CN219821611U - Obstacle crossing structure of robot and obstacle crossing robot thereof - Google Patents
Obstacle crossing structure of robot and obstacle crossing robot thereof Download PDFInfo
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- CN219821611U CN219821611U CN202321102315.8U CN202321102315U CN219821611U CN 219821611 U CN219821611 U CN 219821611U CN 202321102315 U CN202321102315 U CN 202321102315U CN 219821611 U CN219821611 U CN 219821611U
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Abstract
The utility model discloses a robot obstacle crossing structure and an obstacle crossing robot thereof, and belongs to the technical field of crawler robots. According to the utility model, the telescopic component is arranged on the vehicle body, the height of the tail part of the vehicle body is supported by the telescopic component, the vehicle body can be prevented from tilting backwards, the telescopic component does not occupy the width of the vehicle body, the length of the vehicle body is not excessively increased, the small volume of the vehicle body can be kept, and the use requirement of a narrow space is met.
Description
Technical Field
The utility model relates to the technical field of tracked robots, in particular to a robot obstacle crossing structure and an obstacle crossing robot thereof.
Background
The track robot can turn over backward due to gravity center change when crossing the obstacle, and in order to solve the problem, a common mode is to add a swing arm at present.
For example, chinese patent application publication No. CN115535097a discloses a crawler-type swing arm robot, including automobile body and four swing arms, both sides of automobile body and swing arm are gone up and all rotate and are equipped with the track, utilize the swing of swing arm to realize the support of automobile body and carry out the obstacle crossing. For another example, chinese patent application publication No. CN106892010a discloses a swing arm type tracked robot, in which a swing arm mechanism is located at one side of a frame, and tracks are provided on the frame and on the swing arm. From the structure of the swing arm type robot, although the gravity center of the robot can be adjusted to prevent the robot from overturning, the swing arm type robot can widen the width of the robot crawler to two times, so that the robot cannot be used in a narrow passage.
In the prior art, a mode of a rear support arm is adopted, for example, chinese patent application publication No. CN103419851a discloses a six-bar self-adaptive track robot, which includes tracks, synchronous pulleys, a vehicle body and a driving motor in the middle of the vehicle body, wherein each track is supported by two six-bar linkage mechanisms, the six-bar self-adaptive track robot further includes a tail wheel, the tail wheel corresponds to the structure of the rear support arm, and obstacle surmounting can be realized when the six-bar self-adaptive track robot is unfolded. However, the robot with the rear support arm cannot fully retract the rear support arm in the daily travelling process, so that the whole length of the robot exceeds the standard, and the crawler robot can prevent the robot from rotating in situ when turning in a narrow passage.
Therefore, how to realize obstacle crossing without increasing the overall length and width of the tracked robot is a technical problem facing those skilled in the art.
Disclosure of Invention
The utility model aims to provide a robot obstacle crossing structure and an obstacle crossing robot thereof, which solve the problems in the prior art, and the telescopic assembly is arranged on a vehicle body, the height of the tail part of the vehicle body is supported by the telescopic assembly, so that the vehicle body can be prevented from tilting backwards and overturning, the telescopic assembly cannot occupy the width of the vehicle body, the length of the vehicle body cannot be excessively increased, the small volume of the vehicle body can be kept, and the use requirement of a small space is met.
In order to achieve the above object, the present utility model provides the following solutions:
the utility model provides a robot obstacle crossing structure which comprises a telescopic assembly arranged on a vehicle body, wherein the telescopic assembly comprises a mounting seat and a telescopic rod, the mounting seat is arranged at the tail part of the vehicle body, a fixed part of the telescopic rod is arranged on the mounting seat, a movable part of the telescopic rod stretches towards the lower part of the mounting seat, a ground contact part is arranged at the bottom end of the movable part, and the maximum stretching distance of the ground contact part relative to the mounting seat is larger than the distance between the bottom of the vehicle body and the mounting seat.
Preferably, the telescopic rod is an electric stay rod.
