CN212149082U

CN212149082U - Automatic walking obstacle crossing machine device

Info

Publication number: CN212149082U
Application number: CN202020924713.8U
Authority: CN
Inventors: 陈沛霖
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-05-27
Filing date: 2020-05-27
Publication date: 2020-12-15
Anticipated expiration: 2030-05-27

Abstract

The utility model provides an automatic walking obstacle crossing machine device, belonging to the technical field of automatic walking mechanical devices, comprising a sweep, a lifting mechanism and a controller, wherein the sweep is in a frame shape and is provided with wheels; the lifting mechanism is used for penetrating through the frame opening of the vehicle plate and lifting the vehicle plate to realize obstacle crossing; and the controller is used for controlling the wheels and the lifting mechanism. The technical problem that the machine device in the prior art cannot walk through obstacles is solved.

Description

Automatic walking obstacle crossing machine device

Technical Field

The utility model belongs to the technical field of the mechanical device of automatic walking, more specifically say, relate to an automatic formula walking hinders machine device more.

Background

A robot is an intelligent automatic device which is continuously updated along with the development of the times, is used for replacing manual labor, particularly a robot, and plays an increasingly important role along with the progress of the times, but a general robot or a robot device can only walk on a flat ground, and once an obstacle is arranged on a road surface, the robot cannot walk, so that a device capable of solving the problems is needed at present.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic formula walking hinders machine device more, aims at solving the technical problem that the machine device among the prior art can't realize realizing the walking through the barrier.

In order to achieve the above object, the utility model adopts the following technical scheme: there is provided an automatic walking obstacle crossing machine device comprising:

the vehicle plate is in a frame shape and is provided with wheels;

the lifting mechanism is used for penetrating through the frame opening of the vehicle plate and lifting the vehicle plate to realize obstacle crossing; and

and the controller is used for controlling the wheels and the lifting mechanism.

As another embodiment of the present application, the lifting mechanism includes:

the supporting frames span the front side and the rear side of the vehicle plate; and

the first top pushing fork is arranged on the bearing frame, the bottom end of the first top pushing fork is provided with a universal ball, the first top pushing fork is adjustable in the position in the frame opening, and the first top pushing fork can push the ground in the vertical direction and can rotate on the horizontal plane.

As another embodiment of this application, the first ejector fork is connected with the power take off of first motor to rotate with the help of first motor, first motor sets firmly in the ejection end of first cylinder, first cylinder vertical setting.

As another embodiment of the present application, the first cylinder is fixedly disposed on an L-shaped seat, the L-shaped seat is connected to the supporting frame through a screw mechanism, the L-shaped seat can reciprocate in a traveling direction of the truck bed by the screw mechanism, and the supporting frame can move in a direction perpendicular to the traveling direction of the truck bed.

As another embodiment of this application, the bearing frame is the U-shaped structure that strides the sweep, the both ends of bearing frame respectively with the front and back end sliding connection of sweep, the bearing frame is with the help of locating the second cylinder motion on the sweep.

As another embodiment of this application, screw mechanism includes transverse connection the lead screw of bearing frame, threaded connection has the sleeve on the lead screw, L shape seat links firmly with the sleeve, the lead screw rotates with the help of the second motor, L shape seat still sliding connection has the horizontal pole, the horizontal pole links firmly the bearing frame, the horizontal pole parallels with the lead screw, the horizontal pole is used for the restriction L shape seat rotates around the lead screw.

As another embodiment of the present application, the L-shaped seat, the lead screw, and the cross bar are at least two groups, and each group includes at least two first push-top forks.

As another embodiment of the present application, the wheel is moved by means of a third motor, and the controller is configured to control the first motor, the second motor, the third motor, and the first cylinder and the second cylinder.

The utility model discloses an automatic formula walking hinders machine device more, beneficial effect lies in: the device can realize the crossing of the obstacles by utilizing the lifting mechanism, realize the clearing work of the obstacles and realize the walking operation smoothly.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural view of an automatic walking obstacle crossing machine device provided by an embodiment of the present invention.

