Obstacle removal robot device

Abstract

The present invention discloses an obstacle removal robot device, including a moving mechanism, an obstacle removal lifting mechanism, an obstacle removal mechanism and a control mechanism; the obstacle removal lifting mechanism is installed on the bottom plate of the moving mechanism; the obstacle removal mechanism is connected to the obstacle removal lifting mechanism and is lifted and lowered with the obstacle removal lifting mechanism; the obstacle removal mechanism includes a telescopic obstacle supporting structure and a telescopic obstacle pushing structure, the telescopic directions of the telescopic obstacle supporting structure and the telescopic obstacle pushing structure are parallel, and the telescopic obstacle pushing structure is located above the telescopic obstacle supporting structure; the moving mechanism, the obstacle removal lifting mechanism, the telescopic obstacle supporting structure and the telescopic obstacle pushing structure are operated under the action of the control mechanism. The present invention adopts straight wheel travel and steering to shorten the travel time, and in the travel process, the obstacle support plate is extended, the obstacle support plate lifts the obstacle rod, the shielding member shields the obstacle rod, the obstacle removal lifting base plate is lifted to move the obstacle rod to the exit of the obstacle removal channel, the shielding member is reset, and the obstacle pushing rod directly pushes the obstacle rod down to leave the obstacle setting platform, and there is no need to completely walk through the obstacle removal channel, thereby shortening the obstacle removal time.

Description

Technical Field

[0001] The invention belongs to the field of robot design, and in particular relates to an obstacle removal robot device. Background Art

[0002] In robot competitions, the performance of robots is tested by setting up obstacle bars on the obstacle platform. The faster and more accurately the obstacle bars are removed, the better the robot performance. However, existing conventional robots cannot adapt to complex obstacle removal channels and cannot quickly cooperate to remove obstacles. Summary of the invention

[0003] The present invention aims to solve the technical problem of lack of a robot that can adapt to complex obstacle removal passages and quickly remove obstacles, thereby providing an obstacle removal robot device.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A robot device for removing obstacles includes a moving mechanism, an obstacle removal lifting mechanism, an obstacle removal mechanism and a control mechanism; the obstacle removal lifting mechanism is installed on the bottom plate of the moving mechanism; the obstacle removal mechanism is connected to the obstacle removal lifting mechanism and is lifted and lowered with the obstacle removal lifting mechanism; the obstacle removal mechanism includes a telescopic obstacle supporting structure and a telescopic obstacle pushing structure, the telescopic directions of the telescopic obstacle supporting structure and the telescopic obstacle pushing structure are parallel, and the telescopic obstacle pushing structure is located above the telescopic obstacle supporting structure; the moving mechanism, the obstacle removal lifting mechanism, the telescopic obstacle supporting structure and the telescopic obstacle pushing structure move under the action of the control mechanism. The moving mechanism realizes the overall movement, steering and other functions, the telescopic obstacle supporting structure realizes the acquisition of the obstacle rod, the telescopic obstacle supporting structure realizes the removal of the obstacle rod, the obstacle removal lifting mechanism cooperates with the obstacle removal mechanism to realize the switching of complex obstacle removal channels, so that the obstacle rod can be quickly and accurately removed from the obstacle setting platform.

[0006] As a preferred solution of the present invention, the mobile mechanism includes a base plate, and a plurality of straight wheel structures are installed at the lower part of the base plate, each straight wheel structure includes a straight wheel and a DC motor, and the DC motor drives the straight wheel to rotate. Directly controlling the rotation of each straight wheel to realize the switching of the steering, and the straight wheel consumes less power and has a fast response speed, which can save adjustment time and shorten the time of removing obstacles.

[0007] As a preferred solution of the present invention, the obstacle removal lifting mechanism includes an obstacle removal lifting power part and an obstacle removal lifting base plate; the obstacle removal lifting power part is installed on the base plate, and the lifting part of the obstacle removal lifting power part is connected to the obstacle removal lifting base plate and drives the obstacle removal lifting base plate to lift in the vertical direction. The obstacle removal lifting power part uses an obstacle removal lifting cylinder and the obstacle removal mechanism is lifted and lowered as a whole through the obstacle removal lifting base plate, changes the position of the obstacle rod on the obstacle support plate in the obstacle channel, and leaves the obstacle channel in combination with the extension and retraction of the obstacle removal mechanism.

