitoring data.
Preferably, the first camera and the second camera are high dynamic range color stereo cameras.
The technical scheme of the utility model beneficial effect lies in: through installing angle sensor on every preceding cat ladder limb and every back cat ladder limb, compare prior art and can respond to the cat ladder traffic direction of every preceding cat ladder limb and every back cat ladder limb to correct the cat ladder angle of every preceding cat ladder limb and every back cat ladder limb, thereby can realize comparatively complicated cat ladder action, avoid robot to produce the card machine problem with cat ladder equipment.
Drawings
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The drawings are, however, to be regarded as illustrative and explanatory only and are not restrictive of the scope of the invention.
Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.
The above reference numerals denote descriptions:
a main body (1); a signal receiving device (10); a central control device (11); a front ladder limb (2); a first connecting shaft (20); the first ladder stand hook (21); a gripper (22); a rear ladder limb (3); a second connecting shaft (30); a second ladder climbing claw (31); an angle sensor (4); a head (5); a first camera (50); a second camera (51); a third camera (52); a fourth camera (53); a radar device (54).
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be further described with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.
The utility model provides ladder climbing equipment for a robot, which is applied to an intelligent robot, wherein the intelligent robot comprises a main body 1;
this cat ladder equipment for robot specifically includes:
two front ladder stand limbs 2, wherein each front ladder stand limb 2 is rotatably connected with a first side and a second side close to the front part of the main body 1 through a first connecting shaft 20 respectively;
two rear ladder stand limbs 3, each rotatably connected with a first side and a second side close to the rear part of the main body 1 through a second connecting shaft 30;
at least four angle sensor 4, every angle sensor 4 is installed respectively on every preceding cat ladder limb 2 and every back cat ladder limb 3 for the cat ladder traffic direction of every preceding cat ladder limb 2 of response and every back cat ladder limb 3, with the cat ladder angle of correcting every preceding cat ladder limb 2 and every back cat ladder limb 3.
With the above-mentioned ladder climbing equipment for robots, as shown in fig. 1, the ladder climbing equipment for robots in this embodiment comprises two front ladder climbing limbs 2 and two rear ladder climbing limbs 3, wherein each front ladder climbing limb 2 is rotatably connected with a first side and a second side close to the front part of the main body 1 through a first connecting shaft 20, each rear ladder climbing limb 3 is rotatably connected with a first side and a second side close to the rear part of the main body 1 through a second connecting shaft 30, that is, one front ladder climbing limb 2 is respectively installed on the left side and the right side close to the front part of the main body 1 through a first connecting shaft 20, and one rear ladder climbing limb 3 is respectively installed on the left side and the right side close to the rear part of the main body 1 through a second connecting shaft 30.
Further, install at least four angle sensor 4 respectively on every preceding cat ladder limb 2 and every back cat ladder limb 3, every preceding cat ladder limb 2 and every back cat ladder limb 3 come the cat ladder traffic direction of induction machine with cat ladder equipment through angle sensor 4, when the deviation appears in the direction of robot with cat ladder equipment, in order to correct every preceding cat ladder limb 2 and the cat ladder angle of every back cat ladder limb 3, thereby can realize comparatively complicated cat ladder action, avoid the production of machine of card problem with cat ladder equipment machine.
In a preferred embodiment each of the front ladder limbs 2 comprises a first ladder claw 21.
Each rear ladder limb 3 comprises a second ladder claw 31.
Specifically, every preceding cat ladder limb 2 includes that first cat ladder colludes claw 21 and every rear ladder limb 3 includes a second cat ladder colludes claw 31, and in this embodiment, the cat ladder equipment for the robot colludes claw 21 and second cat ladder through first cat ladder and colludes claw 31 and mutually supports, and the not relaxing replaces the mankind to climb on cat ladder pole (not shown in the figure), prevents that the cat ladder equipment for the robot from slipping at the cat ladder in-process, and this cat ladder pole (not shown in the figure) is vertically cat ladder pole.
In a preferred embodiment, each front ladder limb 2 further comprises a mechanical claw 22 arranged on a first side of the first ladder hook 21 for adjusting the overall ladder climbing form of the ladder climbing device for a robot in case of a fault in the execution of the front ladder limb 2 and/or each rear ladder limb 3.
