CN218839615U - Robot capable of automatically crossing obstacle - Google Patents
Robot capable of automatically crossing obstacle Download PDFInfo
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- CN218839615U CN218839615U CN202320199376.4U CN202320199376U CN218839615U CN 218839615 U CN218839615 U CN 218839615U CN 202320199376 U CN202320199376 U CN 202320199376U CN 218839615 U CN218839615 U CN 218839615U
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Abstract
The utility model relates to an engineering field, more specifically the robot that can hinder automatically more that says so, including hindering the device more, hinder the device upper end more and install the storing device, hinder the device front end more and install scanning device, hinder the device rear end more and install carrier, actuating cylinder drives one drive gear and moves left or right, drives one and gear three meshing, and one rotation of gear drives gear three rotations, drives two gears four rotations, drives the rotation of rectangular wheel, and then drives wheel and the ground contact above the rectangular wheel, drives device one end perk, and device forward motion, drive device cross the obstacle, and two kinds hinder the device adaptation more are different topography, improve device stationarity.
Description
Technical Field
The utility model relates to an engineering field, more specifically the robot that can hinder more automatically that says so.
Background
The obstacle-surmounting robot is a common engineering machine, such as an obstacle-surmounting robot with the patent number of CN105599818B, and the device comprises a frame, and a walking system, a carrying balance system and a control system which are arranged on the frame; the walking system comprises a main crawler belt assembly for driving the rack to move, an auxiliary crawler belt assembly for assisting the main crawler belt assembly to cross obstacles and an ant-imitating mechanical arm mechanism, wherein the auxiliary crawler belt assembly is arranged on the rack in a turnover manner along the vertical direction, and the ant-imitating mechanical arm mechanism is arranged on the outer side of the main crawler belt assembly; the carrying balance system comprises a loading plate, a supporting hydraulic cylinder and a gravity pendulum, wherein the loading plate is arranged on the frame in a turnover mode, the supporting hydraulic cylinder is used for supporting and adjusting the inclination of the loading plate, and the gravity pendulum is used for keeping the self-balance of the loading plate; the control system comprises a driving motor, a sensor and a controller, wherein the driving motor is used for driving the main track assembly to work, and the controller is electrically connected with the driving motor and the sensor.
Disclosure of Invention
The utility model aims at providing a robot capable of automatically crossing obstacles, which is provided with obstacle crossing parts to adapt to different terrains, thereby improving the stability of the device; and the storage box is added, so that the functionality of the device is enhanced.
The purpose of the utility model is realized through the following technical scheme:
the utility model provides a robot that can hinder automatically, includes hinders the device more, hinder the device upper end more and install the storing device, hinder the device front end more and install scanning device, hinder the device rear end more and install carrying device.
As a further optimization of this technical scheme, the utility model relates to a robot that can hinder automatically more, hinder the device more includes boss one, boss one upper end fixed mounting has the upper cover, boss one rotates with montant and is connected, montant one and axletree fixed connection, axletree rotates with wheel and is connected, montant one upper end fixed mounting has runner one, runner one is connected with the cooperation of belt one, belt one is connected with the cooperation of runner two, runner two and motor one fixed connection, boss one and motor two fixed connection, motor two and gear one fixed connection, gear one meshes the transmission with gear two, gear two meshes the transmission with runner one, runner one and three fixed connection of runner, three and two fixed connection of runner, runner two rotates with the carriage release lever and is connected, gear one and cylinder one fixed connection, cylinder one meshes the transmission with gear three, gear four and stock wheel fixed connection.
As a further optimization of this technical scheme, the utility model relates to a robot that can hinder more automatically, storing device includes boss two, boss two and two fixed connection of cylinder, cylinder two and tripod fixed connection, the tripod is connected with the function pole cooperation, boss two and function pole sliding connection, the function pole is connected with the cooperation of bull stick three, bull stick three and spring fixed connection, bull stick three is connected with the cooperation of slider one, boss two and slider one sliding connection, slider one is connected with the storing box cooperation, boss two and a boss fixed connection.
As a further optimization of this technical scheme, the utility model relates to a robot that can hinder automatically, scanning device includes the shell, shell and controller fixed connection, controller and transmission line fixed connection, transmission line and scanner fixed connection, three fixed connection of shell and motor, three and a screw rod fixed connection of motor, screw rod one is connected with well core rod cooperation, well core rod is connected with a movable plate cooperation, shell and a movable plate sliding connection, movable plate one and two sliding connection of movable plate, well core rod and two meshing transmissions of movable plate, movable plate two and scanner fixed connection, shell and a boss fixed connection.
