WO2018205380A1 - 用于机器人比赛的升降机构及障碍系统 - Google Patents

用于机器人比赛的升降机构及障碍系统 Download PDF

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Publication number
WO2018205380A1
WO2018205380A1 PCT/CN2017/090974 CN2017090974W WO2018205380A1 WO 2018205380 A1 WO2018205380 A1 WO 2018205380A1 CN 2017090974 W CN2017090974 W CN 2017090974W WO 2018205380 A1 WO2018205380 A1 WO 2018205380A1
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WIPO (PCT)
Prior art keywords
lifting mechanism
trigger
robot
controller
lifting
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Ceased
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PCT/CN2017/090974
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English (en)
French (fr)
Inventor
余小彬
梁辉愉
任冠男
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication date
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Priority to CN201780067456.1A priority Critical patent/CN109890581A/zh
Publication of WO2018205380A1 publication Critical patent/WO2018205380A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for

Definitions

  • the invention relates to the technical field of robot competition, in particular to a lifting mechanism and an obstacle system for a robot competition.
  • each chariot is equipped with a launcher such as a bullet transmitter for shooting. Whether the chariot can get sufficient ammunition supply during the game is an important factor in winning the game.
  • the setting of the competition venue is to set the ammunition depot on a higher platform.
  • the chariot needs to have some extra features or equipment, such as transforming the chariot into its own off-road climbing function, or adding a mechanism to assist the chariot to climb the chariot. This not only leads to a more complicated structure of the chariot, but also affects the actual shooting performance of the chariot to a certain extent.
  • the invention provides a lifting mechanism and an obstacle system for a robot game.
  • a lifting mechanism for a robot game comprising a lifting platform, a lifting mechanism, and a control system; wherein the lifting platform is coupled to the lifting mechanism; the lifting mechanism and the control The system is electrically connected, and the lifting mechanism controls one end of the lifting platform to rise or fall according to a control command sent by the control system.
  • control system includes a controller and an inductor, the inductor is electrically connected to the controller, the controller is electrically connected to the lifting mechanism, and the inductor is used to the controller Sending a sensing signal, and the controller sends a control to the lifting mechanism according to the sensing signal Instruction.
  • the inductor includes a pressure sensor and a detector, and the detector is electrically connected to the controller; when the detector detects that the pressure value received by the pressure sensor reaches a set value, The controller sends a first sensing signal, the controller sends a rising command to the lifting mechanism; and when the detector detects that the pressure sensor is subjected to a pressure value lower than a set value, sending a second to the controller Inducing a signal, the controller sends a descent command to the lift mechanism.
  • the senor includes a detector and a trigger button, the detector is electrically connected to the controller; when the detector detects that the trigger button is in a trigger state, sending the first to the controller Sensing a signal, the controller sending a rising command to the lifting mechanism; and when the detecting device detects that the trigger button is in a trigger release state, sending a second sensing signal to the controller, the controller is The lifting mechanism sends a descent command.
  • the lifting mechanism includes a driving assembly and a transmission assembly
  • the lifting platform includes a movable end
  • the transmission assembly is coupled to the movable end;
  • the driving assembly drives the transmission assembly to rise or fall, thereby driving the The movable end is raised or lowered to switch the lifting platform in a horizontal and inclined state.
  • the drive assembly includes a lead screw disposed in a vertical direction and a drive disc for driving the screw shaft to rotate; the drive assembly is provided with a threaded connection portion that cooperates with the lead screw.
  • the transmission assembly includes a transmission member and a connecting member rotatably coupled to the transmission member, and the connecting member is coupled to the lifting platform.
  • the transmission member is provided with a connecting hole, the axial direction of the connecting hole is arranged in a horizontal direction; the connecting member includes a connecting portion, and the connecting portion is disposed in the connecting hole, and A bearing member is disposed on the adapter portion, and the connecting member rotates relative to the transmission member as the inclination angle of the lifting platform changes.
  • the lifting mechanism further includes a guiding member disposed in a vertical direction, and the transmission assembly is sleeved on the guiding member and movable along the guiding member.
  • the lifting mechanism further includes a housing, the driving assembly is disposed inside the housing; a side portion of the housing is provided with a notch portion, and the transmission assembly is disposed at the notch portion.
  • an obstacle system for a robot game including moving a moving robot, a triggering system, a resource island, and a lifting mechanism as described above, the lifting mechanism being disposed at an edge of the resource island, and when the triggering system is triggered, one end of the lifting platform rises to the resource island The robot is capable of reaching the resource island via the lifting platform.
  • the trigger system when the trigger system is triggered by the mobile robot, the trigger system sends a trigger signal to the control system, and the control system controls the lifting mechanism to make the lifting platform according to the trigger signal.
  • the control system controls the lifting mechanism to make the lifting platform according to the trigger signal.
  • One end rises to the resource island.
  • the trigger system is a push trigger system
  • the mobile robot includes a mechanical arm; when the mechanical arm presses the trigger system, the trigger system is triggered.
  • the trigger system is an inductive trigger system
  • the mobile robot includes a sensor chip; when the trigger system senses the sensor chip, the trigger system is triggered.
  • the lifting mechanism for robot competition of the present invention controls the lifting mechanism to raise or lower one end of the lifting platform by the control system, so that the lifting platform can form a slope surface.
