An obstacle-crossing robot

Abstract

The present invention provides an obstacle surmounting robot, comprising: a front right-angle leg mechanism, a base plate, and track wheels; the reinforcing ribs are installed above the base plate, and the reinforcing ribs are connected to the base plate by bolts; the front rotating shaft fixing seat is installed on both sides of the front end of the base plate by bolts; the front rotating shaft is embedded and installed on the front rotating shaft fixing seat, and the front rotating shaft and the front rotating shaft fixing seat are connected by bearings; both ends of the front rotating shaft pass through the front rotating shaft fixing seat and are connected to the front right-angle leg mechanism by bolts; the front wheels are installed on the front right-angle leg mechanism by bolts; the present invention, through the improvement of the obstacle surmounting robot, has the advantages of reasonable structural design, simple movement mode, low manufacturing cost, can meet the high-speed and convenience of wheeled type and the smooth obstacle surmounting performance of tracked type, is suitable for various complex terrains, has strong maneuverability and strong practicality, thereby effectively solving the problems and shortcomings of the existing devices.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more specifically, to an obstacle-crossing robot. Background Art

[0002] At present, obstacle-crossing robots mainly have foot-type, crawler-type and wheel-type structures, each of which has its own advantages and disadvantages: foot-type is convenient for movement, but has a small load-bearing capacity; crawler-type has a large contact area, but a complex structure and high power consumption; wheel-type has high efficiency and high speed, but is only suitable for flat roads, and it is difficult to achieve obstacle-crossing functions on complex roads such as mountainous areas. The obstacle-crossing effect of obstacle-crossing robots on the market is not obvious, and the robots on the market cannot really assist or replace manual work in the process of performing work.

[0003] In view of this, research and improvement are conducted on the existing problems, and an obstacle-crossing robot is provided, aiming to solve the problems and improve the practical value through this technology. Summary of the invention

[0004] The purpose of the present invention is to provide an obstacle-crossing robot to solve the problem that the obstacle-crossing robots proposed in the above background technology mainly have foot-type, track-type and wheel-type structures, and these structures also have their own advantages and disadvantages: the foot-type is convenient for movement, but the load is small; the track-type has a large contact area, but the structure is complex and the power consumption is high; the wheel-type has high efficiency and high speed, but is only suitable for flat roads, and it is difficult to achieve the obstacle-crossing function for complex roads such as mountainous areas. At present, the obstacle-crossing effect of the obstacle-crossing robots on the market is not obvious, and the robots on the market cannot really assist or replace manual work in the process of performing work.

[0005] To achieve the above object, the present invention provides an obstacle-crossing robot, which is achieved by the following specific technical means:

