Portable wheel-tracked double-swing-arm mobile robot
By designing components such as lift seats, front and rear moving units and rotating components in the mobile robot, multi-angle adjustment and rotation of the swing arm track is achieved, solving the problem of rapid lateral movement and lateral obstacle crossing in the prior art, and improving the robot's movement ability in complex terrain.
Patent Information
- Application Number
- CN202510201094.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-24
- Publication Date
- 2025-04-15
AI Technical Summary
Existing mobile robots can only simply rotate back and forth when adjusting the angle of the swing arm, and cannot achieve rapid lateral movement and lateral obstacle crossing, resulting in rapid movement in complex terrain.
A portable wheel-track double swing arm mobile robot is designed, using components such as lifting seats, front and rear moving units, first rotating components and second rotating components. Through the coordinated work of these components, the multi-angle adjustment and rotation of the swing arm track can be realized, and it can be switched on both sides and front of the base and flipped to adapt to different terrains.
The robot's ability to move rapidly in complex terrain and cross obstacles in lateral terrain is realized, and its applicability and flexibility in wild environments are enhanced.
Smart Images
Figure CN119821531A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of mobile robots, and in particular to a portable wheel-track double-swing-arm mobile robot. Background Art
[0002] In the wild, mobile robots are often used to replace manual labor to transport materials. Mobile robots are small in size, have excellent obstacle-crossing capabilities, and can adapt to complex wild terrain. However, traditional mobile robots are usually driven by tracks, and the chassis movement mode is single. It is impossible to switch freely between wheeled and tracked types, resulting in a single application scenario.
[0003] In the prior art, when the chassis is not equipped with a driven wheel, the robot enters a crawler walking mode; the active track wheel of the swing arm is installed on the driven wheel and can be directly installed on the second track wheel. The driving wheel and the driven wheel are removed and the active track wheel of the swing arm is fixed to the second track wheel. The robot can be switched from the wheeled walking mode to the crawler walking mode without any influence on the function of the swing arm. The overall high compatibility and reasonable structural design allow the robot to be compatible with both wheeled and crawler walking modes while meeting the needs of fast switching, making the product more applicable.
[0004] In the aforementioned prior art, although the robot's obstacle crossing ability is improved by adjusting the swing arm angle, the swing arm can only simply rotate forward and backward, and the adjustment method is single, so that the robot can only climb over obstacles directly in front of it; the robot cannot move laterally quickly or cross obstacles laterally quickly, and thus cannot move quickly in complex terrain in the wild. Summary of the invention
[0005] The purpose of the present invention is to provide a portable wheel-track double-swing-arm mobile robot to solve the problem that although the robot's obstacle crossing ability is improved by adjusting the swing arm angle in the prior art, the swing arm can only be simply rotated forward and backward, and the adjustment method is single, so that the robot can only climb over obstacles directly in front; the robot cannot move laterally quickly or cross obstacles laterally quickly, and thus cannot move quickly in complex terrain in the wild.
[0006] To achieve the above object, the present invention provides a portable wheel-track double swing arm mobile robot, comprising a base, two drive tracks, two swing arm tracks and an adjustment assembly, wherein the two drive tracks are symmetrically arranged on both sides of the base, and the two swing arm tracks are symmetrically arranged above the base;
[0007] The adjustment assembly includes a lifting seat, two front and rear moving units, two first rotating parts and a plurality of second rotating parts. The lifting seat is slidably connected to the base. The two front and rear moving units are symmetrically arranged on both sides of the base. The two first rotating parts are respectively arranged on the corresponding front and rear moving parts. The plurality of second rotating parts are sequentially arranged on one side of the first rotating part. The swing arm track is arranged between the corresponding two second rotating parts.
[0008] Wherein, the adjustment assembly also includes a plurality of lifting components, a controller, a sensor unit and two brackets, the plurality of lifting components are sequentially arranged on the inner bottom wall of the base, the output ends of the plurality of lifting components are fixedly connected to the lifting seat, the controller is arranged on the inner bottom wall of the base, the sensor unit is arranged at one end of the base, the two brackets are respectively arranged on the corresponding forward and backward moving units, the first rotating component is arranged at one end of the bracket, and the second rotating component is arranged at the other end of the bracket.