[0008] As a preferred solution of the present invention, in order to avoid tilting of the lifting and lowering which affects the accuracy of obstacle removal, the obstacle removal lifting mechanism also includes a plurality of lifting guide structures, the lifting guide structures including a lifting guide rod, one end of the lifting guide rod is fixed to the base plate, the other end of the lifting guide rod is arranged through the obstacle removal lifting base plate, and the obstacle removal lifting base plate moves along the lifting guide rod.

[0009] As a preferred solution of the present invention, the top of each lifting guide rod is connected to a top limit plate, and the top limit plate can prevent the obstacle removal lifting base plate from sliding out of the lifting guide rod, thereby limiting the highest lifting position;

[0010] A lifting base is installed at the lower part of each lifting guide rod, the lower end of the lifting guide rod passes through the lifting base, and the top of the lifting base serves as the lowest lifting position of the obstacle removal lifting base plate.

[0011] As a preferred solution of the present invention, the telescopic barrier supporting structure comprises a barrier supporting telescopic power member and a barrier supporting plate. The barrier supporting telescopic power member is installed on the barrier removing lifting base plate. The telescopic portion of the barrier supporting telescopic power member is connected to the barrier supporting plate and drives the barrier supporting plate to extend and retract in the horizontal direction.

[0012] As a preferred solution of the present invention, a rotating shielding assembly is installed on the barrier support plate, and the rotating shielding assembly includes a shielding rotating member and a shielding member. The shielding rotating member is installed at the lower part of the barrier support plate, and the rotating part of the shielding rotating member is connected to the shielding member and drives the shielding member to rotate. The barrier support telescopic power member adopts a cylinder, and the shielding rotating member uses a steering gear, which directly drives the shielding member to rotate to switch whether to block the obstacle rod.

[0013] As a preferred solution of the present invention, the telescopic barrier pushing structure comprises a barrier pushing telescopic power member and a barrier pushing member; the barrier pushing telescopic power member is installed on the barrier removing and lifting base plate, and the barrier pushing telescopic power member is located above the barrier supporting telescopic power member; the telescopic portion of the barrier pushing telescopic power member is connected to the barrier pushing member and drives the barrier pushing member to extend and retract in the horizontal direction. The barrier pushing telescopic power member adopts a cylinder.

[0014] As a preferred solution of the present invention, the control mechanism includes a controller, an infrared receiver, a remote controller, a power supply and an obstacle removal gas source; the remote controller sends instructions to the controller through the infrared receiver; the power supply supplies power to the controller; the output end of the controller is electrically connected to the shielding rotating part and the DC motor; the obstacle removal gas source provides gas sources to the obstacle removal lifting power part, the obstacle support telescopic power part, and the obstacle push telescopic power part through the solenoid valve, and the controlled end of each solenoid valve is connected to the output end of the controller. The obstacle removal lifting power part, the obstacle support telescopic power part, and the obstacle push telescopic power part share a gas source, and the controller controls the conduction path of the solenoid valve to realize the extension and retraction of each power part, and quickly switch the work station.

[0015] As a preferred solution of the present invention, the controller controls the moving mechanism to move to the position of the barrier rod under the command of the remote controller, the controller causes the barrier supporting telescopic power member to operate under the command of the remote controller to extend the barrier supporting plate to below the barrier rod, and then the controller controls the shielding rotating member with the shielding member to limit the barrier rod on the barrier supporting plate;

[0016] The barrier support telescopic power part retracts the barrier support plate to make the barrier rod enter the entrance of the barrier removal passage, and the barrier removal lifting power part moves to raise the barrier removal lifting base plate, and the barrier rod is raised together with it to enter the exit of the barrier removal passage;

[0017] The blocking rotating part rotates reversely with the blocking part to reset, the barrier pushing telescopic power part drives the barrier pushing part to move, and the obstacle rod is pushed out to realize barrier removal, and the barrier pushing telescopic power part is reset after the barrier removal.