Preferably, the ground contact part adopts a roller structure.
Preferably, the roller structure comprises a wheel frame and a wheel body, wherein the wheel body is symmetrically arranged at two ends of the wheel frame, and the middle part of the wheel frame is fixedly arranged at the bottom end of the movable part.
Preferably, the distance between the wheel bodies is larger than the width of the mounting seat.
The utility model also provides a barrier-crossing robot which comprises a vehicle body and the barrier-crossing structure of the robot, wherein the barrier-crossing structure is arranged on the vehicle body.
Preferably, the two sides of the vehicle body are respectively provided with a crawler belt, and the crawler belt adopts an inverted trapezoid structure.
Preferably, a skid is mounted at the departure angle position at the rear part of the vehicle body, and the skid is positioned between the crawler belt and the mounting seat.
Preferably, the skid is of an L-shaped structure, a vertical edge of the L-shaped structure is arranged at the tail end of the vehicle body, a transverse edge of the L-shaped structure is arranged at the bottom end of the vehicle body, and the height of the transverse edge is lower than or equal to the lowest point of the wheel body.
Compared with the prior art, the utility model has the following technical effects:
(1) According to the utility model, the telescopic component is arranged on the vehicle body, the height of the tail part of the vehicle body is supported by the telescopic component, so that the vehicle body can be prevented from tilting backwards, the telescopic component does not occupy the width of the vehicle body, the length of the vehicle body is not excessively increased, the smaller volume of the vehicle body can be kept, and the use requirement of a narrow space is met;
(2) The telescopic rod adopts the electric stay rod, and the electric stay rod is driven by electricity, so that the problem of increased auxiliary structures caused by hydraulic pressure or air pressure can be avoided, the burden of a vehicle body can be reduced, the relatively small volume of the vehicle body is kept, and the telescopic rod is suitable for use in a narrow space;
(3) The ground contact part adopts the roller structure, and can smoothly move forward in the obstacle crossing process of the vehicle body while being supported by the roller structure in contact with the ground, so that the obstacle crossing process of the vehicle body is reduced;
(4) The roller structure adopts the symmetrically arranged wheel bodies, and the double-wheel body can conform to the advancing direction of the vehicle body, so that the relative rotation between the movable part and the fixed part of the electric stay bar is avoided; the distance between the wheel bodies is larger than the width of the mounting seat, so that the shrinkage height of the wheel bodies can be increased, the telescopic travel of the wheel bodies is increased, and the height range of the adaptive barrier is wider;
(5) According to the utility model, the skid is arranged at the departure angle position at the rear part of the vehicle body, and the skid can effectively prevent the continuous running of the vehicle body from being influenced by sundries such as stones and the like clamped between the roller structure of the electric stay bar and the vehicle body.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a telescopic assembly of the present utility model in an extended state;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a front view of FIG. 1;
FIG. 4 is a schematic view of the telescopic assembly of the present utility model in a contracted state;
FIG. 5 is a side view of FIG. 4;
FIG. 6 is a front view of FIG. 4;
wherein, 1, a fixing part; 2. a movable part; 3. a wheel carrier; 4. a wheel body; 5. a mounting base; 6. a vehicle body; 7. a track; 8. and (5) a skid.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
The utility model aims to provide a robot obstacle crossing structure and an obstacle crossing robot thereof, which are used for solving the problems in the prior art.