As a further optimization of this technical scheme, the utility model relates to a robot that can hinder automatically more, delivery device includes boss three, boss three rotates with connecting rod one, connecting rod one and two spring fixed connection, boss three and two spring fixed connection, connecting rod one and delivery box fixed connection, delivery box rotates with the bull stick four to be connected, bull stick four and two connecting rod fixed connection, connecting rod two and nut threaded connection, delivery box and two threaded connection of screw rod, screw rod two rotates with the depression bar to be connected, boss three and a boss fixed connection.
The utility model relates to a but robot of automatic obstacle surmounting's beneficial effect does:
1. the cylinder is started to drive the gear I to move leftwards or rightwards, the gear I is driven to be meshed with the gear III, the gear I rotates to drive the gear III to rotate, the two gears IV rotate to drive the long rod wheel to rotate, the wheel on the long rod wheel is further driven to be contacted with the ground, one end of the device is driven to tilt, the device moves forwards, the device is driven to cross obstacles, the two obstacle crossing devices adapt to different terrains, and the stability of the device is improved;
2. and starting a motor III to drive a screw rod I to rotate, drive the central rod to rotate and drive the moving plate II to move, so that the scanning area is increased.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural diagram of the obstacle crossing device of the present invention;
FIG. 3 is a schematic structural view of the obstacle crossing device of the present invention;
FIG. 4 is a third schematic structural view of the obstacle crossing device of the present invention;
fig. 5 is a fourth schematic structural view of the obstacle crossing device of the present invention;
fig. 6 is a first schematic structural view of the storage device of the present invention;
fig. 7 is a schematic structural view of a storage device of the present invention;
fig. 8 is a third schematic structural view of the storage device of the present invention;
fig. 9 is a first schematic structural diagram of the scanning device of the present invention;
fig. 10 is a schematic structural diagram of a scanning device according to the present invention;
fig. 11 is a schematic structural diagram of a scanning device according to the present invention;
fig. 12 is a first structural schematic diagram of the carrying device of the present invention.
In the figure: 1. an obstacle crossing device; 101. a first boss; 102. an upper cover; 103. a first wheel; 104. a wheel shaft; 105. a first vertical rod; 106. a first rotating wheel; 107. a first belt; 108. a second rotating wheel; 109. a first motor; 110. a second motor; 111. a first gear; 112. a second gear; 113. a first rotating rod; 114. a third rotating wheel; 115. a second rotating rod; 116. a travel bar; 117. a first cylinder; 118. a third gear; 119. a fourth gear; 120. a long rod wheel; 2. a storage device; 201. a second boss; 202. a second air cylinder; 203. a tripod; 204. a function lever; 205. a first spring; 206. a third rotating rod; 207. a first sliding block; 208. a storage box; 3. a scanning device; 301. a housing; 302. a scanner; 303. a transmission line; 304. a controller; 305. a third motor; 306. a first screw rod; 307. a center pole; 308. moving a first plate; 309. moving a second plate; 4. a carrying device; 401. a boss III; 402. a first connecting rod; 403. a second spring; 404. a carrying box; 405. a fourth rotating rod; 406. a second connecting rod; 407. a nut; 408. a pressure lever; 409. and a second screw.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
the wheel I103 rotates to drive the device to move forwards, the starting motor I109 drives the rotating wheel II 108 to rotate, the belt I107 is driven to rotate, the rotating wheel I106 is driven to rotate, the vertical rod I105 is driven to rotate, the wheel axle 104 is driven to rotate, the device is driven to turn, when an obstacle is met, the starting motor II 110 drives the gear I111 to rotate, the gear II 112 is driven to rotate, the rotating rod I113 is driven to rotate, the rotating wheel III 114 is driven to rotate, the three rotating rods II 115 are driven to rotate through the belt, the moving rod 116 is driven to rotate, the device is driven to move far and forwards, the obstacle is skipped, the starting cylinder I117 drives the gear I111 to move leftwards or rightwards, the gear I111 is driven to be meshed with the gear III 118, the gear I111 rotates, the two gears IV 119 are driven to rotate, the long rod wheel 120 is driven to rotate, the wheel on the long rod wheel 120 is driven to be in contact with the ground, one end of the device is driven to tilt, the device moves forwards, the device crosses the obstacle, the two obstacle crossing devices adapt to different terrains, and the stability of the device is improved;
example two:
starting the second cylinder 202 to drive the tripod 203 to move forward, driving the two function rods 204 to move towards two ends, driving the first spring 205 to be stretched, driving the third rotating rod 206 to rotate, driving the first sliding blocks 207 to slide towards the convergence direction, further clamping the storage box 208, and placing tools in the storage box 208;
example three:
the scanner 302 scans and monitors the surrounding environment, data is transmitted to the controller 304 through the transmission line 303, the two motors III 305 are started to drive the two screws I306 to rotate, the central rod 307 is driven to move, the moving plate I308 is driven to move, the moving plate II 309 is driven to rotate, the scanner 302 is driven to move, the scanning position is changed, the motor III 305 is started to drive the screw I306 to rotate, the central rod 307 is driven to rotate, the moving plate II 309 is driven to move, and the scanning area is increased.
