Climbing and obstacle crossing robot

Abstract

The invention discloses a climbing and obstacle crossing robot, and relates to the technical field of robots, the climbing and obstacle crossing robot comprises a bottom plate, and walking tracks are symmetrically arranged on the two sides of the bottom plate and can drive the bottom plate to move; one end of the head crawler belt is movably connected with the front end of the bottom plate, and the head crawler belt can rotate up and down around the front end of the bottom plate; the telescopic mechanism is arranged on the bottom plate and can move front and back in the length direction of the bottom plate. In the process that the head caterpillar band climbs an obstacle, the end, away from the head caterpillar band, of the telescopic mechanism can move in the direction away from the head caterpillar band, and the end, away from the head caterpillar band, of the telescopic mechanism keeps abutting against the ground. The climbing and obstacle crossing robot provided by the invention can cross higher obstacles.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a climbing and obstacle-crossing robot. Background Art

[0002] Traditional search and rescue, exploration, and firefighting robots mostly use track structures, a design that gives them a certain degree of terrain adaptability. When faced with obstacles such as steps and uneven roads, the track structure can effectively disperse pressure through continuous rolling and deformation, maintaining the robot's stability and passability, allowing the robot to move smoothly in complex ground environments. However, when encountering high obstacles, especially in mission scenarios such as earthquake search and rescue and exploration, these heights often exceed the limits that the track structure can cross. Since the track structure lacks an effective vertical climbing or crossing mechanism, the robot can only look at the "obstacle" and sigh, unable to move forward. This greatly limits its scope of use in complex terrain environments, and may prevent the rescue or exploration mission from being carried out smoothly.

[0003] Wall-climbing robots take a different approach, using the principle of vacuum adsorption to climb walls of greater heights. On a flat vertical wall, by extracting the air between the adsorption surface and the wall, negative pressure is formed, allowing the robot to fit tightly against the wall, and then relying on the drive device to move. This technology has shown unique advantages in some specific scenarios. However, the limitations of this technology are also very obvious. Once the wall becomes uneven and there are gaps in space, air will enter between the adsorption surface and the wall, causing the negative pressure to fail to form or disappear quickly. The robot will fall due to the loss of adsorption force and will be unable to complete the climbing task. In addition, due to the characteristics of vacuum adsorption, when the robot wants to break away from the vertical wall to perform actions such as climbing over, the vacuum negative pressure will immediately disappear as it separates from the wall, making it impossible for the robot to move on the surface of the wall and unable to cross the wall. This also limits its application scenarios and scope of application.

[0004] Traditional tracked robots and wall-climbing robots have certain functions in their respective fields of expertise, but due to the limitations of their structure and technical principles, their functions have obvious shortcomings when faced with complex and diverse actual task requirements. They are unable to climb and cross high obstacles, which limits their application scenarios and scope of applicability.

[0005] Therefore, it is urgent to design a technical solution that can climb and cross higher obstacles. Summary of the Invention

[0006] The purpose of the present invention is to provide a climbing and obstacle-crossing robot to solve the problems existing in the above-mentioned prior art and to be able to climb and cross higher obstacles.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] The present invention provides a climbing and obstacle-crossing robot, comprising:

[0009] base plate;

[0010] Walking tracks are symmetrically arranged on both sides of the base plate and can drive the base plate to move;

[0011] A head crawler, one end of which is movably connected to the front end of the base plate, and the head crawler can rotate up and down around the front end of the base plate;

[0012] The telescopic mechanism is arranged on the base plate and can move forward and backward along the length direction of the base plate; when the head track climbs an obstacle, the end of the telescopic mechanism away from the head track can move in the direction away from the head track, and the end of the telescopic mechanism away from the head track remains in contact with the ground.

[0013] Preferably, the walking track includes a driving wheel, a driven wheel and a track body, the driving wheel and the driven wheel are respectively movably arranged at the front and rear ends of one side of the base plate through wheel axles, the track body is wrapped around the driven wheel and the driving wheel, and the inner side of the track body is respectively engaged with the driving wheel and the driven wheel; a first drive motor is fixed on the base plate, and the output shaft of the first drive motor is transmission-connected to the driving wheel.