In the figure: 1. sweep, 2, wheel, 3, controller, 4, supporting frame, 5, first push fork, 6, universal ball, 7, L shape seat, 8, lead screw, 9, sleeve, 10, horizontal pole, 21, first motor, 22, second motor, 31 first cylinder, 32, second cylinder.

Detailed Description

The following describes the automatic walking obstacle crossing machine device according to the present invention with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1, the present invention provides an automatic walking obstacle crossing machine device, including:

the vehicle plate 1 is in a frame shape and is provided with wheels 2;

the lifting mechanism is used for penetrating through a frame opening of the vehicle plate 1 and lifting the vehicle plate 1 to realize obstacle crossing; and

and the controller 3 is used for controlling the wheels 2 and the lifting mechanism.

In the embodiment, the vehicle plate 1 travels by means of the wheels 2, and in the traveling process, when an obstacle or unevenness exists on the ground, the vehicle plate 1 is lifted by means of the lifting mechanism, so that obstacle crossing is realized, and the mechanism is controlled by the controller 3.

As the utility model provides an embodiment of an automatic formula walking machine device that hinders more, lifting mechanism includes:

the supporting frames 4 span the front side and the rear side of the vehicle plate 1; and

first push away a fork 5, establish on bearing frame 4, the bottom of first push away a fork 5 is equipped with universal ball 6, first push away a fork 5 is in the intraoral position of frame is adjustable, first push away a fork 5 can push away ground and can rotate on the horizontal plane in vertical direction.

In the embodiment, when the ground meets an obstacle, the position of the first push-top fork 5 is adjusted, after the adjustment is completed, the first push-top fork 5 is pushed in the vertical direction, then the front wheel 2 is lifted and continues to travel, so that the front wheel 2 firstly crosses the obstacle and then descends, the front wheel firstly lands, when the first push-top fork 5 reaches the position of the obstacle, the first push-top fork 5 is lifted in the vertical direction, and with the continuous travel, the first push-top fork 5 also crosses the obstacle, when the rear wheel 2 reaches the position of the obstacle, the position of the first push-top fork 5 is adjusted, so that the rear wheel 2 is lifted up as well and continues to advance, so that the rear wheel 2 crosses the obstacle, which is the whole operation process, and when the universal ball 6 touches the ground, the position of the first push-top fork 5 can be adjusted on the horizontal plane, for example, if the ground is uneven, the position can be adjusted by rotating the first ejector fork 5, and the balanced position can be obtained again.

As the utility model provides an embodiment of an automatic formula walking hinders machine device more from, the power take off end of first motor 21 is connected to first top fork 5 that pushes away to rotate with the help of first motor 21, first motor 21 sets firmly in the top of pushing away of first cylinder 31, the vertical setting of first cylinder 31.

As an embodiment of the utility model provides an automatic formula walking hinders machine device more, first cylinder 31 sets firmly on L shape seat 7, L shape seat 7 passes through screw mechanism and connects bearing frame 4, with the help of screw mechanism L shape seat 7 can be at 1 advancing direction reciprocating motion of sweep, bearing frame 4 can be along the perpendicular to the direction removal that sweep 1 was marchd.

In the present embodiment, the first ejector fork 5 is rotated on the horizontal plane by the first motor 21 to adjust the positions of the two universal balls 6, and the vertical lifting is performed by the ejection of the first cylinder 31.

The first push-top fork 5 moves along the advancing direction of the vehicle plate 1 through a screw rod mechanism, and moves perpendicular to the advancing direction through the movement of the bearing frame 4, so that the universal ball 6 can reach any position of a frame opening, and the tilting of the front side wheel 2 or the tilting of the rear side wheel 2 can be realized during pushing.

