CN220114714U

CN220114714U - Obstacle surmounting robot

Info

Publication number: CN220114714U
Application number: CN202221410507.0U
Authority: CN
Inventors: 杨帆; 任强; 潘娇
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-06-07
Filing date: 2022-06-07
Publication date: 2023-12-01
Anticipated expiration: 2032-06-07

Abstract

The utility model belongs to the technical field of bionic robots, and particularly relates to an obstacle surmounting robot which comprises at least two robot bodies, wherein each robot body comprises a body, movable connecting assemblies are arranged between every two adjacent bodies, the two adjacent bodies are movably connected together through the movable connecting assemblies, traveling assemblies are arranged on two sides of each body, each traveling assembly comprises a motor fixedly connected with the body, climbing claws are fixedly arranged on output shafts of the motors, and each climbing claw is arc-shaped. The utility model simulates the four limbs of the reptile, is flexible and changeable in running, can help to more easily cross obstacles, and has higher maneuverability and terrain adaptability.

Description

Obstacle surmounting robot

Technical Field

The utility model relates to the technical field of bionic robots, in particular to an obstacle surmounting robot.

Background

With the development of science and technology, robot technology is becoming mature, and robots are not only used for periodic mechanized production in industrial production, but also used in the fields of military, underwater detection, space detection, rescue and relief work, nuclear industry and the like. Therefore, research on a "special robot" capable of actively adapting and flexibly moving in a special environment is increasingly receiving uniform attention from various countries. Existing robots are mainly divided into four categories: wheel type, leg type, crawler type, compound (such as wheel leg type, crawler type, etc.), wherein wheel type and crawler type use the most widely, wheel type robot moving speed is fast, control is nimble, especially turns to and realizes relatively easily, but should be complicated, bad road conditions adaptability is relatively poor. The crawler-type robot has strong adaptability, large contact area between the crawler and the ground, low movement speed, inflexibility, poor maneuverability and large energy consumption, and therefore, the obstacle surmounting robot is provided.

Disclosure of Invention

The utility model aims to solve the defects in the prior art and provides an obstacle surmounting robot.

In order to achieve the above purpose, the present utility model adopts the following technical scheme: the utility model provides an obstacle crossing robot, includes the robot main part, the quantity of robot main part is two at least, the robot main part includes the fuselage, is equipped with swing joint subassembly between two adjacent fuselages, and two adjacent fuselages are in the same place through swing joint subassembly swing joint, the both sides of fuselage all are equipped with the subassembly of traveling, the subassembly of traveling includes the motor together with fuselage fixed connection, fixed mounting has the claw of climbing on the output shaft of motor, the claw of climbing is the arc.

Preferably, the climbing claw comprises a rotation end and a revolution end which are fixedly connected with the output shaft of the motor.

Preferably, a battery compartment is arranged on the machine body, a storage battery is arranged in the battery compartment, a cover plate is arranged above the storage battery, and the cover plate is detachably connected with the machine body.

Preferably, the mounting grooves are formed in two sides of the machine body, and the motors positioned on two sides of the machine body are fixedly mounted in the corresponding mounting grooves.

Preferably, the cover plate is fixedly provided with a switch and a charging port, the bottom of the cover plate is fixedly provided with a control main board, and the motor, the storage battery, the switch charging port and the control main board are connected together through wires to form a loop.

Preferably, the movable connection assembly comprises two second ear plates fixed on the same machine body and a first ear plate fixed on the adjacent machine body, one ear plate is rotatably arranged between the two second ear plates, one pin rod is arranged between the two second ear plates and the first ear plate, and the pin rod penetrates through the two second ear plates and the first ear plate and is rotatably connected with the two second ear plates and the first ear plate.

Compared with the prior art, the utility model has the beneficial effects that

The length of the climbing claw and the distance between adjacent robot main bodies are increased, so that the ground clearance of the robot main bodies can be increased in the rotating process of the climbing claw, the robot main bodies can easily surmount obstacles, and the obstacle surmounting capability is greatly improved; the plurality of robot main bodies are movably connected through the movable connecting component, so that a certain flexibility is ensured while higher obstacle can be climbed,

drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a partial exploded view of the present utility model;

FIG. 3 is an overall exploded view of the present utility model;

FIG. 4 is a schematic view of the structure of the climbing claw in the utility model;

fig. 5 is a schematic view of a part of the structure of the present utility model.

In the figure: 1. a robot main body; 11. a body; 12. a battery compartment; 13. a storage battery; 14. a cover plate; 15. a switch; 16. a mounting groove; 2. a travel assembly; 21. a motor; 22. climbing claws; 221. a self-rotation end; 222. a revolution end; 3. a movable connecting component; 31. an ear plate I; 32. an ear plate II; 33. and a pin rod.

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.

Referring to fig. 1-5, the present utility model provides a technical solution: the utility model provides an obstacle crossing robot, includes robot main part 1, and the quantity of robot main part 1 is two at least, and robot main part 1 includes fuselage 11, is equipped with swing joint subassembly 3 between two adjacent fuselages 11, and two adjacent fuselages 11 are in the same place through swing joint subassembly 3 swing joint, and the both sides of fuselage 11 all are equipped with the subassembly 2 that traveles, and the subassembly 2 that traveles includes the motor 21 together with fuselage 11 fixed connection, and fixed mounting has climbing claw 22 on the output shaft of motor 21, and climbing claw 22 is the arc.