[0014] Preferably, the head track includes a head wheel frame, a head driving wheel, a head driven wheel and a head track body, the wheel axle of the head driven wheel is rotatably installed on the front end of the base plate, the wheel axle of the head driving wheel is rotatably installed on the front end of the head wheel frame, the head track body is wrapped around the head driving wheel and the head driven wheel, and the inner side of the head track body is respectively meshed with the head driving wheel and the head driven wheel; a head driving motor is fixedly provided in the head wheel frame, the head driving motor is located between the head driving wheel and the head driven wheel, and the output shaft of the head driving motor is connected to the wheel axle of the head driving wheel through a worm gear mechanism; a rotating motor is fixedly provided on one side of the head wheel frame, and the output shaft of the rotating motor is connected to the wheel axle of the head driven wheel through a worm gear mechanism; the rear end of the head wheel frame is fixedly connected to the wheel axle of the head driven wheel.

[0015] Preferably, counterweight blocks are provided on both sides of the head driving wheel, and the counterweight blocks are fixedly mounted on the head wheel frame.

[0016] Preferably, the telescopic mechanism includes a first-level telescopic mechanism, and the first-level telescopic mechanism includes a first-level telescopic bottom plate slidably arranged on the bottom plate, and a strip groove arranged along the length direction of the bottom plate is opened on the bottom plate, and a screw is provided in the strip groove, and one end of the screw is transmission-connected to a screw motor, and a screw nut is threadedly connected to the screw, and a first-level slider is fixedly connected to the top of the screw nut, and the first-level slider is fixedly connected to the first-level telescopic bottom plate.

[0017] The top end of the secondary belt is fixedly provided with a secondary telescopic frame, and the end thereof is fixedly provided with two secondary telescopic rods parallel to the bottom plate, and the secondary telescopic middle fixed seat is provided with two connecting holes, and the secondary telescopic middle fixed seat is provided with two connecting holes, and the end of the secondary telescopic rod is movably passed through the corresponding connecting holes on the secondary telescopic middle fixed seat; the wheel shaft of one of the secondary pulleys is connected to the secondary belt drive motor through transmission.

[0018] Preferably, the telescopic mechanism also includes a three-stage telescopic mechanism, the three-stage telescopic mechanism includes a fixedly connected three-stage telescopic upper fixed seat and a three-stage telescopic middle fixed seat, the three-stage telescopic upper fixed seat is located on the upper part of the secondary telescopic rod, the three-stage telescopic upper fixed seat and the three-stage telescopic middle fixed seat are movably provided with a three-stage pulley, a closed three-stage belt is wound between the two three-stage pulleys, the bottom of the three-stage belt is fixedly connected to the top of the secondary telescopic middle fixed seat through a connecting block, the top of the three-stage belt is fixedly connected to the three-stage telescopic frame at one end close to the three-stage telescopic upper fixed seat through a connecting block, and the three-stage telescopic frame is fixedly provided with a Two three-stage telescopic rods parallel to the base plate, two connecting through holes are provided on the upper part of the three-stage telescopic middle fixed seat, the ends of the three-stage telescopic rods are movably inserted into the corresponding connecting through holes on the upper part of the three-stage telescopic middle fixed seat, and two connecting through holes are provided on the lower part of the three-stage telescopic middle fixed seat, the ends of the secondary telescopic rods can be inserted into the corresponding connecting through holes on the lower part of the three-stage telescopic middle fixed seat; the three-stage telescopic middle fixed seat is located at the end of the secondary telescopic middle fixed seat away from the head crawler; the end of the three-stage telescopic rod is fixedly provided with a three-stage telescopic lower support seat, and the three-stage telescopic lower support seat can abut against the ground; the wheel shaft transmission of one of the secondary pulleys is connected to the secondary belt drive motor.

[0019] Preferably, synchronous gear teeth are evenly provided on the inner side of the track body, and multiple ratchet structures are evenly provided on the outer side of the track body; the synchronous gear teeth can be engaged and connected with the driving wheel and the driven wheel; the head track body has the same structure as the track body.

[0020] Preferably, the head wheel frame includes a first side plate and a second side plate that are symmetrically arranged, the head drive motor is arranged between the first side plate and the second side plate, and the counterweight block is fixedly provided on the outer side of the first side plate and the outer side of the second side plate.

[0021] Preferably, a plurality of support wheels are evenly arranged between the driving wheel and the driven wheel on the same side, the wheel axles of the support wheels are connected to the outer side of the base plate, and the support wheels are meshed and connected with the inner side of the crawler body on the corresponding side.