  • the upgrading mechanism is disposed on the terrain with the height difference.
  • the lifting mechanism raises the lifting platform, so that the slope surface formed by the lifting platform can be connected with the high terrain region, and then A passage is provided for the moving object that needs to pass through the terrain with the height difference, so that the object can smoothly reach the high terrain area.
  • the obstacle system for robot competition of the present invention controls the lifting mechanism to raise or lower one end of the lifting platform by the control system, so that the lifting platform can form a slope surface.
  • the upgrade mechanism is disposed at the edge of the resource island having a height difference from the ground.
  • FIG. 1 is a schematic structural view showing a lifting platform of a lifting mechanism for a robot game in a lowered state according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view showing a lifting platform of a lifting mechanism for a robot game in a raised state according to an embodiment of the present invention.
  • FIG. 3 is a perspective view showing a lifting mechanism of a lifting mechanism for a robot game shown in an embodiment of the present invention in the state shown in FIG. 1.
  • FIG. 4 is a perspective view showing a lifting mechanism of a lifting mechanism for a robot game shown in an embodiment of the present invention in the state shown in FIG. 2.
  • Figure 5 is a front elevational view of the lifting mechanism of the lifting mechanism for a robot game shown in the embodiment of the present invention shown in Figure 4;
  • Figure 6 is a plan view of the lifting mechanism of the lifting mechanism for the robot game shown in the embodiment of the present invention shown in Figure 4 .
  • Figure 7 is a cross-sectional view of the transmission assembly of the lifting mechanism of the lifting mechanism for robot racing of the present invention shown in Figure 4 .
  • FIG. 8 is a schematic structural view of another lifting mechanism for a lifting mechanism for a robot game according to an embodiment of the present invention.
  • 9 to 11 are structural diagrams of an obstacle system for a robot game according to an embodiment of the present invention.
  • a lifting mechanism 1 for a robot game includes a lifting platform 10, a lifting mechanism 20, and a control system.
  • the lifting platform 10 includes a first end 110 and a second end 120, and the second end 120 of the lifting platform 10 is connected to the lifting mechanism 20.
  • the lifting mechanism 20 is electrically connected to the control system, and the lifting mechanism 20 controls the second end 120 of the lifting platform 10 to rise or fall according to a control command sent by the control system.
  • the lifting platform 10 is in a horizontal state.
  • the lifting platform 10 is in a raised state.
  • the lifting mechanism 1 for robot competition of the present invention controls the lifting mechanism 20 to raise or lower the second end 120 of the lifting platform 10 by the control system, so that the lifting platform 10 can form a slope surface ( as shown in picture 2).
  • the upgrading mechanism 1 of the present invention is disposed at a terrain having a height difference.
  • the lifting mechanism 20 performs a lifting operation on the lifting platform 10, and the second end 120 of the lifting platform 10 is raised. Therefore, the slope surface formed by the lifting platform 10 can be connected with the high terrain region, thereby providing a passage for the moving object that needs to pass the terrain with the height difference, so that the object can smoothly reach the high terrain region.
  • the lifting mechanism 20 includes a housing 260 , a driving assembly 201 , and a transmission assembly 202 .
  • the driving assembly 201 is disposed inside the housing 260 .
  • a side portion of the housing 260 is provided with a notch portion 261 penetrating the housing 260 in a vertical direction, and the transmission assembly 202 is disposed at the notch portion 261.
  • the second end 120 of the lifting platform 10 is a movable end, and the transmission component 202 is connected to the second end 120 of the lifting platform 10 .
  • the drive assembly 201 drives the transmission assembly 202 to rise or fall within the notch portion 261.
  • the transmission assembly 202 in turn drives the second end 120 of the lifting platform 10 to rise or fall to switch the lifting platform 10 in a horizontal and tilting state.
  • the lifting platform 10 is in a horizontal state (ie, a lowered state).
  • the position of the transmission assembly 202 is at the bottom of the notch portion 261, as shown in FIG.
  • the lifting platform 10 is in an inclined state (i.e., in a raised state).
  • the position of the transmission assembly 202 is at the top of the notch portion 261, as shown in FIG.
  • the drive assembly 201 includes a lead screw 220 disposed in a vertical direction and a drive disc 230 for driving the rotation of the lead screw 220.
  • the transmission assembly 202 is provided with a threaded connection portion that cooperates with the screw rod 220.
  • the driving disk 230 drives the screw 220 to rotate, and the threaded connecting portion moves relative to the screw rod 220 in a vertical direction, so that the transmission component 202 can move in a vertical direction, thereby driving the
  • the second end 120 of the lifting platform 10 is moved in a vertical direction to switch the lifting platform 10 in a horizontal and inclined state.
  • the lifting mechanism 20 further includes a guiding member 210 disposed in a vertical direction
  • the transmission assembly 202 includes a socket portion sleeved on the guiding member 210, and the transmission assembly 202 passes through the socket The portion is movable along the guide member 210.
  • the guide member 210 may be an optical axis that serves to guide the movement of the transmission assembly 202 in the vertical direction.
  • the transmission assembly 202 includes a transmission member, a connecting member 250 rotatably coupled to the transmission member, and a baffle 280 disposed outside the transmission member.
  • the transmission member is provided with the threaded connection portion, and the connecting member 250 is connected to the lifting platform 10.