[0006] An obstacle-crossing robot comprises: a front wheel, a front right-angle leg mechanism, a front rotating shaft, a front rotating shaft fixing seat, a T-shaped bearing seat, a worm gear transmission mechanism, a motor bracket, a first stepper motor, a bottom plate, a reinforcing rib, a first DC motor, a planetary reducer, a bevel gear transmission mechanism, a transmission rod, a rear rotating shaft, a rear rotating shaft fixing seat, a rear right-angle leg bracket, a track wheel, a second stepper motor, a small bevel gear, a large bevel gear, and a second DC motor; the reinforcing rib is installed above the bottom plate, and the reinforcing rib is connected to the bottom plate by bolts; the front rotating shaft fixing seat is installed on both sides of the front end of the bottom plate by bolts; the front rotating shaft is embedded and installed on the front rotating shaft fixing seat, and the front rotating shaft is connected to the front rotating shaft fixing seat by bearings; both ends of the front rotating shaft pass through The front rotating shaft fixing seat is connected to the front right-angle leg mechanism by bolts; the front wheel is installed on the front right-angle leg mechanism by bolts; the first stepper motor is installed on the base plate by the motor bracket, and the first stepper motor is connected to the motor bracket by bolts, and the motor bracket is connected to the base plate by bolts; the T-shaped bearing seat is installed on the front and rear ends of the base plate by bolts; the output shaft of the first stepper motor is connected to the front rotating shaft by a turbine worm gear transmission mechanism, and the top end of the turbine worm gear transmission mechanism is embedded and installed on the inner side of the front end T-shaped bearing seat; the rear rotating shaft fixing seat is installed on both sides of the rear end of the base plate by bolts; the rear rotating shaft is installed on both sides of the rear end of the base plate, and the rear rotating shaft is embedded and installed on the inner side of the rear rotating shaft fixing seat, It is connected to the rear shaft fixing seat through a bearing; the transmission rod is embedded and installed on the inner side of the rear shaft, and the transmission rod is connected to the rear shaft through a bearing; both ends of the transmission rod pass through the rear shaft and are connected to the rear right-angle leg bracket through bolts; the track wheel is embedded and installed on the inner side of the rear right-angle leg bracket, and the rear shaft and the track wheel are connected through a flat key; the second stepper motor is installed on the base plate through the motor bracket, and the second stepper motor is connected to the motor bracket through bolts; the output shaft of the second stepper motor is connected to the transmission rod through a worm gear transmission mechanism, and the top end of the worm gear transmission mechanism is embedded and installed on the inner side of the rear end T-shaped bearing seat; the planetary reducer is installed on the base plate through the motor bracket, and the planetary reducer and The motor brackets are connected by bolts; the first DC motor and the second DC motor are installed on the planetary reducer, and the output shafts of the first DC motor and the second DC motor are connected to the input shaft of the planetary reducer; the first DC motor is installed on one side of the second stepper motor, and the second DC motor is installed on the other side of the second stepper motor; the planetary reducer on the first DC motor is connected to the right rear shaft through a bevel gear transmission mechanism, and the planetary reducer of the second DC motor is connected to the left rear shaft through a bevel gear transmission mechanism; the small bevel gear is connected to the input shaft of the planetary reducer through a key; the large bevel gear is connected to the rear shaft through a key, and the small bevel gear is connected to the large bevel gear through meshing.

[0007] As a further optimization of the technical solution, the base plate and reinforcement ribs of an obstacle-crossing robot of the present invention are made of aluminum alloy, and the reinforcement ribs are hollow long strip structures, and the reinforcement ribs are connected on the aluminum plate through right-angle fixings to form a tic-tac-toe structure.

[0008] As a further optimization of the technical solution, the front right-angle leg mechanism and the rear right-angle leg bracket of the obstacle-crossing robot of the present invention are both L-shaped plate structures.

[0009] As a further optimization of the technical solution, the obstacle-crossing robot of the present invention is provided with three front wheels installed on each front right-angle leg mechanism, and the front wheels are located at the two ends and corners of the front right-angle leg mechanism, and the front right-angle leg mechanism is configured as a rotating device through a front rotating shaft.

[0010] As a further optimization of the technical solution, the obstacle-crossing robot of the present invention has two track wheels installed on each rear right-angle leg bracket, and the track wheels are cross-distributed on the rear right-angle leg bracket, and the rear right-angle leg bracket is configured as a rotating device through a rear rotating shaft.

[0011] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0012] 1. The base plate and reinforcing ribs of the present invention are made of aluminum alloy, and the reinforcing ribs are hollow long strip structures. The reinforcing ribs are connected to the aluminum plate through right-angle fixings to form a tic-tac-toe structure, which reduces its own weight. The installation of the reinforcing ribs enhances the stability and firmness of the structure and effectively improves the load-bearing performance of the base plate.

[0013] 2. In the present invention, three front wheels are installed on each front right-angle leg mechanism, and the front wheels are located at the two ends and corners of the front right-angle leg mechanism, and the front right-angle leg mechanism is configured as a rotating device through a front rotating shaft. At the same time, two track wheels are installed on each rear right-angle leg bracket, and the track wheels are cross-distributed on the rear right-angle leg bracket, and the rear right-angle leg bracket is configured as a rotating device through a rear rotating shaft. The front wheels and the track wheels can rotate with the rotation of the front right-angle leg mechanism and the rear right-angle leg bracket. When encountering an obstacle, the device can climb over the obstacle with the obstacle as a fulcrum. It has strong obstacle-crossing performance and is suitable for various complex terrains.