[0022] Compared with the prior art, the present invention has achieved the following technical effects:

[0023] The head track of the present invention can rotate up and down around the front end of the base plate, and the head track and the two walking tracks form a three-track structure. When encountering a higher obstacle, during the side climbing stage, the head track touches the obstacle and rotates upward at a certain angle to contact the side of the obstacle. When the walking track moves forward, the walking track and the head track form a three-point stable structure, allowing the robot to climb vertically upward. The telescopic mechanism moves away from the head track, and the end of the telescopic mechanism away from the head track contacts the ground, thereby supporting the base plate and the walking tracks. During the rapid climbing stage, the walking tracks are a certain distance away from the obstacle, forming a triangular stable support structure. The head track and the telescopic mechanism move simultaneously, and the walking tracks gradually leave the ground and move upward, allowing the robot to move along the surface of the vertical obstacle. Due to the support of the head track, the unevenness of the vertical surface can be ignored and the robot can still climb rapidly. During the vertical climb phase, the head track moves to the top corner of the obstacle and rotates a certain angle, causing the head track's ratchet teeth to engage the obstacle's corner, hooking the robot. Under the action of gravity, the robot adjusts its posture vertically downward. The walking track and the head track form a three-point stability structure, allowing the robot to climb steadily upward. The telescopic mechanism reverses and lifts off the ground, completing the robot's upward movement. When the head track has completely reached the top of the obstacle, the robot is hooked and prevented from falling due to the heavier head and the head track's grip on the top surface. The telescopic mechanism then continues its reverse movement to enter the recovery phase. When the telescopic mechanism is fully recovered, the head, due to its heavier head, moves downward, causing the robot's tail to tilt up. The two conveyor tracks in the middle section clamp onto the top corners of the obstacle, providing support and preventing the robot from sliding. The walking track and the head track in the middle section now continue to form a three-point stability structure, ensuring the robot's smooth forward movement. During the parallel crawling stage, the robot has climbed over the obstacle as a whole and there is no risk of slipping. The robot is in a parallel full-track crawling state. The head track and the walking track form a three-point stable structure, allowing the robot to move forward smoothly, achieving climbing and crossing higher obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. 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 any creative work.

[0025] Figure 1 A schematic diagram of the overall structure of a climbing and obstacle-crossing robot in one or some embodiments of the present invention;

[0026] Figure 2A schematic diagram of the partial structure of a climbing and obstacle-crossing robot in one or some embodiments of the present invention;

[0027] Figure 3 A schematic diagram of the partial structure of the climbing and obstacle-crossing robot at the second position in one or some embodiments of the present invention;

[0028] Figure 4 A schematic diagram of the partial structure of the climbing and obstacle-crossing robot at the third position in one or some embodiments of the present invention;

[0029] Figure 5 A schematic diagram of the partial structure of the climbing and obstacle-crossing robot at the fourth position in one or some embodiments of the present invention;

[0030] Figure 6 A schematic diagram of the partial structure of the climbing and obstacle-crossing robot at the fifth position in one or some embodiments of the present invention;

[0031] Figure 7 A schematic diagram of the partial structure of the climbing and obstacle-crossing robot at the sixth position in one or some embodiments of the present invention;

[0032] Figure 8 A schematic diagram of the local structure of the climbing and obstacle-crossing robot at the seventh position in one or some embodiments of the present invention;

[0033] Figure 9 A schematic diagram of the partial structure of the climbing and obstacle-crossing robot at the eighth position in one or some embodiments of the present invention;

[0034] Figure 10 Schematic diagram of the crawler body;

[0035] Figure 11 Schematic diagram of the secondary telescopic frame;

[0036] Figure 12 A schematic diagram of a climbing and obstacle-crossing robot from another angle in one or some embodiments of the present invention;

[0037] Figure 13 Schematic diagram of worm gear structure;

[0038] Figure 14 This is a schematic diagram of another worm gear structure;

[0039] Figure 15 A partial cross-sectional schematic diagram of a climbing and obstacle-crossing robot in one or some embodiments of the present invention;

[0040] Figure 16 A schematic partial cross-sectional view of a climbing and obstacle-crossing robot at another position in one or some embodiments of the present invention;

[0041] Figure 17A schematic diagram of the head crawler of a climbing and obstacle-crossing robot in one or some embodiments of the present invention;

[0042] Figure 18 A schematic diagram of the partial structure of the climbing and obstacle-crossing robot from another angle in one or some embodiments of the present invention;

[0043] Figure 19 A schematic diagram showing the principle of the extension process of the secondary telescopic mechanism of the climbing and obstacle-crossing robot in one or some embodiments of the present invention;

[0044] Figure 20 Schematic diagram of the principle of the secondary telescopic mechanism and the tertiary telescopic mechanism of the climbing and obstacle-crossing robot in one or some embodiments of the present invention;

[0045] Figure 21 It is a schematic diagram of a three-stage telescopic frame;

[0046] Figure 22 This is a schematic diagram of the fixed seat in the three-stage telescopic position;

[0047] Figure 23 This is a schematic diagram of the fixing seat in the secondary telescopic position;

[0048] Figure 24 This is a schematic diagram of the principle of a climbing and obstacle-crossing robot climbing a higher obstacle in one or some embodiments of the present invention.