  • the driving disk 230 drives the screw 220 to rotate, and the threaded connecting portion moves relative to the screw rod 220 in a vertical direction, so that the connecting member 250 can move in a vertical direction, thereby driving the The second end 120 of the lifting platform 10 is moved in a vertical direction to switch the lifting platform 10 in a horizontal and inclined state.
  • the transmission member is provided with a connecting hole through which the connecting member 250 is disposed.
  • the baffle 280 is provided with a through hole 241 corresponding to the connecting hole, and the connecting hole is The axial direction of the through hole 241 is both disposed in the horizontal direction.
  • the connecting member 250 includes an adapter portion 251 extending through the through hole 241 and the connecting hole and rotatable along an axial direction of the connecting hole, so that the connecting member 250 It is rotatable relative to the transmission member as the inclination angle of the lifting platform 10 moves up and down.
  • the connecting member 250 can be rotated to a position matching the inclination angle of the lifting platform 10, so that the lifting platform 10 is always subjected to the lifting process.
  • the supporting action of the connecting member 250 is maintained to be stable.
  • the adapter portion 251 is provided with a bearing member 252, a retaining ring 253 and a flange bearing 254, and the adapter portion 251 is rotated by the bearing 252 and the flange bearing 254. Thereby, the connecting member 250 is rotated.
  • the retaining ring 253 can protect the bearing 252 and the flange bearing 254.
  • the lift mechanism 20 includes a drive assembly 201' and a drive assembly 202', the drive assembly 201' including a hydraulic ram 270, the drive assembly 202' including an X-link 291.
  • a base 292 disposed at a bottom of the X-shaped link 291 and a support plate 293 disposed at a top of the X-shaped link 291.
  • the second end 120 of the lifting platform 10 is coupled to the support plate 293.
  • the hydraulic cylinder 270 drives the X-shaped link 291 to expand and contract in the vertical direction
  • the X-shaped link 291 can move the support plate 293 in the vertical direction, thereby driving the support plate 293.
  • the second end 120 of the lifting platform 10 is raised or lowered to switch the lifting platform 10 in a horizontal and inclined state.
  • the transmission assembly 202' may further include the connecting member 250 described in the first structural manner of the lifting structure 20 as described above, and the supporting plate 293 may have the first opening of the lifting structure 20 as described above.
  • the adapter portion 251 of the connecting member 250 is actually disposed in the connecting hole and is rotatable relative to the supporting plate 293 along the axial direction of the connecting hole, thereby
  • the connecting member 250 is rotatable relative to the transmission member as the tilting angle of the lifting platform 10 moves up and down. That is, when the lifting platform 10 is raised and lowered, the connecting member 250 can be rotated to a position matching the inclination angle of the lifting platform 10, so that the lifting platform 10 is always subjected to the connecting member 250 during the lifting process. Support, so as to maintain stability.
  • the control system includes a controller and an inductor, the inductor is electrically connected to the controller, and the controller is electrically connected to the lifting mechanism 20.
  • the inductor is configured to send a sensing signal to the controller, and the controller sends a control instruction to the lifting mechanism 20 according to the sensing signal.
  • the inductor includes a pressure sensor and a detector, the detector being electrically coupled to the controller.
  • the detector detects that the pressure value received by the pressure sensor reaches a set value, sends a first sensing signal to the controller, and the controller sends a rising command to the lifting mechanism 20, thereby causing the lifting The second end 120 of the platform 10 is raised.
  • the detector detects the The pressure sensor receives a pressure value lower than a set value, sends a second sensing signal to the controller, and the controller sends a falling command to the lifting mechanism 20, thereby lowering the second end 120 of the lifting platform 10 .
  • the inductor includes a radio frequency identification sensor (RFID), and the detector is electrically connected to the controller.
  • RFID radio frequency identification sensor
  • the controller sends a rising instruction to the lifting mechanism 20, thereby causing the lifting platform 10 to The second end 120 is raised.
  • the inductor includes a detector and a trigger button 310 that is electrically coupled to the controller.
  • the detector detects that the trigger button 310 is in a trigger state (ie, the trigger button 310 is pressed)
  • sending a first sensing signal to the controller the controller sends a rising to the lifting mechanism 20
  • the instructions in turn, raise the second end 120 of the lifting platform 10.
  • the controller is to the lifting mechanism 20
  • a descent command is sent to cause the second end 120 of the elevating platform 10 to descend.
  • the inductor is not limited to the above-described several forms, and the inductor may also adopt other sensing forms.
  • an embodiment of the present invention further provides an obstacle system for a robot game, including a mobile robot 50, a trigger system 30, a resource island 40, and a lifting mechanism 1 as described above, the lifting mechanism 1 is disposed at an edge of the resource island 40, and the control system may be disposed on the resource island 40.
  • the mobile robot 50 is a movable cart.
  • the trigger system 30 When the trigger system 30 is triggered, one end of the lifting platform 10 rises to the resource island 40, and the robot can reach the resource island 40 via the lifting platform. It should be noted that the description about the lifting mechanism 1 in the above embodiments and embodiments is equally applicable to the obstacle system for robot competition of the present invention.
  • the obstacle system for robot competition of the present invention controls the lifting mechanism 20 of the lifting mechanism 1 to raise or lower one end of the lifting platform 10 by the control system, so that the lifting platform 10 can form a sloped surface.