[0014] 3. In the present invention, the planetary reducer on the first DC motor is connected to the right rear shaft through a bevel gear transmission mechanism, and the planetary reducer on the second DC motor is connected to the left rear shaft through a bevel gear transmission mechanism. The two DC motors respectively drive the track wheels on both sides to run, and the differential rotation of the track wheels on both sides can be used to complete the steering, thereby improving the maneuverability of the device in complex road environments.

[0015] 4. Through the improvement of the obstacle-crossing robot, the present invention has the advantages of reasonable structural design, simple movement mode, low manufacturing cost, and can meet both the high speed and convenience of the wheeled type and the smooth obstacle-crossing performance of the crawler type. It is suitable for various complex terrains and has strong maneuverability and practicality, thereby effectively solving the problems and shortcomings of the existing devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 It is a structural schematic diagram of the present invention;

[0018] Figure 2 It is a schematic diagram of the top view of the structure of the present invention;

[0019] Figure 3 It is a side view structural schematic diagram of the present invention;

[0020] Figure 4 It is a schematic diagram of the enlarged structure of point A of the present invention.

[0021] In the figure: front wheel 1, front right-angle leg mechanism 2, front rotating shaft 3, front rotating shaft fixing seat 4, T-shaped bearing seat 5, worm gear transmission mechanism 6, motor bracket 7, first stepper motor 8, bottom plate 9, reinforcing rib 10, first DC motor 11, planetary reducer 12, bevel gear transmission mechanism 13, transmission rod 14, rear rotating shaft 15, rear rotating shaft fixing seat 16, rear right-angle leg bracket 17, crawler wheel 18, second stepper motor 19, small bevel gear 20, large bevel gear 21, second DC motor 22. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0023] It should be noted that, in the description of the present invention, unless otherwise specified, “plurality” means two or more than two; the orientations or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “inside”, “outside”, “front end”, “rear end”, “head” and “tail” are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0024] Furthermore, the terms “first,” “second,” “third,” etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

[0025] Meanwhile, in the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] See also Figures 1 to 4 , the present invention provides a specific technical implementation scheme of an obstacle-crossing robot:

[0027] A robot for overcoming obstacles comprises: a front wheel 1, a front right-angle leg mechanism 2, a front rotating shaft 3, a front rotating shaft fixing seat 4, a T-shaped bearing seat 5, a worm gear transmission mechanism 6, a motor bracket 7, a first stepper motor 8, a bottom plate 9, a reinforcing rib 10, a first DC motor 11, a planetary reducer 12, a bevel gear transmission mechanism 13, a transmission rod 14, a rear rotating shaft 15, a rear rotating shaft fixing seat 16, a rear right-angle leg bracket 17, a track wheel 18, a second stepper motor 19, a small bevel gear 20, a large bevel gear 21, and a second DC motor 22; the reinforcing rib 10 is installed above the bottom plate 9, and the reinforcing rib 10 is connected to the bottom plate 9 by bolts; the front rotating shaft fixing seat 4 is installed on both sides of the front end of the bottom plate 9 by bolts; the front rotating shaft 3 is embedded and installed on the front rotating shaft fixing seat 4, and the front rotating shaft 3 and the front rotating shaft fixing seat 4 are connected by bolts. The front axle 3 is connected with the front right-angle leg mechanism 2 by bolts; the two ends of the front axle 3 pass through the front axle fixing seat 4 and are connected with the front right-angle leg mechanism 2 by bolts; the front wheel 1 is installed on the front right-angle leg mechanism 2 by bolts; the first stepper motor 8 is installed on the base plate 9 through the motor bracket 7, and the first stepper motor 8 is connected to the motor bracket 7 by bolts, and the motor bracket 7 is connected to the base plate 9 by bolts; the T-shaped bearing seat 5 is installed at the front and rear ends of the base plate 9 by bolts; the output shaft of the first stepper motor 8 is connected to the front axle 3 through the turbine worm transmission mechanism 6, and the top end of the turbine worm transmission mechanism 6 is embedded and installed on the inner side of the front end T-shaped bearing seat 5; the rear axle fixing seat 16 is installed on both sides of the rear end of the base plate 9 by bolts; the rear axle 15 is installed on both sides of the rear end of the base plate 9, and the rear axle 15 is embedded and installed in the rear axle fixing seat 16 The rear shaft 15 is connected to the rear shaft fixing seat 16 through a bearing; the transmission rod 14 is embedded in the inner side of the rear shaft 15, and the transmission rod 14 is connected to the rear shaft 15 through a bearing; both ends of the transmission rod 14 pass through the rear shaft 15 and are connected to the rear right-angle leg bracket 17 through bolts; the track wheel 18 is embedded in the inner side of the rear right-angle leg bracket 17, and the rear shaft 15 is connected to the track wheel 18 through a flat key; the second stepper motor 19 is installed on the bottom plate 9 through the motor bracket 7, and the second stepper motor 19 is connected to the motor bracket 7 through bolts; the output shaft of the second stepper motor 19 is connected to the transmission rod 14 The first stepper motor 19 is connected to the second stepper motor 19 through a worm gear transmission mechanism 6, and the top end of the worm gear transmission mechanism 6 is embedded and installed on the inner side of the rear end T-shaped bearing seat 5; the planetary reducer 12 is installed on the bottom plate 9 through the motor bracket 7, and the planetary reducer 12 is connected to the motor bracket 7 through bolts; the first DC motor 11 and the second DC motor 22 are installed on the planetary reducer 12, and the output shafts of the first DC motor 11 and the second DC motor 22 are connected to the input shaft of the planetary reducer 12; the first DC motor 11 is installed on one side of the second stepper motor 19, and the second DC motor 22 is installed on the other side of the second stepper motor 19;The planetary reducer 12 on the first DC motor 11 is connected to the right rear shaft 15 through a bevel gear transmission mechanism 13, and the planetary reducer 12 of the second DC motor 22 is connected to the left rear shaft 15 through a bevel gear transmission mechanism 13; the small bevel gear 20 is connected to the input shaft of the planetary reducer 12 through a key; the large bevel gear 21 is connected to the rear shaft 15 through a key, and the small bevel gear 20 is connected to the large bevel gear 21 through a meshing manner. ;

[0028] Specifically, the base plate 9 and the reinforcing ribs 10 are made of aluminum alloy, and the reinforcing ribs 10 are hollow long strip structures. The reinforcing ribs 10 are connected to the aluminum plate through right-angle fixings to form a tic-tac-toe structure, which reduces its own weight. The installation of the reinforcing ribs 10 enhances the stability and firmness of the structure, and effectively improves the load-bearing performance of the base plate 9.

[0029] Specifically, the front right-angle leg mechanism 2 and the rear right-angle leg bracket 17 are both L-shaped plate structures.

[0030] Specifically, three front wheels 1 are installed on each front right-angle leg mechanism 2, and the front wheels 1 are located at the two ends and corners of the front right-angle leg mechanism 2, and the front right-angle leg mechanism 2 is configured as a rotating device through a front rotating shaft 3. The front wheels 1 can rotate with the rotation of the front right-angle leg mechanism 2. When encountering an obstacle, the device can climb over the obstacle with the obstacle as a fulcrum. It has strong obstacle-crossing performance and is suitable for various complex terrains.

[0031] Specifically, two track wheels 18 are installed on each rear right-angle leg bracket 17, and the track wheels 18 are cross-distributed on the rear right-angle leg bracket 17, and the rear right-angle leg bracket 17 is configured as a rotating device through the rear rotating shaft 15. The track wheels 18 can rotate with the rotation of the right-angle leg bracket 17. When encountering an obstacle, the device can climb over the obstacle with the obstacle as a fulcrum. It has strong obstacle-crossing performance and is suitable for various complex terrains.