[0049] In the figure: 1-base plate, 2-walking crawler, 201-driving wheel, 202-driven wheel, 203-crawler body, 204-first drive motor, 3-head crawler, 301-head wheel frame, 302-head driving wheel, 303-head driven wheel, 304-head crawler body, 305-rotating motor, 306-head drive motor, 4-telescopic mechanism, 5-counterweight, 6-first-level telescopic base plate, 7-lead screw, 8-secondary telescopic upper fixed seat, 9-secondary telescopic middle fixed seat, 10-secondary belt, 11-connecting block, 12-secondary telescopic rod, 13-secondary telescopic frame, 14-third-level telescopic upper fixed seat, 15-third-level telescopic middle fixed seat, 16-third-level belt, 17-third-level telescopic rod, 18-third-level telescopic frame, 19-third-level telescopic lower support seat, 20-support wheel, 21-worm, 22-worm wheel. DETAILED DESCRIPTION

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0051] The purpose of the present invention is to provide a climbing and obstacle-crossing robot to solve the problems existing in the above-mentioned prior art and to be able to climb and cross higher obstacles.

[0052] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] Although the crawler structure of traditional search and rescue, exploration and fire fighting robots can be used for obstacles such as steps and uneven roads, it is helpless against obstacles with higher heights and cannot climb or cross higher obstacles. In order to solve this technical problem, the present invention provides a climbing and obstacle-crossing robot. Figures 1 to 24 As shown, it includes a base plate 1; walking tracks 2 are symmetrically arranged on both sides of the base plate 1, which can drive the base plate 1 to move, and the two walking tracks 2 are driven independently. When the left and right walking tracks 2 rotate forward and reverse or have different speeds, they can achieve in-situ turning or differential turning; one end of the head track 3 is movably connected to the front end of the base plate 1, and the head track 3 can rotate up and down around the front end of the base plate 1; the telescopic mechanism 4 is arranged on the base plate 1 and can move forward and backward along the length direction of the base plate 1; when the head track 3 climbs an obstacle, the telescopic mechanism 4 away from the head track 3 can move in the direction away from the head track 3, and the end of the telescopic mechanism 4 away from the head track 3 remains in contact with the ground.

[0054] In one embodiment, the walking track 2 includes a driving wheel 201, a driven wheel 202 and a track body 203. The driving wheel 201 and the driven wheel 202 are respectively arranged at the front and rear ends of one side of the base plate 1 through the wheel shaft. Both sides of the wheel surface of the driving wheel 201 and the driven wheel 202 are provided with annular ribs. The track body 203 is wound around the driven wheel 202 and the driving wheel 201. The front end of the track body 203 is located between the two annular ribs of the driving wheel 201, and the rear end of the track body 203 is located between the two annular ribs of the driven wheel 202. The crawler body 203 is limited between them to prevent the crawler body 203 from slipping, and the inner side of the crawler body 203 is respectively meshed with the driving wheel 201 and the driven wheel 202 to realize the transmission connection between the crawler body 203 and the driving wheel 201 and the driven wheel 202; a first driving motor 204 is fixed on the bottom plate, and the output shaft of the first driving motor 204 is transmission-connected with a worm, and the worm 21 is meshed with a worm wheel 22, and the worm wheel is transmission-connected with the wheel shaft of the driving wheel 201, thereby realizing the driving of the walking crawler 2. The head crawler 3 in this embodiment includes a head wheel frame 301, a head driving wheel 302, a head driven wheel 303 and a head crawler body 304. The wheel shaft of the head driven wheel 303 is rotatably mounted on the front end of the base plate, the wheel shaft of the head driving wheel 302 is rotatably mounted on the front end of the head wheel frame 301, the head crawler body 304 is wound around the head driving wheel 302 and the head driven wheel 303, and the inner side of the head crawler body 304 is respectively engaged with the head driving wheel 302 and the head driven wheel 303; the head wheel frame 3 01 is fixedly provided with a head drive motor 306, which is located between the head driving wheel 302 and the head driven wheel 303, and the output shaft of the head drive motor 306 is connected to the wheel shaft of the head driving wheel 302 via a worm gear mechanism; a rotating motor 305 is fixedly provided on one side of the head wheel frame 301, and the output shaft of the rotating motor 305 is connected to the wheel shaft of the head driven wheel 303 via a worm gear mechanism; the rear end of the head wheel frame 301 is fixedly connected to the wheel shaft of the head driven wheel 303. In one embodiment, the head wheel frame 301 includes a first side plate and a second side plate arranged symmetrically, the head drive motor 306 is arranged between the first side plate and the second side plate, and a counterweight 5 is fixedly provided on the outer side of the first side plate and the outer side of the second side plate.