  • the upgrading mechanism 1 is disposed at the edge of the resource island 40 having a height difference from the ground.
  • the lifting mechanism 20 raises the lifting platform 10 to raise one end of the lifting platform 10 to the resource island 40.
  • a path is provided for the mobile robot 50 to facilitate the robot to smoothly reach the resource island 40 via the lifting platform 10.
  • the number of the lifting mechanism 1 may be multiple, and the plurality of lifting mechanisms 1 are evenly distributed around the resource island 40.
  • the mobile robot 50 may select a lifting mechanism 1 closest to itself according to actual conditions. Board the resource island 40.
  • the lifting platforms 10 of the two lifting mechanisms 1 on both sides of the resource island 40 are in a horizontal state.
  • the lifting platforms 10 of the two lifting mechanisms 1 on both sides of the resource island 40 are in a raised state.
  • one of the lifting platforms 10 of the two lifting mechanisms 1 on both sides of the resource island 40 is in a horizontal state, and the other is in a raised state.
  • the trigger system 30 When the trigger system 30 is triggered by the mobile robot 50, the trigger system 30 sends a trigger signal to the control system, and the control system controls one end of the lifting platform 10 to rise to the location according to the trigger signal.
  • Said resource island 40 Said resource island 40.
  • the resource island 40 stores the projectiles or other supplies required by the mobile robot 50, and the mobile robot 50 needs to board the resource island 40 for bolus replenishment, so that the game can be better played.
  • the trigger system 30 is a push-type trigger system
  • the mobile robot 50 includes a robotic arm.
  • the trigger system 30 When the robot arm presses the trigger system 30, the trigger system 30 is triggered, the trigger system 30 sends a trigger signal to the control system, and the control system controls the lift mechanism 20 according to the trigger signal.
  • One end of the lifting platform 10 is raised to the resource island 40.
  • the push trigger system adopts a structural form of the trigger button 310.
  • the trigger system 30 is triggered when the robot arm presses the trigger button 310, the trigger system 30 sends a trigger signal to the control system, and the control system controls the lift mechanism 20 according to the trigger signal.
  • One end of the lifting platform 10 rises to the resource island 40.
  • the trigger system 30 is an inductive trigger system (such as radio frequency identification), and the mobile robot 50 includes an inductive chip (such as a radio frequency tag).