In order that the above-recited objects, features and advantages of the present utility model will become more readily apparent, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1 to 6, the present utility model provides a robot obstacle crossing structure, which includes a telescopic assembly mounted on a vehicle body 6, wherein the vehicle body 6 refers to a body of a robot capable of running, generally refers to a track robot, which can be used for mounting instruments or transporting objects, and the track robot may incline backward and upward due to the change of the center of gravity in the obstacle crossing process, and the situation can be effectively avoided by the telescopic assembly. Specifically, the telescopic assembly includes mount pad 5 and telescopic link, and mount pad 5 passes through the afterbody of screw or bolt isotructure installation at automobile body 6, because only need bear the telescopic link of perpendicular to automobile body direction, mount pad 5 need not set up great volume, only need satisfy can the vertical support telescopic link can, the telescopic link can adopt electric pole, hydraulic stem or pneumatic stem, adopts different types of telescopic link to need set up corresponding power supply (power, liquid source or air supply) on automobile body 6. The telescopic link includes fixed part 1 and movable part 2, and wherein, fixed part 1 can install on mount pad 5 through clamping structure, and the movable part 2 of telescopic link stretches out and draws back to the below of mount pad 5. The bottom end of the movable part 2 is provided with a ground contact part which can freely move when contacting with the ground, and the ground contact part can be in a roller type or a slide plate type, so long as the obstacle of the vehicle body 6 travelling can not be caused when the vehicle body 6 is in obstacle crossing. The maximum protruding distance of the ground contact portion with respect to the mounting seat 5 should be larger than the distance between the bottom of the vehicle body 6 and the mounting seat 5, that is, when the obstacle is surmounted, the protruding distance of the ground contact portion can counteract the inclination influence of the height of the obstacle on the vehicle body 6, so that the vehicle body 6 can maintain or approach the horizontal state during normal walking. In summary, the telescopic component is arranged on the vehicle body 6, the height of the tail part of the vehicle body 6 is supported by the telescopic component, the vehicle body 6 can be prevented from tilting backwards, the telescopic component does not occupy the width of the vehicle body 6, the length of the vehicle body 6 is not excessively increased, the small volume of the vehicle body 6 can be kept, and the use requirement of a small space is met.
Further, the telescopic link can adopt electronic vaulting pole, and electronic vaulting pole adopts electric drive, can adopt unified power with automobile body 6 operation, also can independently set up drive power supply, adopts electric drive's mode can avoid adopting the problem that the auxiliary structure that hydraulic pressure or atmospheric pressure lead to increases, can reduce the burden of automobile body 6, keeps the relative small and exquisite volume of automobile body 6, is suitable for the use in narrow and small space.
The ground contact part can adopt a roller structure, the wheel surface of the roller structure is contacted with the ground to realize supporting and sliding, namely, the roller structure is utilized to contact the ground to support, and meanwhile, the roller structure can smoothly roll and move forwards in the obstacle crossing process of the vehicle body 6, so that the obstacle crossing process of the vehicle body 6 is further reduced.
Further, the roller structure comprises a wheel frame 3 and a wheel body 4, the wheel frame 3 is used for supporting the wheel body 4, the wheel body 4 is symmetrically and rotatably arranged at two ends of the wheel frame 3, the middle part of the wheel frame 3 is fixedly arranged at the bottom end of the movable part 2, and an electric stay bar is supported. The roller structure that the double wheel body 4 set up can conform to the advancing direction of automobile body 6, corrects the deflection of movable part 2, avoids the relative rotation between movable part 2 and the fixed part 1 of electronic vaulting pole, guarantees the steady operation of electronic vaulting pole.
The interval between the wheel bodies 4 can be greater than the width of the mounting seat 5, when the movable part 2 is contracted, the contraction height of the wheel bodies 4 can be increased, the telescopic travel of the wheel bodies 4 is increased, and the height range of the adaptive barrier is wider.
As shown in fig. 1 to 6, the present utility model further provides a barrier-crossing robot, which includes a vehicle body 6 and the aforementioned robot barrier-crossing structure mounted on the vehicle body 6, wherein the vehicle body 6 can carry instruments and equipment and work smoothly in a narrow space with barriers.
The crawler belts 7 are respectively arranged on two sides of the robot body 6, the crawler belts 7 are of inverted trapezoid structures, the crawler belts 7 facilitate the robot body 6 of the robot to travel, and the robot adapts to more complicated road conditions.