[0032] Specific implementation steps:

[0033] When the obstacle-crossing robot moves forward in a straight line, the robot is made to cross the obstacle through the added sensor or the signal fed back by the remote control, the first DC motor 11 and the second DC motor 22 stop, the first stepper motor 8 and the second stepper motor 19 start to rotate clockwise at the same time, driving the front right-angle leg bracket 2 and the rear right-angle leg bracket 17 to start rotating, and the first stepper motor 8 and the second stepper motor 19 work until the front right-angle leg bracket 2 of the trolley rotates 90°, the first stepper motor 8 and the second stepper motor 19 stop, the first DC motor 11 and the second DC motor 22 start, and the obstacle-crossing robot moves forward. When the robot moves to the point where the front wheel 1 touches an obstacle, the first DC motor 11 and the second DC motor 22 stop rotating, the first stepper motor 8 near the front shaft 3 continues to rotate clockwise, and the second stepper motor 19 near the rear shaft 15 remains stopped. The front right-angle leg bracket 2 uses the obstacle as a fulcrum, the first stepper motor 8 near the front shaft 3 continues to rotate, the first DC motor 11 and the second DC motor 22 remain stopped, and the first stepper motor 8 near the front shaft 3 remains stopped after rotating 90° clockwise. The first DC motor 11 and the second DC motor 22 start to start, and the obstacle-crossing action of the front part of the obstacle-crossing robot has been basically completed. Then the first stepper motor 8 and the second stepper motor 19 all remain stopped, and the second DC motor 22 continues to drive The track wheel 18 rotates, and the obstacle-crossing robot moves forward; when the track wheel 18 starts to touch the obstacle, the first DC motor 11 and the second DC motor 22 stop, the first stepper motor 8 close to the front shaft 3 remains stopped, and the second stepper motor 19 close to the rear shaft 15 starts to rotate. The track wheel 188 climbs over the obstacle with the obstacle as a fulcrum. The second stepper motor 1 close to the rear shaft 15 remains stopped after rotating 90°. The first DC motor 11 and the second DC motor 2 start. After the obstacle-crossing robot moves forward for a distance, the first stepper motor 8 and the second stepper motor 19 start to rotate clockwise together. At this time, the obstacle-crossing robot can continue to move forward, or stay still and wait for the first stepper motor 8 and the second stepper motor 19 to finish rotating. The first stepper motor 8 and the second stepper motor 19 stop after rotating 90°, and the obstacle-crossing robot completes the obstacle-crossing action. The first DC motor 11 and the second DC motor 22 start, and the obstacle-crossing robot continues to move forward until it encounters the next obstacle and repeats the previous obstacle-crossing action.