  • the trigger system 30 senses When the sensor chip is described, the trigger system 30 is triggered, the trigger system 30 sends a trigger signal to the control system, and the control system controls the lifting mechanism 20 to raise one end of the lifting platform 10 to the trigger signal according to the trigger signal.
  • the resource island 40 the inductive trigger system uses radio frequency identification technology as an example.
  • the inductive trigger system senses that the corresponding radio frequency tag enters the recognition range, the trigger system 30 is triggered, and the trigger system 30 sends the control system 30 to the control system.
  • a trigger signal the control system controls the lifting mechanism 20 to raise one end of the lifting platform 10 to the resource island 40 according to the trigger signal.
  • the trigger system 30 is not limited to the above-described several forms, and the trigger system 30 may also adopt other trigger forms.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Robotics (AREA)
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Abstract

一种用于机器人比赛的升降机构及障碍系统。升降机构(1)包括升降平台(10)、提升机构(20)以及控制系统；其中，升降平台(10)与提升机构(20)连接；提升机构(20)与控制系统电性连接，提升机构(20)根据控制系统发送的控制指令控制升降平台(10)的一端上升或下降。通过控制系统控制提升机构(20)对升降平台(10)的一端进行上升或下降操作，使升降平台(10)能够形成坡型面。将升级机构设置在具有高度差的地形处，当移动物体需要通过该具有高度差的地形时，提升机构(20)对升降平台(10)进行上升操作，使升降平台(10)形成的坡型面能与高地势区域连接，进而为需要通过该具有高度差的地形的移动物体提供了一个通道，便于该物体能够顺利达到高地势区域。

Description

用于机器人比赛的升降机构及障碍系统 技术领域
本发明涉及机器人比赛技术领域，特别涉及一种用于机器人比赛的升降机构及障碍系统。
背景技术
在机器人射击比赛中(例如游戏战车对抗)，每部战车配备有用于射击的子弹发射机等发射装置，在比赛过程中战车能否得到充足的弹药补给是赢得比赛的一个重要因素。
目前比赛场地的设置，是将弹药库设在一个较高的平台上，该平台与地面之间具有一定的高度差，这就导致了一部分战车不能自主登上该平台进行弹药补给。战车要登上该平台进行弹药补给，就需要具备一些额外的功能或装备，比如将战车改造成自身具备越野攀登的功能，或是在战车上增加能够辅助战车进行攀登的机构，这样不仅导致了战车的结构更加复杂，而且在一定程度上也会影响到战车的实战射击性能。
发明内容
本发明提供一种用于机器人比赛的升降机构及障碍系统。
根据本发明的第一方面，提供一种用于机器人比赛的升降机构，包括升降平台、提升机构以及控制系统；其中，所述升降平台与所述提升机构连接；所述提升机构与所述控制系统电性连接，所述提升机构根据所述控制系统发送的控制指令控制所述升降平台的一端上升或下降。
进一步地，所述控制系统包括控制器和感应器，所述感应器与所述控制器电性连接，所述控制器与所述提升机构电性连接；所述感应器用于向所述控制器发送感应信号，所述控制器根据所述感应信号向所述提升机构发送控 制指令。
进一步地，所述感应器包括压力传感器和检测器，所述检测器与所述控制器电性连接；当所述检测器检测到所述压力传感器承受的压力值达到设定值，向所述控制器发送第一感应信号，所述控制器向所述提升机构发送上升指令；当所述检测器检测到所述压力传感器承受的压力值低于设定值，向所述控制器发送第二感应信号，所述控制器向所述提升机构发送下降指令。
进一步地，所述感应器包括检测器和触发按钮，所述检测器与所述控制器电性连接；当所述检测器检测到所述触发按钮处于触发状态，向所述控制器发送第一感应信号，所述控制器向所述提升机构发送上升指令；当所述检测器检测到所述触发按钮处于触发解除状态，向所述控制器发送第二感应信号，所述控制器向所述提升机构发送下降指令。
进一步地，所述提升机构包括驱动组件和传动组件，所述升降平台包括活动端，所述传动组件与所述活动端连接；所述驱动组件驱动所述传动组件上升或下降，进而带动所述活动端上升或下降以使所述升降平台在水平和倾斜状态切换。
进一步地，所述驱动组件包括沿竖直方向设置的丝杆和用于驱动所述丝杆转动的驱动盘；所述传动组件上设有与所述丝杆配合的螺纹连接部。
进一步地，所述传动组件包括传动件和转动连接于所述传动件的连接件，所述连接件与所述升降平台连接。
进一步地，所述传动件上设有连接孔，所述连接孔的轴向沿水平方向设置；所述连接件包括转接部，所述转接部穿设于所述连接孔内，且所述转接部上设有轴承件，所述连接件随着所述升降平台的倾斜角度的变化而相对于所述传动件转动。
进一步地，所述提升机构还包括沿竖直方向设置的导向件，所述传动组件套接于所述导向件并可沿所述导向件运动。