[0009] Among them, the forward and backward moving unit includes a screw machine, a threaded block and a magnetic fixing mechanism, the base has a slide groove, the screw machine is arranged on the slide groove, the threaded block and the output end of the screw machine are adapted to each other, the threaded block has a groove, the first rotating component is arranged on the inner top wall of the groove, the output end of the first rotating component is fixedly connected to the bracket, the bracket is rotatably connected to the threaded block and is located inside the groove, and the magnetic fixing mechanism is arranged inside the slide groove.
[0010] The magnetic fixing mechanism comprises a metal plate and an electromagnetic block, wherein the metal plate is fixedly connected to the lifting seat and is located on the inner bottom wall of the slide slot, and the electromagnetic block is arranged on the bracket, and the metal plate and the electromagnetic block attract each other.
[0011] Wherein, the bracket includes a rotating plate, two telescopic parts, a telescopic block, a swing plate, a swing part and a U-shaped frame, the electromagnetic block is arranged below the rotating plate, one end of the rotating plate is rotatably connected to the threaded block and is located inside the groove, the output end of the first rotating part is fixedly connected to the rotating plate, the two telescopic parts are sequentially arranged inside the rotating plate, the output ends of the two telescopic parts are fixedly connected to one side of the telescopic block, the other side of the telescopic block is rotatably connected to one end of the swing plate, the swing part is rotatably connected to the bottom of the telescopic block, the output end of the swing part is rotatably connected to one side of the swing plate, the other end of the swing plate is provided with the U-shaped frame, the two second rotating parts are symmetrically arranged on the U-shaped frame, the output ends of the two second rotating parts both pass through the U-shaped frame and are fixedly connected to the swing arm track.
[0012] Wherein, the adjustment assembly further comprises two limit units, and the two limit units are symmetrically arranged on the lifting seat;
[0013] The limiting unit includes a pushing component and a limiting block, the rotating plate has a limiting groove, the pushing component is arranged above the lifting seat, the output end of the pushing component passes through the lifting seat and is located inside the sliding groove, the output end of the pushing component is fixedly connected to the limiting hole, and the limiting block and the limiting groove are adapted to each other.
[0014] The sensor unit includes a camera, a plurality of infrared sensors and a plurality of laser radars.
[0015] The camera, the plurality of infrared sensors and the plurality of laser radars are arranged on the base in sequence.
[0016] The portable wheel-track double-swing-arm mobile robot of the present invention can drive the swing-arm crawler to move forward and backward through the forward and backward moving unit, and then drive it from different positions of the base; at the same time, the lifting seat can adjust the height, and then drive the swing-arm crawler to rise and fall, so as to cope with obstacles of different heights; when the first rotating component is started, the swing-arm crawler can be driven to switch between the two sides and the front of the base; when the second rotating component is started, the swing-arm crawler itself can be driven to rotate and flipped, so as to prop up the base, and when it is not needed, the swing-arm crawler can be folded and stowed through the second rotating component for carrying outside; through the above-mentioned structural setting, the swing-arm crawler can be adjusted at multiple angles and can be rotated to both sides of the base, so as to facilitate direct horizontal rapid movement and obstacle crossing of the base, which is more convenient for use in complex terrain in the wild. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.
[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention.
[0019] Figure 2 It is a rotation adjustment diagram of the swing arm crawler of the present invention.
[0020] Figure 3 It is a cross-sectional view of the entire present invention.
[0021] Figure 4 The present invention Figure 3 AA line section view.
[0022] Figure 5 The present invention Figure 3 BB line cross-sectional view.
[0023] Figure 6 The present invention Figure 2 Enlarged view of the local structure at location C.
[0024] Figure 7 The present invention Figure 3 Enlarged view of the local structure at D.
[0025] 1-base, 2-drive crawler, 3-swing arm crawler, 4-lifting seat, 5-first rotating component, 6-second rotating component, 7-lifting component, 8-controller, 9-screw machine, 10-thread block, 11-slide, 12-groove, 13-metal plate, 14-electromagnetic block, 15-turn plate, 16-telescopic component, 17-telescopic block, 18-swing plate, 19-swing component, 20-U-shaped frame, 21-pushing component, 22-limiting block, 23-limiting groove, 24-camera, 25-infrared sensor, 26-laser radar. DETAILED DESCRIPTION
[0026] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.