[0034] To sum up: this obstacle-crossing robot has a base plate and reinforcement ribs made of aluminum alloy, and the reinforcement ribs are hollow long strip structures, and the reinforcement ribs are connected on the aluminum plate through right-angle fixings to form a tic-tac-toe structure, which reduces its own weight, and the installation of the reinforcement ribs enhances the stability and firmness of the structure, and effectively improves the load-bearing performance of the base plate; three front wheels are installed on each front right-angle leg mechanism, and the front wheels are located at the two ends and corners of the front right-angle leg mechanism, and the front right-angle leg mechanism is configured as a rotating device through a front rotating shaft, and at the same time, two track wheels are installed on each rear right-angle leg bracket, and the track wheels are cross-distributed on the rear right-angle leg bracket, and the rear right-angle leg bracket is configured as a rotating device through a rear rotating shaft, the front wheels and track wheels can rotate with the rotation of the front right-angle leg mechanism and the rear right-angle leg bracket, and when encountering obstacles When there is an obstacle, the device can use the obstacle as a fulcrum to climb over it, and it has strong obstacle climbing performance and is suitable for various complex terrains; the planetary reducer on the first DC motor is connected to the right rear shaft through a bevel gear transmission mechanism, and the planetary reducer of the second DC motor is connected to the left rear shaft through a bevel gear transmission mechanism, and the two DC motors respectively drive the crawler wheels on both sides to run, and the differential rotation of the crawler wheels on both sides can be used to complete the steering, thereby improving the maneuverability of the device in complex road environments; through the improvement of the obstacle-crossing robot, it has a reasonable structural design, a simple movement mode, and a low manufacturing cost, and can meet the high-speed convenience of the wheeled type and the smooth obstacle-crossing performance of the crawler type, is suitable for various complex terrains, has the advantages of strong maneuverability and strong practicality, thereby effectively solving the problems and shortcomings of the existing devices.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An obstacle-crossing robot, comprising: A front wheel (1), a front right-angle leg mechanism (2), a front rotating shaft (3), a front rotating shaft fixing seat (4), a T-shaped bearing seat (5), a worm gear transmission mechanism (6), a motor bracket (7), a first stepper motor (8), a bottom plate (9), a reinforcing rib (10), a first DC motor (11), a planetary reducer (12), a bevel gear transmission mechanism (13), a transmission rod (14), a rear rotating shaft (15), a rear rotating shaft fixing seat (16), a rear right-angle leg bracket (17), a crawler wheel (18), a second stepper motor (19), a small bevel gear (20), a large bevel gear (21), and a second DC motor (22); characterized in that the reinforcing rib (10) is installed above the bottom plate (9), and the reinforcing rib (1 0) is connected to the base plate (9) by bolts; the front shaft fixing seat (4) is installed on both sides of the front end of the base plate (9) by bolts; the front shaft (3) is embedded and installed on the front shaft fixing seat (4), and the front shaft (3) and the front shaft fixing seat (4) are connected by bearings; both ends of the front shaft (3) pass through the front shaft fixing seat (4) and are connected to the front right-angle leg mechanism (2) by bolts; the front wheel (1) is installed on the front right-angle leg mechanism (2) by bolts; the first stepper motor (8) is installed on the base plate (9) by a motor bracket (7), and the first stepper motor (8) and the motor bracket (7) are connected by bolts, and the motor bracket (7) and the base plate (9) are connected by bolts; the T The T-shaped bearing seat (5) is installed at the front and rear ends of the base plate (9) by bolts; the output shaft of the first stepper motor (8) is connected to the front shaft (3) by a turbine worm gear transmission mechanism (6), and the top end of the turbine worm gear transmission mechanism (6) is embedded and installed on the inner side of the front T-shaped bearing seat (5); the rear shaft fixing seat (16) is installed on both sides of the rear end of the base plate (9) by bolts; the rear shaft (15) is installed on both sides of the rear end of the base plate (9), and the rear shaft (15) is embedded and installed on the inner side of the rear shaft fixing seat (16), and the rear shaft (15) and the rear shaft fixing seat (16) are connected by bearings; the transmission rod (14) is embedded and installed on the inner side of the rear shaft (15), and the transmission rod (14) is connected to the rear shaft fixing seat (16). The rear rotating shaft (15) is connected via a bearing; both ends of the transmission rod (14) pass through the rear rotating shaft (15) and are connected to the rear right-angle leg bracket (17) via bolts; the track wheel (18) is embedded and installed on the inner side of the rear right-angle leg bracket (17), and the rear rotating shaft (15) and the track wheel (18) are connected via a flat key; the second stepper motor (19) is installed on the bottom plate (9) via a motor bracket (7), and the second stepper motor (19) and the motor bracket (7) are connected via bolts; the output shaft of the second stepper motor (19) and the transmission rod (14) are connected via a worm gear transmission mechanism (6), and the top end of the worm gear transmission mechanism (6) is embedded and installed on the