进一步地，所述提升机构还包括壳体，所述驱动组件设置于所述壳体内部；所述壳体的侧部设有缺口部，所述传动组件设置于所述缺口部。
根据本发明的第二方面，提供一种用于机器人比赛的障碍系统，包括移 动机器人、触发系统、资源岛和如上所述的升降机构，所述升降机构设置于所述资源岛的边缘，当所述触发系统受到触发时，所述升降平台的一端上升到所述资源岛，所述机器人能够途径所述升降平台到达所述资源岛。
进一步地，当所述触发系统受到所述移动机器人的触发时，所述触发系统向所述控制系统发送触发信号，所述控制系统根据所述触发信号控制所述提升机构使所述升降平台的一端上升到所述资源岛。
进一步地，所述触发系统为按压式触发系统，所述移动机器人包括机械手臂；当所述机械手臂按压所述触发系统时，所述触发系统被触发。
进一步地，所述触发系统为感应式触发系统，所述移动机器人包括感应芯片；当所述触发系统感应到所述感应芯片时，所述触发系统被触发。
本发明的用于机器人比赛的升降机构，通过控制系统控制提升机构对升降平台的一端进行上升或下降操作，使升降平台能够形成坡型面。将升级机构设置在具有高度差的地形处，当移动物体需要通过该具有高度差的地形时，提升机构对升降平台进行上升操作，使升降平台形成的坡型面能与高地势区域连接，进而为需要通过该具有高度差的地形的移动物体提供了一个通道，便于该物体能够顺利达到高地势区域。
本发明的用于机器人比赛的障碍系统，通过控制系统控制提升机构对升降平台的一端进行上升或下降操作，使升降平台能够形成坡型面。将升级机构设置在与地面具有高度差的资源岛的边缘，当所述触发系统受到触发时，提升机构对升降平台进行上升操作，使升降平台的一端上升到资源岛，进而为移动机器人提供了一个通道，便于所述机器人能够途径所述升降平台顺利到达所述资源岛。
附图说明
图1是本发明实施例示出的一种用于机器人比赛的升降机构的升降平台处于放下状态的结构示意图。
图2是本发明实施例示出的一种用于机器人比赛的升降机构的升降平台处于升起状态的结构示意图。
图3是在图1所示的状态下本发明实施例示出的用于机器人比赛的升降机构的提升机构的立体示意图。
图4是在图2所示的状态下本发明实施例示出的用于机器人比赛的升降机构的提升机构的立体示意图。
图5是图4所示的本发明实施例示出的用于机器人比赛的升降机构的提升机构的正视图。
图6是图4所示的本发明实施例示出的用于机器人比赛的升降机构的提升机构的俯视图。
图7是图4所示的本发明的用于机器人比赛的升降机构的提升机构的传动组件的剖视图。
图8是本发明实施例示出的用于机器人比赛的升降机构的另一种提升机构的结构示意图。
图9至图11是本发明实施例示出的一种用于机器人比赛的障碍系统的结构示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
本申请说明书以及权利要求书中使用的“第一”“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。同样， “一个”或者“一”等类似词语也不表示数量限制，而是表示存在至少一个。除非另行指出，“前部”、“后部”、“下部”和/或“上部”等类似词语只是为了便于说明，而并非限于一个位置或者一种空间定向。“包括”或者“包含”等类似词语意指出现在“包括”或者“包含”前面的元件或者物件涵盖出现在“包括”或者“包含”后面列举的元件或者物件及其等同，并不排除其他元件或者物件。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而且可以包括电性的连接，不管是直接的还是间接的。
下面结合附图，对本发明的用于机器人比赛的升降机构及障碍系统进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
参见图1和图2所示，本发明实施例的用于机器人比赛的升降机构1，包括升降平台10、提升机构20以及控制系统。其中，所述升降平台10包括第一端110和第二端120，所述升降平台10的第二端120与所述提升机构20连接。所述提升机构20与所述控制系统电性连接，所述提升机构20根据所述控制系统发送的控制指令控制所述升降平台10的第二端120上升或下降。如图1所示，所述升降平台10处于水平状态。如图2所示，所述升降平台10处于升起状态。
由上述实施例可知，本发明的用于机器人比赛的升降机构1，通过控制系统控制提升机构20对升降平台10的第二端120进行上升或下降操作，使升降平台10能够形成坡型面(如图2所示)。将本发明的升级机构1设置在具有高度差的地形处，当移动物体需要通过该具有高度差的地形时，提升机构20对升降平台10进行上升操作，将升降平台10的第二端120升起，使升降平台10形成的坡型面能与高地势区域连接，进而为需要通过该具有高度差的地形的移动物体提供了一个通道，便于该物体能够顺利达到高地势区域。
参见图3至图6所示，在一实施方式中，所述提升机构20包括壳体260、驱动组件201以及传动组件202，所述驱动组件201设置于所述壳体260的内部。所述壳体260的侧部设有缺口部261，所述缺口部261沿竖直方向贯穿所述壳体260，所述传动组件202设置于所述缺口部261处。所述升降平台10的第二端120为活动端，所述传动组件202与所述升降平台10的第二端120连接。这样，所述驱动组件201驱动所述传动组件202在所述缺口部261内上升或下降，所 述传动组件202进而带动所述升降平台10的第二端120上升或下降以使所述升降平台10在水平和倾斜状态切换。如图1所示，所述升降平台10处于水平状态(即放下状态)。当升降平台10处于水平状态时，所述传动组件202的位置处在所述缺口部261底部，如图3所示。如图2所示，所述升降平台10处于倾斜状态(即升起状态)。当升降平台10处于最大倾斜状态时，所述传动组件202的位置处在所述缺口部261顶部，如图4所示。
进一步地，所述驱动组件201包括沿竖直方向设置的丝杆220和用于驱动所述丝杆220转动的驱动盘230。所述传动组件202上设有与所述丝杆220配合的螺纹连接部。所述驱动盘230驱动所述丝杆220转动，通过所述螺纹连接部沿竖直方向与所述丝杆220发生相对运动，实现所述传动组件202能够沿竖直方向移动，进而带动所述升降平台10的第二端120沿竖直方向移动，使所述升降平台10在水平和倾斜状态切换。可选地，所述提升机构20还包括沿竖直方向设置的导向件210，所述传动组件202包括套接于所述导向件210的套接部，所述传动组件202通过所述套接部能够沿所述导向件210运动。导向件210可以是光轴，对传动组件202沿竖直方向运动起到导向的作用。