The climbing claw 22 includes a rotation end 221 fixedly connected with the output shaft of the motor 21 and a revolution end 222.

The machine body 11 is provided with a battery compartment 12, a storage battery 13 is arranged in the battery compartment 12, a cover plate 14 is arranged above the storage battery 13, and the cover plate 14 is detachably connected with the machine body 11.

The mounting grooves 16 are formed in two sides of the machine body 11, and the motors 21 located on two sides of the machine body 11 are fixedly mounted in the corresponding mounting grooves 16.

Further, the motor 21 is embedded in the mounting groove 16, so that the motor 21 can be prevented from colliding with an obstacle or being involved in foreign matters in the running process, and the motor 21 is better protected.

The cover plate 14 is fixedly provided with a switch 15 and a charging port, the bottom of the cover plate 14 is fixedly provided with a control main board, and the motor 21, the storage battery 13, the charging port of the switch 15 and the control main board are connected together through wires to form a loop.

Further, the purpose of supplying and cutting off the power to the motor 21 by the storage battery 13 can be achieved by opening the switch 15, and the control main board can be connected with the handheld terminal of the user through Bluetooth or a wireless network, so that the purpose of remote control is achieved.

The movable connection assembly 3 comprises two ear plates 32 fixed on the same machine body 11 and an ear plate I31 fixed on the adjacent machine body 11, the ear plate I31 is rotatably installed between the two ear plates 32, the same pin rod 33 is arranged between the two ear plates 32 and the ear plate I31, and the pin rod 33 penetrates through the two ear plates 32 and the ear plate I31 and is rotatably connected with the two ear plates 32 and the ear plate I31.

Further, when the front machine body 11 turns, the first ear plate 31 rotates between the second ear plates 32, so that the two machine bodies 11 can move in different directions, the two machine bodies 11 are guaranteed to be stronger in integration, compared with the machine body 11, the two machine bodies 11 are larger in stress area, the probability of rollover is lower, the movable connecting assembly 3 with different sizes can be selected according to different actual conditions, and therefore the distance between the two adjacent machine bodies 11 can be flexibly adjusted.

The body 11 and the climbing claws 22 are made of flexible materials.

Furthermore, the material of the machine body 11 is high molecular polymer, such as polyethylene, or alloy material, and the materials have high strength, are not easy to damage, have a certain controllable deformation amount, and reduce the probability of damage caused by jolt in the running process.

Working principle: when the robot is used, the switches 15 on the robot main bodies 1 are sequentially turned on, the storage batteries 13 supply power to the motors 21 on the two sides of the machine body 11, the motors 21 drive the climbing claws 22 to rotate through the rotation ends 221, the revolution ends 222 and the rotation ends 221 are used as circle centers to revolve, and the climbing claws 22 are arc-shaped, so that the robot main bodies 1 are lifted upwards when the revolution ends 222 are at the lowest position, the ground clearance of the robot main bodies 1 is improved, and the robot main bodies 1 can easily pass over obstacles or climb up a high slope.

The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.

Claims

1. Obstacle surmounting robot, including robot main part (1), its characterized in that: the robot comprises at least two robot bodies (1), wherein each robot body (1) comprises a machine body (11), a movable connecting assembly (3) is arranged between every two adjacent machine bodies (11), each two adjacent machine bodies (11) are movably connected together through the movable connecting assembly (3), traveling assemblies (2) are arranged on two sides of each machine body (11), each traveling assembly (2) comprises a motor (21) fixedly connected with each machine body (11), and each climbing claw (22) is fixedly installed on an output shaft of each motor (21) and is arc-shaped.

2. The obstacle surmounting robot of claim 1, wherein: the climbing claw (22) comprises a rotation end (221) and a revolution end (222) which are fixedly connected with an output shaft of the motor (21).

3. The obstacle surmounting robot of claim 1, wherein: the battery compartment (12) is formed in the machine body (11), the storage battery (13) is arranged in the battery compartment (12), the cover plate (14) is arranged above the storage battery (13), and the cover plate (14) is detachably connected with the machine body (11).

4. The obstacle surmounting robot of claim 1, wherein: the two sides of the machine body (11) are provided with mounting grooves (16), and motors (21) positioned on the two sides of the machine body (11) are fixedly mounted in the corresponding mounting grooves (16).

5. A surmounting robot according to claim 3, characterized in that: the cover plate (14) is fixedly provided with a switch (15) and a charging port, the bottom of the cover plate (14) is fixedly provided with a control main board, and the motor (21), the storage battery (13), the charging port of the switch (15) and the control main board are connected together through wires to form a loop.

6. The obstacle surmounting robot of claim 1, wherein: the movable connecting assembly (3) comprises two lug plates (32) fixed on the same machine body (11) and a lug plate I (31) fixed on the adjacent machine body (11), the lug plate I (31) is rotatably installed between the two lug plates (32), the same pin rod (33) is arranged between the two lug plates (32) and the lug plate I (31), and the pin rod (33) penetrates through the two lug plates (32) and the lug plate I (31) and is rotatably connected with the two lug plates (32) and the lug plate I (31).

7. The obstacle surmounting robot of claim 1, wherein: the machine body (11) and the climbing claws (22) are made of flexible materials.