Skid 8 can be installed at the angle position that leaves at automobile body 6 rear portion, and skid 8 is located between track 7 and mount pad 5, has the clearance between gyro wheel structure shrink back and the automobile body 6, can fill this clearance with skid 8, avoids debris such as stone to block into in this clearance and influence automobile body 6 and continue to advance.
The skid 8 can be of an L-shaped structure, a vertical edge of the L-shaped structure is arranged at the tail end of the vehicle body 6, a horizontal edge of the L-shaped structure is arranged at the bottom end of the vehicle body 6, and the height of the horizontal edge is lower than or equal to the lowest point of the wheel body 4.
The working process of the utility model is as follows:
when the car body 6 normally walks, the electric stay bar is in a contracted state, after encountering a threshold type obstacle, the front end of the car body 6 leans upward, the gravity center moves upwards, at the moment, the movable end of the electric stay bar starts to stretch out to drive the roller structure to support in a grounding manner, the height of the tail part of the car body 6 is lifted, the gravity center of the car body 6 is kept stable, the car body 6 is kept horizontal and does not lean backward, the car body 6 is prevented from turning over, after crossing the obstacle, the movable end of the electric stay bar is retracted, the movable end is prevented from being hooked at the obstacle to influence the continuous travelling, and the problem of hooking is further avoided through the arrangement of the skid 8.
The principles and embodiments of the present utility model have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present utility model; also, it is within the scope of the present utility model to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the utility model.
Claims (9)
1. The utility model provides a robot strides barrier structure which characterized in that: including installing the flexible subassembly on the automobile body, flexible subassembly includes mount pad and telescopic link, the mount pad is installed the afterbody of automobile body, the fixed part of telescopic link is installed on the mount pad, the movable part of telescopic link to the below of mount pad is flexible, the bottom of movable part is provided with the touchdown portion, the touchdown portion for the interval that stretches out of the maximum of mount pad is greater than the bottom of automobile body with the interval of mount pad.
2. The robotic obstacle crossing structure of claim 1, wherein: the telescopic rod adopts an electric stay rod.
3. The robotic obstacle crossing structure of claim 1, wherein: the ground contact part adopts a roller structure.
4. The robotic obstacle crossing structure of claim 3, wherein: the roller structure comprises a wheel frame and a wheel body, wherein the wheel body is symmetrically arranged at two ends of the wheel frame, and the middle part of the wheel frame is fixedly arranged at the bottom end of the movable part.
5. The robotic obstacle crossing structure of claim 4, wherein: the distance between the wheel bodies is larger than the width of the mounting seat.
6. The utility model provides a stride barrier robot which characterized in that: comprising a vehicle body and the robot barrier structure according to claim 4 or 5 mounted on the vehicle body.
7. The obstacle crossing robot of claim 6, wherein: the crawler belt is respectively arranged on two sides of the vehicle body, and the crawler belt adopts an inverted trapezoid structure.
8. The obstacle crossing robot of claim 7, wherein: and a skid is arranged at the departure angle position at the rear part of the vehicle body, and is positioned between the crawler belt and the mounting seat.
9. The obstacle crossing robot of claim 8, wherein: the skid is of an L-shaped structure, the vertical edge of the L-shaped structure is arranged at the tail end of the vehicle body, the transverse edge of the L-shaped structure is arranged at the bottom end of the vehicle body, and the height of the transverse edge is lower than or equal to the lowest point of the wheel body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321102315.8U CN219821611U (en) | 2023-05-10 | 2023-05-10 | Obstacle crossing structure of robot and obstacle crossing robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321102315.8U CN219821611U (en) | 2023-05-10 | 2023-05-10 | Obstacle crossing structure of robot and obstacle crossing robot thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219821611U true CN219821611U (en) | 2023-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321102315.8U Active CN219821611U (en) | 2023-05-10 | 2023-05-10 | Obstacle crossing structure of robot and obstacle crossing robot thereof |
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| Country | Link |
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| CN (1) | CN219821611U (en) |
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- 2023-05-10 CN CN202321102315.8U patent/CN219821611U/en active Active
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