inner side of the rear end T-shaped bearing seat (5);The planetary reducer (12) is mounted on a base plate (9) via a motor bracket (7), and the planetary reducer (12) and the motor bracket (7) are connected via bolts; the first DC motor (11) and the second DC motor (22) are mounted on the planetary reducer (12), and the output shafts of the first DC motor (11) and the second DC motor (22) are connected to the input shaft of the planetary reducer (12); the first DC motor (11) is mounted on one side of the second stepping motor (19), and the second DC motor (22) is mounted on the second stepping motor (19); the planetary reducer (12) on the first DC motor (11) is connected to the right rear shaft (15) through a bevel gear transmission mechanism (13), and the planetary reducer (12) on the second DC motor (22) is connected to the left rear shaft (15) through a bevel gear transmission mechanism (13); the small bevel gear (20) is connected to the input shaft of the planetary reducer (12) through a key; the large bevel gear (21) is connected to the rear shaft (15) through a key, and the small bevel gear (20) is connected to the large bevel gear (21) through a meshing manner; The bottom plate (9) and the reinforcing ribs (10) are made of aluminum alloy, and the reinforcing ribs (10) are hollow long strip structures, and the reinforcing ribs (10) are connected to the aluminum plate through right-angle fixing pieces to form a tic-tac-toe structure; The front right-angle leg mechanism (2) and the rear right-angle leg bracket (17) are both L-shaped plate structures; Three front wheels (1) are installed on each of the front right-angle leg mechanisms (2), and the front wheels (1) are located at two ends and corners of the front right-angle leg mechanism (2), and the front right-angle leg mechanism (2) is configured as a rotating device via a front rotating shaft (3); The front wheel (1) can rotate along with the rotation of the front right-angle leg mechanism (2), and when encountering an obstacle, the device can climb over the obstacle using the obstacle as a fulcrum; Two track wheels (18) are installed on each of the rear right-angle leg brackets (17), and the track wheels (18) are cross-distributed on the rear right-angle leg brackets (17), and the rear right-angle leg brackets (17) are configured as a rotating device through a rear rotating shaft (15); The track wheel (18) can rotate with the rotation of the right-angle leg bracket (17), and when encountering an obstacle, the device can climb over the obstacle using the obstacle as a fulcrum; When the obstacle-crossing robot moves forward in a straight line, the robot performs an obstacle-crossing action through the added sensor or the remote control feedback signal, the first DC motor (11) and the second DC motor (22) stop rotating, the first stepper motor (8) and the second stepper motor (19) start rotating clockwise at the same time, driving the front right-angle leg mechanism (2) and the rear right-angle leg bracket (17) to start rotating, and the first stepper motor (8) and the second stepper motor (19) work until the front right-angle leg mechanism (2) of the trolley rotates 90 degrees, the first stepper motor (8) and the second stepper motor (19) stop rotating, the first DC motor (11) and the second DC motor (22) start, and the obstacle-crossing robot is started. The person moves forward; when the robot moves until the front wheel (1) touches an obstacle, the first DC motor (11) and the second DC motor (22) stop rotating, the first stepper motor (8) close to the front rotating shaft (3) continues to rotate clockwise, the second stepper motor (19) close to the rear rotating shaft (15) remains stopped, the front right-angle leg mechanism (2) uses the obstacle as a fulcrum, the first stepper motor (8) close to the front rotating shaft (3) continues to rotate, the first DC motor (11) and the second DC motor (22) remain stopped, the first stepper motor (8) close to the front rotating shaft (3) rotates 90° clockwise and then remains stopped, the first DC motor (11) and the second DC motor (22) ) starts to start, the obstacle-crossing action of the front part of the obstacle-crossing robot has been basically completed, then the first stepper motor (8) and the second stepper motor (19) all remain stopped, the second DC motor (22) continues to drive the track wheel (18) to rotate, and the obstacle-crossing robot moves forward; at the moment when the track wheel (18) starts to touch the obstacle, the first DC motor (11) and the second DC motor (22) stop, the first stepper motor (8) close to the front shaft (3) remains stopped, the second stepper motor (19) close to the rear shaft (15) starts to rotate, the track wheel (18) climbs over the obstacle with the obstacle as a fulcrum, and the second stepper motor (19) close to the rear shaft (15) rotates After the obstacle-crossing robot reaches an angle of 90°, it remains stopped, the first DC motor (11) and the second DC motor (22) are started, and after the obstacle-crossing robot moves forward for a certain distance, the first stepper motor (8) and the second stepper motor (19) start to rotate clockwise together. At this time, the obstacle-crossing robot can continue to move forward, or remain still and wait for the first stepper motor (8) and the second stepper motor (19) to finish rotating. After the first stepper motor (8) and the second stepper motor (19) rotate through 90°, they stop, and the obstacle-crossing robot completes the obstacle-crossing action. The first DC motor (11) and the second DC motor (22) are started, and the obstacle-crossing robot continues to move forward until it encounters the next obstacle and repeats the previous obstacle-crossing action.

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