所述传动组件202包括传动件、转动连接于所述传动件的连接件250以及罩设在所述传动件外侧的挡板280。所述传动件上设有所述螺纹连接部，所述连接件250与所述升降平台10连接。所述驱动盘230驱动所述丝杆220转动，通过所述螺纹连接部沿竖直方向与所述丝杆220发生相对运动，实现所述连接件250能够沿竖直方向移动，进而带动所述升降平台10的第二端120沿竖直方向移动，使所述升降平台10在水平和倾斜状态切换。
配合参见图3至图6所示，所述传动件上设有供连接件250穿设的连接孔，挡板280上设有与所述连接孔相对应的通孔241，所述连接孔与通孔241的轴向均沿水平方向设置。所述连接件250包括转接部251，所述转接部251穿设于所述通孔241以及所述连接孔内并可沿所述连接孔的轴向转动，从而使所述连接件250能够随着所述升降平台10升降时倾斜角度的变化而相对于所述传动件转动。即当所述升降平台10进行升降时，所述连接件250能够转动到与所述升降平台10的倾斜角度相匹配的位置，使升降平台10在升降的过程中始终受到所 述连接件250的承托作用，从而保持平稳。
进一步地，参见图7所示，所述转接部251上设有轴承件252、挡圈253和法兰轴承254，所述转接部251通过所述轴承252和法兰轴承254实现转动，从而带动所述连接件250转动。挡圈253可以对所述轴承252和法兰轴承254起到保护作用。
参见图8所示，在一实施方式中，所述提升机构20包括驱动组件201’以及传动组件202’，所述驱动组件201’包括液压油缸270，所述传动组件202’包括X型连杆291、设置于所述X型连杆291底部的底座292以及设置于所述X型连杆291顶部的支撑板293，所述升降平台10的第二端120与所述支撑板293连接。这样，所述液压油缸270驱动所述X型连杆291沿竖直方向伸缩时，所述X型连杆291能够带动所述支撑板293沿竖直方向移动，进而使所述支撑板293带动所述升降平台10的第二端120上升或下降，以使所述升降平台10在水平和倾斜状态切换。
进一步地，所述传动组件202’还可以包括如上述所述提升结构20的第一种结构方式中描述的连接件250，所述支撑板293上可以开设如上述所述提升结构20的第一种结构方式中描述的所述连接孔，所述连接件250的转接部251真是穿设于所述连接孔内并可沿所述连接孔的轴向相对所述支撑板293转动，从而使所述连接件250能够随着所述升降平台10升降时倾斜角度的变化而相对于所述传动件转动。即当所述升降平台10进行升降时，所述连接件250能够转动到与所述升降平台10的倾斜角度相匹配的位置，使升降平台10在升降的过程中始终受到所述连接件250的承托作用，从而保持平稳。
所述控制系统包括控制器和感应器，所述感应器与所述控制器电性连接，所述控制器与所述提升机构20电性连接。所述感应器用于向所述控制器发送感应信号，所述控制器根据所述感应信号向所述提升机构20发送控制指令。
在一实施方式中，所述感应器包括压力传感器和检测器，所述检测器与所述控制器电性连接。当所述检测器检测到所述压力传感器承受的压力值达到设定值，向所述控制器发送第一感应信号，所述控制器向所述提升机构20发送上升指令，进而使所述升降平台10的第二端120升起。当所述检测器检测到所述 压力传感器承受的压力值低于设定值，向所述控制器发送第二感应信号，所述控制器向所述提升机构20发送下降指令，进而使所述升降平台10的第二端120下降。
在一实施方式中，所述感应器包括射频识别传感器(RFID)，所述检测器与所述控制器电性连接。当所述射频识别传感器感应到相应的射频标签进入识别范围时，向所述控制器发送第一感应信号，所述控制器向所述提升机构20发送上升指令，进而使所述升降平台10的第二端120升起。当所述射频识别传感器感应到相应的射频标签脱离识别范围时，向所述控制器发送第二感应信号，所述控制器向所述提升机构20发送下降指令，进而使所述升降平台10的第二端120下降。
配合参见图1和图2所示，在一实施方式中，所述感应器包括检测器和触发按钮310，所述检测器与所述控制器电性连接。当所述检测器检测到所述触发按钮310处于触发状态(即所述触发按钮310被按下)，向所述控制器发送第一感应信号，所述控制器向所述提升机构20发送上升指令，进而使所述升降平台10的第二端120升起。当所述检测器检测到所述触发按钮310处于触发解除状态(即所述触发按钮310未被按下)，向所述控制器发送第二感应信号，所述控制器向所述提升机构20发送下降指令，进而使所述升降平台10的第二端120下降。
需要说明的是，所述感应器并不仅限于上述描述的几种形式，所述感应器还可以采用其他感应形式。
参见图9至图11所示，本发明实施例还提供一种用于机器人比赛的障碍系统，包括移动机器人50、触发系统30、资源岛40和如上所述的升降机构1，所述升降机构1设置于所述资源岛40的边缘，所述控制系统可以设在所述资源岛40上。在本实施例中，所述移动机器人50为可移动的小车。当所述触发系统30受到触发时，所述升降平台10的一端上升到所述资源岛40，所述机器人能够途径所述升降平台到达所述资源岛40。需要说明的是，在上述实施例和实施方式中关于所述升降机构1的描述同样适用于本发明的用于机器人比赛的障碍系统。
由上述实施例可知，本发明的用于机器人比赛的障碍系统，通过控制系统控制升降机构1的提升机构20对升降平台10的一端进行上升或下降操作，使升降平台10能够形成坡型面。将升级机构1设置在与地面具有高度差的资源岛40的边缘，当所述触发系统30受到触发时，提升机构20对升降平台10进行上升操作，使升降平台10的一端上升到资源岛40，进而为移动机器人50提供了一个通道，便于所述机器人能够途径所述升降平台10顺利到达所述资源岛40。
在一实施方式中，所述升降机构1的数量可以是多个，多个升降机构1均匀围设于资源岛40的四周，移动机器人50可以根据实际情况，选择距离自己最近的一个升降机构1登上资源岛40。在图9所示的例子中，资源岛40两侧的两个升降机构1的升降平台10均处于水平状态。在图10所示的例子中，资源岛40两侧的两个升降机构1的升降平台10均处于升起状态。在图11所示的例子中，资源岛40两侧的两个升降机构1的升降平台10中的一个处于水平状态，另一个处于升起状态。