[0055] In order to make the walking process more stable and avoid the risk of falling off when climbing and crossing obstacles, in one embodiment, synchronous gear teeth are evenly arranged on the inner side of the track body 203, and multiple ratchet structures are evenly arranged on the outer side of the track body 203, forming a synchronous ratchet track. The ratchet teeth are triangular, inclined tooth structures with strong gripping ability, which can prevent the robot from slipping when climbing obstacles. The synchronous gear teeth can be meshed with the teeth of the driving wheel 201 and the teeth of the driven wheel 202. The head track body 304 has the same structure as the track body 203. In order to enable faster and easier crossing of obstacles, this embodiment provides counterweights 5 on both sides of the head driving wheel 302. The counterweights 5 are fixedly mounted on the head wheel frame 301, making the head of the robot heavier than the tail. When crossing an obstacle, after the robot's head has rolled over the obstacle, its heavier head can cause the lighter tail of the robot to tilt up, making it easier for the robot to cross the obstacle as a whole. Due to the counterweight structure at the end of the head crawler 3, the robot can climb super-high obstacles (super-high refers to a height that is longer than the length of the robot when it is not vertically deployed) by climbing vertically upwards with the bottom suspended in the air. When the head is heavier, it will be pressed down due to the leverage effect, realizing the transformation of the robot from a vertical posture to a horizontal posture. After becoming a horizontal posture, it realizes overturning climbing, can achieve continuous climbing, and can also change direction to achieve downhill function.

[0056] The telescopic mechanism of the present invention is not specifically limited to a single stage, and a multi-stage telescopic mechanism can be designed based on practical needs. This embodiment will be described using a three-stage telescopic mechanism as an example. The telescopic mechanism of this embodiment includes a primary telescopic mechanism, a secondary telescopic mechanism, and a tertiary telescopic mechanism. The primary telescopic mechanism includes a primary telescopic base plate 6 slidably mounted on a base plate 1. The base plate 1 is provided with a strip groove extending along the length of the base plate. A lead screw 7 is disposed within the strip groove via a bearing. One end of the lead screw 7 is connected to a lead screw motor. A lead screw nut is threadedly connected to the lead screw 7. A primary slider is fixedly connected to the top of the lead screw nut. The primary slider is fixedly connected to the primary telescopic base plate 6. The lead screw motor drives the lead screw 7 to rotate, and the lead screw nut on the lead screw 7 drives the primary slider to move horizontally along the axis of the lead screw 7, thereby driving the primary telescopic base plate 6 to move horizontally along the length of the base plate 1, thereby achieving extension of the robot. When only the primary telescopic mechanism is in operation, during the robot's upward climbing process, the distal end of the primary telescopic base plate 6 contacts the ground, causing it to move relative to the base plate 1, thereby driving the base plate 1, the walking track 2, and the head track 3 upward in a reverse direction.