[0027] See also Figures 1 to 7 The present invention provides a portable wheel-track double-swing arm mobile robot, comprising a base 1, two driving tracks 2, two swing arm tracks 3 and an adjustment component, wherein the adjustment component comprises a lifting seat 4, two forward and backward moving units, two first rotating parts 5 and multiple second rotating parts 6, the adjustment component further comprises multiple lifting parts 7, a controller 8, a sensor unit and two brackets, the forward and backward moving unit comprises a screw machine 9, a threaded block 10 and a magnetic fixing mechanism, the base 1 has a slide groove 11, the threaded block 10 has a groove 12, the magnetic fixing mechanism comprises a metal plate 13 and an electromagnetic block 14, the bracket comprises a rotating plate 15, two telescopic parts 16, a telescopic block 17, a swing plate 18, a swing part 19 and a U-shaped frame 20, the adjustment component further comprises two limiting units, the limiting unit comprises a pushing part 21 and a limiting block 22, the rotating plate 15 has a limiting groove 23, and the sensor unit comprises a camera 24, two infrared sensors 25 and two laser radars 26.
[0028] Among them, the two driving tracks 2 are symmetrically arranged on both sides of the base 1, the two swing arm tracks 3 are symmetrically arranged above the base 1, the lifting seat 4 is slidably connected to the base 1, the two front and rear moving units are symmetrically arranged on both sides of the base 1, the two first rotating parts 5 are respectively arranged on the corresponding front and rear moving parts, and a plurality of second rotating parts 6 are sequentially arranged on one side of the first rotating part 5, and the swing arm track 3 is arranged between the corresponding two second rotating parts 6. The base 1 has a space inside for installing a battery pack for easy use outside. A drive motor is installed in the swing arm crawler 3, which has an autonomous crawler operation, so that it can be used for the lateral movement and obstacle crossing of the robot; the first rotating component 5 and the second rotating component 6 are both self-locking motors; the swing arm crawler 3 can be driven to move forward and backward by the forward and backward moving unit, and then driven from different positions of the base 1; at the same time, the lifting seat 4 can adjust the height, thereby driving the swing arm crawler 3 to rise and fall, so as to cope with obstacles of different heights; the first rotating component 5 is started, which can drive the swing arm crawler 3 to switch between the two sides and the front of the base 1; the second rotating component 6 is started, which can drive the swing arm crawler 3 to rotate itself, and can be turned over, so as to support the base 1, and the swing arm crawler 3 can also be folded and stowed when it is not needed; thereby, the swing arm crawler 3 can be adjusted at multiple angles, and can be rotated to both sides of the base 1, so as to facilitate the direct lateral rapid movement and obstacle crossing of the base 1, which is more convenient for use in complex terrain in the wild.
[0029] Secondly, the plurality of lifting components 7 are sequentially arranged on the inner bottom wall of the base 1, the output ends of the plurality of lifting components 7 are fixedly connected to the lifting seat 4, the controller 8 is arranged on the inner bottom wall of the base 1, the sensor unit is arranged at one end of the base 1, the two brackets are respectively arranged on the corresponding forward and backward moving units, the first rotating component 5 is arranged at one end of the bracket, and the second rotating component 6 is arranged at the other end of the bracket. The lifting component 7 is a cylinder; when the lifting component 7 is started, it can drive the lifting seat 4 to adjust the height, thereby driving the swing arm track 3 to adjust the height; if the obstacle is higher than the swing arm track 3 during the movement of the robot, the swing arm track 3 can be raised by the lifting component 7 at this time, so that the bottom of the swing arm track 3 contacts the obstacle and is driven, and then the robot is tilted through the rotation adjustment of the swing arm track 3, and then it can smoothly climb over the obstacle; the controller 8 is electrically connected to each device of the robot and is connected to the host computer at the same time, so that the staff can remotely control the operation of the robot through the controller 8, and the sensor unit can detect the surrounding environment so that the staff can observe the environment and control the movement of the robot, and the bracket supports the swing arm track 3.