[0018] The present invention adopts straight wheels to travel and turn, which shortens the travel time, and the barrier supporting plate is extended during the travel process. When it reaches the barrier setting platform, the barrier supporting plate is located under the barrier rod and lifts the barrier rod, and the shielding member rotates to shield the barrier rod to prevent the barrier rod from falling from the front when moving in the barrier passage. When it moves to the entrance of the obstacle removal passage, the obstacle removal lifting base plate rises to move the barrier rod into the obstacle removal passage until the barrier rod is separated from the shielding of the barrier setting platform, and then the shielding member is reset, and the barrier pushing rod directly pushes the barrier rod down to separate it from the barrier setting platform. There is no need to completely walk through the obstacle removal passage, thereby shortening the obstacle removal time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a schematic diagram of the structure of the present invention.

[0021] Figure 2 This is a structural schematic diagram of the present invention in which some baffles are omitted.

[0022] Figure 3 It is a schematic structural diagram of the barrier-laying platform used in the present invention. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Example:

[0025] A robot device for removing obstacles, such as Figure 1 and 2 As shown, it includes a moving mechanism 1, an obstacle removal lifting mechanism 2, an obstacle removal mechanism and a control mechanism; the obstacle removal lifting mechanism is installed on the base plate 100 of the moving mechanism.

[0026] The mobile mechanism 1 includes a base plate 100, and a plurality of straight wheel structures are installed at the lower part of the base plate 100. Each straight wheel structure includes a straight wheel 101 and a DC motor 102, and the DC motor drives the straight wheel to rotate. Directly controlling the rotation of each straight wheel to realize the switching of the steering, and the straight wheel consumes less power and has a fast response speed, which can save adjustment time and shorten the time of removing obstacles.

[0027] The obstacle removal lifting mechanism 2 includes an obstacle removal lifting power piece 200 and an obstacle removal lifting base plate 201; the obstacle removal lifting power piece 200 is installed on the bottom plate 100, and the lifting part of the obstacle removal lifting power piece 200 is connected to the obstacle removal lifting base plate 201 and drives the obstacle removal lifting base plate 201 to rise and fall in the vertical direction. The obstacle removal lifting power piece uses an obstacle removal lifting cylinder and the obstacle removal lifting base plate to carry the obstacle removal mechanism as a whole to rise and fall, change the position of the obstacle rod on the obstacle support plate in the obstacle channel, and realize leaving the obstacle channel in combination with the extension and retraction of the obstacle removal mechanism.

[0028] In order to avoid tilting during lifting and lowering which affects the accuracy of obstacle removal, the obstacle removal lifting mechanism 2 also includes a number of lifting guide structures, which include a lifting guide rod 202. One end of the lifting guide rod 202 is fixed on the base plate 100, and the other end of the lifting guide rod 202 is arranged through the obstacle removal lifting base plate 201. The obstacle removal lifting base plate 201 moves along the lifting guide rod 202.

[0029] In addition, the top of each lifting guide rod 202 is connected to a top limit plate 203, and the top limit plate 203 can prevent the obstacle removal lifting substrate from sliding out of the lifting guide rod, thereby limiting the highest lifting position;

[0030] A lifting base 204 is installed at the lower part of each lifting guide rod 202, the lower end of the lifting guide rod passes through the lifting base, and the top of the lifting base serves as the lowest lifting position of the obstacle removal lifting base.

[0031] The obstacle removal mechanism comprises a telescopic obstacle supporting structure 31 and a telescopic obstacle pushing structure 32. The telescopic directions of the telescopic obstacle supporting structure 31 and the telescopic obstacle pushing structure 32 are parallel, and the telescopic obstacle pushing structure is located above the telescopic obstacle supporting structure.

[0032] The telescopic obstacle supporting structure 31 comprises a barrier supporting telescopic power member 310 and a barrier supporting plate 311. The barrier supporting telescopic power member 310 is mounted on the barrier removing lifting base plate 201, and an obstacle pushing installation space is reserved between the barrier supporting telescopic power member 310 and the barrier removing lifting base plate 201. In this embodiment, the installation is performed by extending the installation space downward through the side plate, and the telescopic portion of the barrier supporting telescopic power member 310 is connected to the barrier supporting plate 311 and drives the barrier supporting plate to extend and retract in the horizontal direction.