当所述触发系统30受到所述移动机器人50的触发时，所述触发系统30向所述控制系统发送触发信号，所述控制系统根据所述触发信号控制所述升降平台10的一端上升到所述资源岛40。可选地，所述资源岛40上存放有移动机器人50所需要的弹丸或其他补给品，移动机器人50需要登到资源岛40上进行弹丸补给，从而能够更好地进行比赛。
在一实施方式中，所述触发系统30为按压式触发系统，所述移动机器人50包括机械手臂。当所述机械手臂按压所述触发系统30时，所述触发系统30被触发，所述触发系统30向所述控制系统发送触发信号，所述控制系统根据所述触发信号控制所述提升机构20使升降平台10的一端上升到所述资源岛40。可选地，所述按压式触发系统采用触发按钮310的结构形式。当所述机械手臂按压所述触发按钮310时所述触发系统30被触发，所述触发系统30向所述控制系统发送触发信号，所述控制系统根据所述触发信号控制所述提升机构20使升降平台10的一端上升到所述资源岛40。
在一实施方式中，所述触发系统30为感应式触发系统(如射频识别)，所述移动机器人50包括感应芯片(如射频标签)。当所述触发系统30感应到所 述感应芯片时，所述触发系统30被触发，所述触发系统30向所述控制系统发送触发信号，所述控制系统根据所述触发信号控制所述提升机构20使升降平台10的一端上升到所述资源岛40。可选地，以感应式触发系统采用射频识别技术为例，当感应式触发系统感应到相应的射频标签进入识别范围时所述触发系统30被触发，所述触发系统30向所述控制系统发送触发信号，所述控制系统根据所述触发信号控制所述提升机构20使升降平台10的一端上升到所述资源岛40。
需要说明的是，所述触发系统30并不仅限于上述描述的几种形式，所述触发系统30还可以采用其他触发形式。
以上所述仅是本发明的较佳实施例而已，并非对本发明做任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明，任何熟悉本专业的技术人员，在不脱离本发明技术方案的范围内，当可利用上述揭示的技术内容做出些许更动或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。

Claims (14)

  1. 一种用于机器人比赛的升降机构，其特征在于，包括升降平台、提升机构以及控制系统；其中，所述升降平台与所述提升机构连接；所述提升机构与所述控制系统电性连接，所述提升机构根据所述控制系统发送的控制指令控制所述升降平台的一端上升或下降。
  2. 根据权利要求1所述的用于机器人比赛的升降机构，其特征在于，所述控制系统包括控制器和感应器，所述感应器与所述控制器电性连接，所述控制器与所述提升机构电性连接；所述感应器用于向所述控制器发送感应信号，所述控制器根据所述感应信号向所述提升机构发送控制指令。
  3. 根据权利要求2所述的用于机器人比赛的升降机构，其特征在于，所述感应器包括压力传感器和检测器，所述检测器与所述控制器电性连接；当所述检测器检测到所述压力传感器承受的压力值达到设定值，向所述控制器发送第一感应信号，所述控制器向所述提升机构发送上升指令；当所述检测器检测到所述压力传感器承受的压力值低于设定值，向所述控制器发送第二感应信号，所述控制器向所述提升机构发送下降指令。
  4. 根据权利要求2所述的用于机器人比赛的升降机构，其特征在于，所述感应器包括检测器和触发按钮，所述检测器与所述控制器电性连接；当所述检测器检测到所述触发按钮处于触发状态，向所述控制器发送第一感应信号，所述控制器向所述提升机构发送上升指令；当所述检测器检测到所述触发按钮处于触发解除状态，向所述控制器发送第二感应信号，所述控制器向所述提升机构发送下降指令。
  5. 根据权利要求1所述的用于机器人比赛的升降机构，其特征在于，所述提升机构包括驱动组件和传动组件，所述升降平台包括活动端，所述传动组件与所述活动端连接；所述驱动组件驱动所述传动组件上升或下降，进而带动所述活动端上升或下降以使所述升降平台在水平和倾斜状态切换。
  6. 根据权利要求5所述的用于机器人比赛的升降机构，其特征在于，所述驱动组件包括沿竖直方向设置的丝杆和用于驱动所述丝杆转动的驱动盘；所述传动组件上设有与所述丝杆配合的螺纹连接部。
  7. 根据权利要求5所述的用于机器人比赛的升降机构，其特征在于，所述传动组件包括传动件和转动连接于所述传动件的连接件，所述连接件与所述升降平台连接。
  8. 根据权利要求7所述的用于机器人比赛的升降机构，其特征在于，所述传动件上设有连接孔，所述连接孔的轴向沿水平方向设置；所述连接件包括转接部，所述转接部穿设于所述连接孔内，且所述转接部上设有轴承件，所述连接件随着所述升降平台的倾斜角度的变化而相对于所述传动件转动。
  9. 根据权利要求5所述的用于机器人比赛的升降机构，其特征在于，所述提升机构还包括沿竖直方向设置的导向件，所述传动组件套接于所述导向件并可沿所述导向件运动。
  10. 根据权利要求5所述的用于机器人比赛的升降机构，其特征在于，所述提升机构还包括壳体，所述驱动组件设置于所述壳体内部；所述壳体的侧部设有缺口部，所述传动组件设置于所述缺口部。
  11. 一种用于机器人比赛的障碍系统，其特征在于，包括移动机器人、触发系统、资源岛和如权利要求1-10中任意一项所述的升降机构，所述升降机构设置于所述资源岛的边缘，当所述触发系统受到触发时，所述升降平台的一端上升到所述资源岛，所述机器人能够途径所述升降平台到达所述资源岛。
  12. 根据权利要求11所述的用于机器人比赛的障碍系统，其特征在于，当所述触发系统受到所述移动机器人的触发时，所述触发系统向所述控制系统发送触发信号，所述控制系统根据所述触发信号控制所述提升机构使所述升降平台的一端上升到所述资源岛。
  13. 根据权利要求12所述的用于机器人比赛的障碍系统，其特征在于，所述触发系统为按压式触发系统，所述移动机器人包括机械手臂；当所述机械手臂按压所述触发系统时，所述触发系统被触发。
  14. 根据权利要求12所述的用于机器人比赛的障碍系统，其特征在于，所述触发系统为感应式触发系统，所述移动机器人包括感应芯片；当所述触发系统感应到所述感应芯片时，所述触发系统被触发。
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