Specifically, still install a gripper 22 on every preceding cat ladder limb 2, when foretell angle sensor 4 detects the cat ladder angle of cat ladder equipment for the robot and appears the mistake to lead to preceding cat ladder limb 2 and/or the execution action of every back cat ladder limb 3 to make mistakes, accessible this gripper 22 assists preceding cat ladder limb 2 to adjust the whole cat ladder form of cat ladder equipment for the robot this moment, thereby avoids the cat ladder equipment for the robot to appear the card machine problem.
In a preferred embodiment, the ladder climbing apparatus for a robot further comprises a signal receiving means 10, and the signal receiving means 10 is installed inside the front portion of the main body 1 for receiving a remote control signal from the outside.
The ladder climbing equipment for the robot further comprises a central control device 11, wherein the central control device 11 is installed inside the front part of the main body 1, connected with the signal receiving device 10 and used for receiving remote control signals and controlling the ladder climbing angle of each front ladder climbing limb 2 and each rear ladder climbing limb 3.
Specifically, a signal receiving device 10 and a central control device 11 are arranged inside the front part of the main body 1, wherein the signal receiving device 10 is used for receiving a remote control signal transmitted from the outside and then transmitting the remote control signal to the central control device 11, and the central control device 11 controls the ladder climbing angles of each front ladder climbing limb 2 and each rear ladder climbing limb 3 according to the remote control signal, for example, when each front ladder climbing limb 2 and each rear ladder climbing limb 3 climb over a ladder rod (not shown in the figure) in front of and behind, the internal central control device 11 can control the ladder climbing angles of each front ladder climbing limb 2 and each rear ladder climbing limb 3, so as to prevent each front ladder climbing limb 2 and each rear ladder climbing limb 3 from generating errors and avoid the problem of jamming of the ladder climbing equipment for robots.
In a preferred embodiment each front ladder limb 2 and each rear ladder limb 3 are of multi-axis drive construction.
Specifically, every preceding cat ladder limb 2 all adopts the multiple axis transmission structure with every back cat ladder limb 3, and this multiple axis transmission structure is including three or seven revolute joints, and in this embodiment, every preceding cat ladder limb 2 and every back cat ladder limb 3 of cat ladder equipment for the robot are through every revolute joint of free rotation to reach the action that needs to be carried out, it is more nimble to compare the transmission structure among the prior art, can realize comparatively complicated cat ladder action.
In a preferred embodiment, the ladder climbing device for a robot further comprises a head 5, wherein the head 5 is mounted on the upper part of the main body 1, and the ladder climbing device specifically comprises:
a first camera 50 installed at the front part of the head part 5 for the robot to acquire the remote environment information by using the ladder climbing device;
the second camera 51 is connected with the first camera 50 and used for the robot to acquire the near environment information by using the ladder climbing equipment;
a third camera 52 connected to the second camera 51;
and the fourth camera 53 is installed at the rear part of the head part 5 and is connected to the third camera 52, and the third camera 52 and the fourth camera 53 are used for acquiring surrounding environment information by the ladder climbing equipment for the robot.
Specifically, as shown in fig. 1, the head part 5 of the robot ladder climbing device comprises a first camera 50, a second camera 51, a third camera 52 and a fourth camera 53, wherein the first camera 50 and the second camera 51 are high dynamic range color stereo cameras, the robot ladder climbing device scans far environment information through the first camera 50, and the second camera 51 is used for scanning near environment information.
Further, a third camera 52 and a fourth camera 53 are combined, in a popular way, the cameras are double-fisheye 360-degree cameras, wherein the third camera 52 is arranged at the front part of the head part 5, the fourth camera 53 is arranged at the rear part of the head part 5, and the robot ladder climbing equipment can acquire surrounding environment information by starting the third camera 52 and the fourth camera 53 in the ladder climbing process so as to find abnormality and execute or stop corresponding actions.
In a preferred embodiment, the head 5 further comprises:
and the radar device 54 is connected with the first camera 50, the second camera 51, the third camera 52 and the fourth camera 53, and rotates at a constant speed to monitor data of the far environment information, the near environment information and the surrounding environment information.
Specifically, as shown in fig. 1, the head portion 5 of the ladder climbing device for a robot further includes a radar device 54, the radar device 54 is respectively connected to the first camera 50, the second camera 51, the third camera 52 and the fourth camera 53, and the radar device 54 rotates at a certain speed, so as to monitor data of far environment information, near environment information and surrounding environment information.