Example four:
under the action of the tension of the second spring 403, the first connecting rod 402 is driven to press downwards to prevent the carrying box 404 from tilting, the large tool is placed on the carrying box 404, the second connecting rod 406 is driven to move by rotating the nut 407, the fourth rotating rod 405 is driven to rotate, the large tool is fixed, and the second rotating screw 409 drives the pressing rod 408 to move downwards to press the large tool tightly.
Claims (1)
1. A robot capable of automatically crossing obstacles comprises an obstacle crossing device (1) and is characterized in that: the upper end of the obstacle crossing device (1) is provided with a storage device (2), the front end of the obstacle crossing device (1) is provided with a scanning device (3), and the rear end of the obstacle crossing device (1) is provided with a carrying device (4);
the obstacle crossing device (1) comprises a first boss (101), an upper cover (102) is fixedly mounted at the upper end of the first boss (101), the first boss (101) is rotatably connected with a first vertical rod (105), the first vertical rod (105) is fixedly connected with a wheel shaft (104), the wheel shaft (104) is rotatably connected with a first wheel (103), the first vertical rod (105) is fixedly mounted at the upper end of a first wheel (106), the first wheel (106) is cooperatively connected with a first belt (107), the first belt (107) is cooperatively connected with a second wheel (108), the second wheel (108) is fixedly connected with a first motor (109), the first boss (101) is fixedly connected with the first motor (109), the first boss (101) is fixedly connected with a second motor (110), the second motor (110) is fixedly connected with a first gear (111), the first gear (111) is in meshing transmission with a second gear (112), the second gear (112) is in meshing transmission with a first rotating rod (113), the first rotating rod (113) is fixedly connected with a third rotating rod (115), a moving cylinder (114) is connected with a third rotating rod (115) and a rotating cylinder (116), the gear four (119) is fixedly connected with the long-rod wheel (120);
the storage device (2) comprises a second boss (201), the second boss (201) is fixedly connected with a second air cylinder (202), the second air cylinder (202) is fixedly connected with a tripod (203), the tripod (203) is connected with a function rod (204) in a matched mode, the second boss (201) is connected with the function rod (204) in a sliding mode, the function rod (204) is connected with a third rotating rod (206) in a matched mode, the third rotating rod (206) is fixedly connected with a first spring (205), the third rotating rod (206) is connected with a first sliding block (207) in a matched mode, the second boss (201) is connected with a first sliding block (207) in a sliding mode, the first sliding block (207) is connected with a storage box (208) in a matched mode, and the second boss (201) is fixedly connected with the first boss (101);
the scanning device (3) comprises a shell (301), the shell (301) is fixedly connected with a controller (304), the controller (304) is fixedly connected with a transmission line (303), the transmission line (303) is fixedly connected with the scanner (302), the shell (301) is fixedly connected with a motor III (305), the motor III (305) is fixedly connected with a screw rod I (306), the screw rod I (306) is matched and connected with a central rod (307), the central rod (307) is matched and connected with a moving plate I (308), the shell (301) is slidably connected with the moving plate I (308), the moving plate I (308) is slidably connected with a moving plate II (309), the central rod (307) is engaged and driven with the moving plate II (309), the moving plate II (309) is fixedly connected with the scanner (302), and the shell (301) is fixedly connected with a boss I (101);
the carrying device (4) comprises a third boss (401), the third boss (401) rotates with a first connecting rod (402), the first connecting rod (402) is fixedly connected with a second spring (403), the third boss (401) is fixedly connected with the second spring (403), the first connecting rod (402) is fixedly connected with a carrying box (404), the carrying box (404) is rotatably connected with a fourth rotating rod (405), the fourth rotating rod (405) is fixedly connected with a second connecting rod (406), the second connecting rod (406) is in threaded connection with a nut (407), the carrying box (404) is in threaded connection with a second screw rod (409), the second screw rod (409) is rotatably connected with a pressing rod (408), and the third boss (401) is fixedly connected with the first boss (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320199376.4U CN218839615U (en) | 2023-02-13 | 2023-02-13 | Robot capable of automatically crossing obstacle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320199376.4U CN218839615U (en) | 2023-02-13 | 2023-02-13 | Robot capable of automatically crossing obstacle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218839615U true CN218839615U (en) | 2023-04-11 |
Family
ID=87305955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320199376.4U Active CN218839615U (en) | 2023-02-13 | 2023-02-13 | Robot capable of automatically crossing obstacle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218839615U (en) |
-
2023
- 2023-02-13 CN CN202320199376.4U patent/CN218839615U/en active Active
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