[0033] In order to prevent the barrier rod from falling when the barrier passage of the barrier platform moves, the barrier passage of the barrier platform is as follows: Figure 3 As shown, a rotating shielding assembly is installed on the barrier support plate 311, and the rotating shielding assembly includes a shielding rotating member 312 and a shielding member 313. The shielding rotating member 312 is installed at the lower part of the barrier support plate 311, and the rotating part of the shielding rotating member 312 is connected to the shielding member 313 and drives the shielding member 313 to rotate. The barrier support telescopic power member adopts a cylinder, and the shielding rotating member adopts a steering gear, which directly drives the shielding member to rotate to switch whether to block the obstacle rod.

[0034] The telescopic barrier pushing structure 32 comprises a barrier pushing telescopic power member 320 and a barrier pushing member 321; the barrier pushing telescopic power member 320 is mounted on the barrier removing lifting base plate 201, and is located above the barrier supporting telescopic power member 310; the telescopic portion of the barrier pushing telescopic power member 320 is connected to the barrier pushing member 321 and drives the barrier pushing member 321 to extend and retract in the horizontal direction. The barrier pushing telescopic power member adopts a cylinder.

[0035] The moving mechanism 1, the obstacle removal lifting mechanism 2, the telescopic obstacle support structure 31 and the telescopic obstacle pushing structure 32 are operated under the control of the control mechanism. The moving mechanism realizes the overall movement, steering and other functions, the telescopic obstacle support structure realizes the acquisition of the obstacle rod, the telescopic obstacle support structure realizes the removal of the obstacle rod, and the obstacle removal lifting mechanism cooperates with the obstacle removal mechanism to realize the switching of complex obstacle removal channels, so that the obstacle rod can be quickly and accurately removed from the obstacle setting platform.

[0036] The control mechanism includes a controller, an infrared receiver, a remote controller, a power supply and an obstacle removal gas source 6; the remote controller sends instructions to the controller through the infrared receiver; the power supply supplies power to the controller; the output end of the controller is electrically connected to the shielding rotating member 312 and the DC motor; the obstacle removal gas source provides gas sources to the obstacle removal lifting power member 200, the obstacle support telescopic power member 310, and the obstacle push telescopic power member 320 through the solenoid valve, and the controlled end of each solenoid valve is connected to the output end of the controller. The obstacle removal lifting power member 200, the obstacle support telescopic power member 310, and the obstacle push telescopic power member 320 share a gas source, and the controller controls the conduction path of the solenoid valve to realize the extension and retraction of each power member, and quickly switch the work station.

[0037] The controller controls the moving mechanism to move to the position of the barrier rod under the command of the remote controller, and the controller causes the barrier supporting telescopic power member 310 to move to extend the barrier supporting plate 311 below the barrier rod under the command of the remote controller, and then controls the shielding rotating member 312 with the shielding member 313 to limit the barrier rod on the barrier supporting plate;

[0038] The barrier supporting telescopic power member 310 and the barrier supporting plate 311 are retracted to make the barrier rod enter the entrance 4 of the barrier removal passage, and the barrier removal lifting power member 200 is actuated to raise the barrier removal lifting base plate 201, and the barrier rod is raised together with it to enter the exit 5 of the barrier removal passage;

[0039] The shielding rotating member 312 rotates reversely with the shielding member 313 to reset, and the barrier-pushing telescopic power member 320 drives the barrier-pushing member 321 to move, and the obstacle rod is pushed out to remove the obstacle, and after the obstacle is removed, the barrier-pushing telescopic power member 320 is reset.