[0030] At the same time, the base 1 has a slide groove 11, the screw machine 9 is arranged on the slide groove 11, the threaded block 10 and the output end of the screw machine 9 are adapted to each other, the threaded block 10 has a groove 12, the first rotating component 5 is arranged on the inner top wall of the groove 12, the output end of the first rotating component 5 is fixedly connected to the bracket, the bracket is rotatably connected to the threaded block 10 and is located inside the groove 12, and the magnetic fixing mechanism is arranged inside the slide groove 11. The screw machine 9 is started, driving the threaded block 10 to move, driving the bracket to move in the slide groove 11, so as to adjust the position forward and backward, and after adjusting to the appropriate position, the magnetic fixing mechanism is started to reinforce the bracket.
[0031] In addition, the metal plate 13 is fixedly connected to the lifting seat 4 and is located on the inner bottom wall of the slide slot 11. The electromagnetic block 14 is disposed on the bracket, and the metal plate 13 and the electromagnetic block 14 attract each other. When the bracket does not need to be rotated and adjusted by the first rotating component 5, the electromagnetic block 14 is energized to generate magnetic force, which attracts the metal plate 13, thereby fixing the bracket and preventing it from rotating.
[0032] Then, the electromagnetic block 14 is arranged below the rotating plate 15, one end of the rotating plate 15 is rotatably connected to the threaded block 10 and is located inside the groove 12, the output end of the first rotating component 5 is fixedly connected to the rotating plate 15, the two telescopic components 16 are sequentially arranged inside the rotating plate 15, the output ends of the two telescopic components 16 are fixedly connected to one side of the telescopic block 17, the other side of the telescopic block 17 is rotatably connected to one end of the swing plate 18, the swing component 19 is rotatably connected to the bottom of the telescopic block 17, the output end of the swing component 19 is rotatably connected to one side of the swing plate 18, the other end of the swing plate 18 is provided with the U-shaped frame 20, the two second rotating components 6 are symmetrically arranged on the U-shaped frame 20, the output ends of the two second rotating components 6 both pass through the U-shaped frame 20, and are fixedly connected to the swing arm track 3. The first rotating component 5 is started to drive the rotating plate 15 to rotate, and then the swing arm track 3 can be rotated to the front end of the robot for forward and backward driving, thereby increasing the moving horsepower, and the swing arm track 3 can also be rotated to both sides of the base 1 for rapid lateral movement and obstacle crossing; the telescopic component 16 is a cylinder, and the telescopic component 16 is started to drive the telescopic block 17 to move, and then adjust the distance between the swing arm track 3 and the base 1, so as to better adapt to different environments; the swing component 19 is a cylinder, and the swing component 19 is started to drive the swing plate 18 to rotate on the telescopic block 17, and then swing back and forth to adjust the swing arm track 3, so that the swing arm track 3 can be tilted; the swing arm track 3 is a triangular track, and then after tilting, it can better support the robot.
[0033] Again, the two limiting units are symmetrically arranged on the lifting seat 4, the rotating plate 15 has a limiting groove 23, the pushing component 21 is arranged above the lifting seat 4, the output end of the pushing component 21 passes through the lifting seat 4 and is located inside the slide slot 11, the output end of the pushing component 21 is fixedly connected to the limiting hole, and the limiting block 22 and the limiting groove 23 are adapted to each other. The pushing component 21 is a cylinder, and when the swing arm crawler 3 rotates to the front end of the base 1, the pushing component 21 is started, driving the limiting block 22 to move into the limiting groove 23, thereby limiting and reinforcing the rotating plate 15 to prevent loosening and shaking.
[0034] In addition, the camera 24, the plurality of infrared sensors 25 and the plurality of laser radars 26 are sequentially arranged on the base 1. The camera 24 is convenient for observing the situation ahead, and the infrared sensor 25 and the laser radar 26 detect and scan the road conditions ahead and on both sides so as to avoid and climb over obstacles in time.
[0035] When using a portable wheel-track double-swing arm mobile robot of this embodiment, the screw block 10 is driven to move by the screw machine 9, and the swing arm crawler 3 is driven to move forward and backward, and then driven from different positions of the base 1; at the same time, the lifting seat 4 can adjust the height, thereby driving the swing arm crawler 3 to rise and fall, so as to cope with obstacles of different heights; the first rotating component 5 is started, which can drive the swing arm crawler 3 to switch between the two sides and the front of the base 1; the second rotating component 6 is started, which can drive the swing arm crawler 3 to rotate itself, and can be flipped, so as to support the base 1, and the swing arm crawler 3 can also be folded and stowed when not in use; through the above-mentioned structural setting, the swing arm crawler 3 can be adjusted at multiple angles and can be rotated to both sides of the base 1, so as to facilitate the direct horizontal rapid movement and obstacle crossing of the base 1, which is more convenient for use in complex terrain in the wild.