In a preferred embodiment, the first camera and the second camera are high dynamic range color stereo cameras, which have the advantage of acquiring a wider range of environmental information and the advantage of acquiring clearer environmental information.
The technical scheme of the utility model beneficial effect lies in: through installing angle sensor on every preceding cat ladder limb and every back cat ladder limb, compare prior art and can respond to the cat ladder traffic direction of every preceding cat ladder limb and every back cat ladder limb to correct the cat ladder angle of every preceding cat ladder limb and every back cat ladder limb, thereby can realize comparatively complicated cat ladder action, avoid the production of cat ladder equipment card machine problem for the robot.
The above description is only an example of the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and those skilled in the art should be able to realize the equivalent alternatives and obvious variations of the present invention.
Claims (9)
1. A ladder climbing device for a robot is applied to an intelligent robot, and the intelligent robot comprises a main body;
its characterized in that, this cat ladder equipment for robot specifically includes:
the front ladder stand comprises two front ladder stand limbs, a first connecting shaft and a second connecting shaft, wherein each front ladder stand limb is connected with a first side and a second side which are close to the front part of the main body in a steering way respectively;
the rear ladder climbing device comprises two rear ladder climbing limbs, a first connecting shaft and a second connecting shaft, wherein each rear ladder climbing limb is connected with a first side and a second side close to the rear part of the main body in a steerable mode through the second connecting shaft;
at least four angle sensors are arranged on each front ladder stand limb and each rear ladder stand limb respectively and used for sensing the running direction of the ladder stand of each front ladder stand limb and each rear ladder stand limb and correcting the ladder stand angle of each front ladder stand limb and each rear ladder stand limb.
2. A ladder climbing apparatus for a robot as claimed in claim 1 wherein each of the front ladder limbs includes a first ladder climbing claw.
3. A ladder climbing apparatus for a robot as claimed in claim 1 wherein each rear ladder limb includes a second ladder climbing claw.
4. The ladder climbing device for the robot is characterized in that each front ladder climbing limb further comprises a mechanical claw which is arranged on the first side of the first ladder climbing hook, and when the ladder climbing angles of the front ladder climbing limb and/or each rear ladder climbing limb are wrong, the overall ladder climbing form of the ladder climbing device for the robot is adjusted.
5. The ladder climbing apparatus for a robot of claim 1, further comprising a central control device installed inside the front portion of the main body for controlling the ladder climbing angle of each of the front ladder climbing limbs and each of the rear ladder climbing limbs according to an external control signal.
6. A ladder climbing apparatus for a robot as claimed in claim 5 wherein each front ladder limb and each rear ladder limb is of multi-axis drive construction.
7. The ladder climbing apparatus for a robot as claimed in claim 1, further comprising a head mounted to an upper portion of the main body, the head further comprising:
the first camera is arranged at the front part of the head and used for the robot to acquire remote environment information by using the ladder climbing equipment;
the second camera is connected with the first camera and used for the robot to acquire the near environment information by using the ladder climbing equipment;
the third camera is connected with the second camera;
the fourth camera is arranged at the rear part of the head and connected to the third camera, and the third camera and the fourth camera are used for the robot to acquire surrounding environment information through the ladder climbing equipment.
8. The ladder climbing apparatus for a robot as claimed in claim 7, wherein the head further comprises:
a radar device, the radar device is connected respectively first camera, the second camera third camera and the fourth camera is right with a constant speed rotation the environmental information far away, near environmental information and environmental information all around carries out the monitoring data.
9. The ladder climbing apparatus for a robot of claim 7, wherein the first camera and the second camera are high dynamic range color stereo cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020144805.4U CN212071955U (en) | 2020-01-22 | 2020-01-22 | Ladder climbing equipment for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020144805.4U CN212071955U (en) | 2020-01-22 | 2020-01-22 | Ladder climbing equipment for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212071955U true CN212071955U (en) | 2020-12-04 |
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ID=73569250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020144805.4U Active CN212071955U (en) | 2020-01-22 | 2020-01-22 | Ladder climbing equipment for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212071955U (en) |
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2020
- 2020-01-22 CN CN202020144805.4U patent/CN212071955U/en active Active
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