[0040] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0041] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An obstacle removal robot device, characterized in that: The invention comprises a moving mechanism (1), an obstacle removal lifting mechanism (2), an obstacle removal mechanism and a control mechanism; the obstacle removal lifting mechanism is mounted on a bottom plate (100) of the moving mechanism; the obstacle removal mechanism is connected to the obstacle removal lifting mechanism and is lifted and lowered along with the obstacle removal lifting mechanism; the obstacle removal mechanism comprises a telescopic obstacle supporting structure (31) and a telescopic obstacle pushing structure (32); the telescopic directions of the telescopic obstacle supporting structure (31) and the telescopic obstacle pushing structure (32) are parallel, and the telescopic obstacle pushing structure is located above the telescopic obstacle supporting structure; the moving mechanism (1), the obstacle removal lifting mechanism (2), the telescopic obstacle supporting structure (31) and the telescopic obstacle pushing structure (32) are moved under the action of the control mechanism; The obstacle removal lifting mechanism (2) comprises an obstacle removal lifting power piece (200) and an obstacle removal lifting base plate (201); the obstacle removal lifting power piece (200) is mounted on the base plate (100), and the lifting part of the obstacle removal lifting power piece (200) is connected to the obstacle removal lifting base plate (201) and drives the obstacle removal lifting base plate (201) to be lifted and lowered in the vertical direction; The telescopic barrier-supporting structure (31) comprises a barrier-supporting telescopic power member (310) and a barrier-supporting plate (311); the barrier-supporting telescopic power member (310) is mounted on the barrier-removing lifting base plate (201); the telescopic portion of the barrier-supporting telescopic power member (310) is connected to the barrier-supporting plate (311) and drives the barrier-supporting plate to telescope in the horizontal direction; A rotating shielding assembly is mounted on the barrier supporting plate (311), the rotating shielding assembly comprising a shielding rotating member (312) and a shielding member (313), the shielding rotating member (312) being mounted on the lower part of the barrier supporting plate (311), the rotating part of the shielding rotating member (312) being connected to the shielding member (313) and driving the shielding member (313) to rotate; The telescopic barrier-pushing structure (32) comprises a barrier-pushing telescopic power member (320) and a barrier-pushing member (321); the barrier-pushing telescopic power member (320) is mounted on the barrier-removing lifting base plate (201), and the barrier-pushing telescopic power member (320) is located above the barrier-supporting telescopic power member (310); and the telescopic portion of the barrier-pushing telescopic power member (320) is connected to the barrier-pushing member (321) and drives the barrier-pushing member (321) to telescope in the horizontal direction.

2. The obstacle removal robot device according to claim 1, characterized in that: The moving mechanism (1) comprises a base plate (100), a plurality of straight wheel structures are installed at the bottom of the base plate (100), each straight wheel structure comprises a straight wheel (101) and a DC motor, and the DC motor drives the straight wheel to rotate.

3. The obstacle removal robot device according to claim 1, characterized in that: The obstacle removal lifting mechanism (2) further comprises a plurality of lifting guide structures, wherein the lifting guide structure comprises a lifting guide rod (202), one end of the lifting guide rod (202) is fixed on the bottom plate (100), the other end of the lifting guide rod (202) is arranged through the obstacle removal lifting base plate (201), and the obstacle removal lifting base plate (201) moves along the lifting guide rod (202).

4. The obstacle removal robot device according to claim 3, characterized in that: The top of each lifting guide rod (202) is connected to a top limit plate (203); a lifting base (204) is installed at the bottom of each lifting guide rod (202), and the lower end of the lifting guide rod passes through the lifting base.

5. The obstacle removal robot device according to claim 1, characterized in that: The control mechanism comprises a controller, an infrared receiver, a remote controller, a power supply and an obstacle removal gas source; the remote controller sends instructions to the controller via the infrared receiver; the power supply supplies power to the controller; the output end of the controller is electrically connected to the blocking rotating part (312) and the DC motor; the obstacle removal gas source provides gas sources to the obstacle removal lifting power part (200), the obstacle supporting telescopic power part (310) and the obstacle pushing telescopic power part (320) respectively via electromagnetic valves, and the controlled end of each electromagnetic valve is connected to the output end of the controller.

6. The obstacle removal robot device according to claim 5, characterized in that: The controller controls the moving mechanism to move to the position of the barrier rod under the command of the remote controller, and the controller causes the barrier supporting telescopic power member (310) to move to extend the barrier supporting plate (311) below the barrier rod under the command of the remote controller, and then controls the shielding rotating member (312) with the shielding member (313) to restrict the barrier rod to the barrier supporting plate; The barrier-supporting telescopic power member (310) and the barrier-supporting plate (311) are retracted to allow the barrier rod to enter the entrance of the barrier removal passage, and the barrier removal lifting power member (200) is actuated to raise the barrier removal lifting base plate (201), and the barrier rod is raised accordingly to enter the exit of the barrier removal passage; The blocking rotating member (312) rotates in the opposite direction with the blocking member (313) to reset, and the barrier-pushing telescopic power member (320) drives the barrier-pushing member (321) to move, so as to push out the barrier rod to remove the barrier, and after the barrier is removed, the barrier-pushing telescopic power member (320) is reset.

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