As the utility model provides an embodiment of an automatic formula walking machine device that hinders more, bearing frame 4 is the U-shaped structure for spaning sweep 1, bearing frame 4's both ends respectively with sweep 1 front and back end sliding connection, bearing frame 4 moves with the help of locating second cylinder 32 on sweep 1.

As the utility model provides an embodiment of an automatic formula walking machine device that hinders more, screw mechanism includes transverse connection the lead screw 8 of bearing frame 4, threaded connection has sleeve 9 on the lead screw 8, L shape seat 7 links firmly with sleeve 9, lead screw 8 rotates with the help of second motor 22, L shape seat 7 still sliding connection has horizontal pole 10, horizontal pole 10 links firmly bearing frame 4, horizontal pole 10 parallels with lead screw 8, horizontal pole 10 is used for the restriction L shape seat 7 rotates around lead screw 8.

The present embodiment specifically provides the structure of the supporting frame 4, the moving form of the supporting frame 4 by means of the second cylinder 32, and the means for moving the L-shaped base 7 by the screw mechanism, which are controlled by the controller 3.

As the utility model provides an embodiment of an automatic formula walking machine device that hinders more, L shape seat 7, lead screw 8 and horizontal pole 10 are two sets of at least, and every group includes two at least first push away a fork 5.

When the front wheels 2 need to cross the obstacle, the first push-top fork 5 of the front group pushes the front wheels 2 to be lifted, and when the rear wheels 2 need to cross the obstacle, the first push-top fork 5 of the rear group pushes the rear wheels 2 to be lifted, so that a group of mechanisms is not needed to move forwards and backwards to a large extent.

As an embodiment of the present invention, the wheel 2 moves by means of the third motor, and the controller 3 is used to control the first motor 21, the second motor 22, the third motor, and the first cylinder 31 and the second cylinder 32.

In the present embodiment, the controller 3 is used to control the operation of each motor and each cylinder, so as to achieve smooth obstacle crossing, and the controller 3 can obtain signals through a remote controller, so that a user can manually hold the remote controller for operation.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. Automatic formula walking hinders machine device more that moves characterized in that includes:

the vehicle plate is in a frame shape and is provided with wheels;

2. The automated walking obstacle crossing machine device of claim 1, wherein the lifting mechanism comprises:

3. The automatic walking obstacle crossing machine device of claim 2, wherein the first pushing fork is connected to a power output end of a first motor and rotated by means of the first motor, the first motor is fixedly arranged at a pushing end of a first cylinder, and the first cylinder is vertically arranged.

4. The automated walking obstacle crossing machine device of claim 3, wherein the first cylinder is fixed to an L-shaped base, the L-shaped base is connected to the support frame through a screw mechanism, the L-shaped base is reciprocally movable in a traveling direction of a deck by means of the screw mechanism, and the support frame is movable in a direction perpendicular to the traveling direction of the deck.

5. The automatic walking obstacle crossing machine device of claim 4, wherein the supporting frame is a U-shaped structure crossing the vehicle board, two ends of the supporting frame are respectively connected with the front end and the rear end of the vehicle board in a sliding way, and the supporting frame moves by means of a second air cylinder arranged on the vehicle board.

6. The automatic walking obstacle crossing machine device of claim 5, wherein the screw mechanism comprises a screw rod transversely connected with the bearing frame, a sleeve is connected to the screw rod in a threaded manner, the L-shaped seat is fixedly connected with the sleeve, the screw rod rotates by means of a second motor, a cross rod is further connected to the L-shaped seat in a sliding manner, the cross rod is fixedly connected with the bearing frame and is parallel to the screw rod, and the cross rod is used for limiting the L-shaped seat to rotate around the screw rod.

7. The automated walking obstacle crossing machine device of claim 6, wherein the L-shaped seat, lead screw and cross bar are in at least two sets, each set comprising at least two first push-top forks.

8. The automated walking obstacle crossing machine device of claim 7, wherein the wheel is moved by a third motor, and the controller is for controlling the first motor, the second motor, the third motor, and the first cylinder and the second cylinder.