[0036] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.
Claims
1. A portable wheel-track dual-swing arm mobile robot, comprising a base, two drive tracks and two swing arm tracks, wherein the two drive tracks are symmetrically arranged on both sides of the base, and the two swing arm tracks are symmetrically arranged above the base, characterized in that: Also included are adjustment components; The adjustment assembly includes a lifting seat, two front and rear moving units, two first rotating parts and a plurality of second rotating parts. The lifting seat is slidably connected to the base. The two front and rear moving units are symmetrically arranged on both sides of the base. The two first rotating parts are respectively arranged on the corresponding front and rear moving parts. The plurality of second rotating parts are sequentially arranged on one side of the first rotating part. The swing arm track is arranged between the corresponding two second rotating parts.
2. The portable wheel-track dual-swing arm mobile robot according to claim 1, characterized in that: The adjustment assembly also includes a plurality of lifting components, a controller, a sensor unit and two brackets. The plurality of lifting components are sequentially arranged on the inner bottom wall of the base. The output ends of the plurality of lifting components are fixedly connected to the lifting seat. The controller is arranged on the inner bottom wall of the base. The sensor unit is arranged at one end of the base. The two brackets are respectively arranged on the corresponding forward and backward moving units. The first rotating component is arranged at one end of the bracket, and the second rotating component is arranged at the other end of the bracket.
3. The portable wheel-track dual-swing arm mobile robot according to claim 2, characterized in that: The forward and backward moving unit includes a screw machine, a threaded block and a magnetic fixing mechanism, the base has a slide groove, the screw machine is arranged on the slide groove, the threaded block and the output end of the screw machine are adapted to each other, the threaded block has a groove, the first rotating component is arranged on the inner top wall of the groove, the output end of the first rotating component is fixedly connected to the bracket, the bracket is rotatably connected to the threaded block and is located inside the groove, and the magnetic fixing mechanism is arranged inside the slide groove.
4. The portable wheel-track dual-swing arm mobile robot according to claim 3, characterized in that: The magnetic attraction fixing mechanism includes a metal plate and an electromagnetic block. The metal plate is fixedly connected to the lifting seat and is located on the inner bottom wall of the slide slot. The electromagnetic block is arranged on the bracket. The metal plate and the electromagnetic block attract each other.
5. The portable wheel-track dual-swing arm mobile robot according to claim 4, characterized in that: The bracket includes a rotating plate, two telescopic parts, a telescopic block, a swing plate, a swing part and a U-shaped frame, the electromagnetic block is arranged below the rotating plate, one end of the rotating plate is rotatably connected to the threaded block and is located inside the groove, the output end of the first rotating part is fixedly connected to the rotating plate, the two telescopic parts are sequentially arranged inside the rotating plate, the output ends of the two telescopic parts are both fixedly connected to one side of the telescopic block, the other side of the telescopic block is rotatably connected to one end of the swing plate, the swing part is rotatably connected to the bottom of the telescopic block, the output end of the swing part is rotatably connected to one side of the swing plate, the other end of the swing plate is provided with the U-shaped frame, the two second rotating parts are symmetrically arranged on the U-shaped frame, the output ends of the two second rotating parts both pass through the U-shaped frame and are fixedly connected to the swing arm track.
6. The portable wheel-track dual-swing arm mobile robot according to claim 5, characterized in that: The adjustment assembly further includes two limit units, and the two limit units are symmetrically arranged on the lifting seat; The limiting unit includes a pushing component and a limiting block, the rotating plate has a limiting groove, the pushing component is arranged above the lifting seat, the output end of the pushing component passes through the lifting seat and is located inside the sliding groove, the output end of the pushing component is fixedly connected to the limiting hole, and the limiting block and the limiting groove are adapted to each other.
7. The portable wheel-track dual-swing arm mobile robot according to claim 6, characterized in that: The sensor unit includes a camera, multiple infrared sensors and multiple laser radars, and the camera, multiple infrared sensors and multiple laser radars are arranged on the base in sequence.