[0057] The secondary telescopic mechanism in this embodiment includes a fixedly connected secondary telescopic upper fixed seat 8 and a secondary telescopic middle fixed seat 9, the secondary telescopic upper fixed seat 8 is slidably arranged on the primary telescopic base plate 6, and the secondary telescopic upper fixed seat 8 and the secondary telescopic middle fixed seat 9 are movably provided with secondary pulleys, and a closed secondary belt 10 is wound around the two secondary pulleys, and the bottom of the secondary belt 10 is away from the secondary telescopic upper fixed seat 8. One end is fixedly connected to the primary telescopic base plate 6 through a connecting block 11, and the top of the secondary belt 10 is close to the secondary telescopic upper fixed seat 8. One end is fixedly connected to the secondary telescopic frame 13 through a connecting block 11, and the secondary telescopic frame 13 is fixedly provided with two secondary telescopic rods 12 parallel to the base plate at one end away from the head crawler 3. Two connecting through holes are provided on the secondary telescopic middle fixed seat 9, and the ends of the secondary telescopic rods 12 are movably passed through the corresponding connecting through holes on the secondary telescopic middle fixed seat 9; the wheel shaft transmission of one of the secondary pulleys is connected to the secondary belt drive motor. In this embodiment, when the secondary telescopic mechanism needs to work, the secondary belt drive motor drives the secondary pulley to rotate, and then drives the secondary belt 10 to rotate. Since the bottom of the secondary belt 10 is fixedly connected to the primary telescopic base plate 6 at one end away from the secondary telescopic upper fixed seat 8 through the connecting block 11, the secondary belt 10 is fixed here. During the rotation of the secondary belt 10, it can only drive the secondary telescopic upper fixed seat 8 and the secondary telescopic lower fixed seat to move away from the head crawler 3. Since the upper part of the secondary belt 10 is fixed to the secondary telescopic frame 13, it drives the secondary telescopic frame 13 to move synchronously. Finally, the secondary telescopic frame 13 abuts against one side of the secondary telescopic middle fixed seat 9 to achieve support. At this time, the movement of the end of the secondary telescopic rod 12 on the secondary telescopic frame 13 is twice the movement of the secondary pulley, and the moving distance is larger.

[0058] The principle of the three-stage telescopic mechanism of this embodiment is the same as that of the two-stage telescopic mechanism, including a fixedly connected three-stage telescopic upper fixed seat 14 and a three-stage telescopic middle fixed seat 15, the three-stage telescopic upper fixed seat 14 is located on the upper part of the two-stage telescopic rod 12, and the three-stage telescopic upper fixed seat 14 and the three-stage telescopic middle fixed seat 15 are movably provided with a three-stage pulley, and a closed three-stage belt 16 is wound between the two three-stage pulleys, and the end of the three-stage belt 16 away from the three-stage telescopic upper fixed seat 14 is fixedly connected to the top of the two-stage telescopic middle fixed seat 9 through a connecting block 11, and the end of the top of the three-stage belt 16 close to the three-stage telescopic upper fixed seat 14 is fixedly connected to the three-stage telescopic frame 18 through the connecting block 11, and the three-stage telescopic frame 18 is fixedly provided with two three-stage telescopic rods 17 parallel to the bottom plate at one end away from the head crawler 3, and the upper part of the three-stage telescopic middle fixed seat 15 is opened. There are two connecting through holes, the end of the three-stage telescopic rod 17 is movably inserted into the corresponding connecting through holes on the upper part of the three-stage telescopic fixed seat 15, and the lower part of the three-stage telescopic fixed seat 15 is provided with two connecting through holes, and the end of the secondary telescopic rod 12 can be inserted into the corresponding connecting through holes on the lower part of the three-stage telescopic fixed seat 15; the three-stage telescopic fixed seat 15 is located at the end of the secondary telescopic fixed seat 9 away from the head crawler 3; the end of the three-stage telescopic rod 17 is fixed with a three-stage telescopic lower support seat 19, which can abut the ground; the wheel shaft transmission of one of the secondary pulleys is connected to the secondary belt drive motor. In this embodiment, a lithium battery is provided on the bottom plate, which can power the various motors on the bottom plate. At the same time, a lithium battery is also provided on the head wheel frame on the inner side of the head crawler for powering the various motors at the head crawler. Furthermore, a control system is installed on the baseboard, and its wireless signal is connected to the controller. The operator can remotely send signals to the control system through the controller, and according to the signals, control the on / off, speed, and rotation direction of each motor, thereby realizing the robot's walking, steering, obstacle crossing and other functions. The control system and controller are both mature existing technologies, such as single-chip microcomputers or microcomputers, and the details are not detailed here. In addition, a micro camera can be installed on the robot to obtain real-time images of the front, and the operator can use these images to control the robot's movement status.

[0059] The telescopic rod and base plate of this embodiment are made of carbon fiber material, which has both high strength and light weight. In this embodiment, when the three-stage telescopic mechanism needs to work, the three-stage belt drive motor drives the three-stage pulley to rotate, and then drives the three-stage belt 16 to rotate. Since the end of the bottom of the three-stage belt 16 away from the three-stage telescopic upper fixed seat 14 is fixedly connected to the two-stage telescopic middle fixed seat 9 through the connecting block 11, the three-stage belt 16 is fixed here. During the rotation of the three-stage belt 16, it can only drive the three-stage telescopic upper fixed seat 14 and the three-stage telescopic lower fixed seat to move away from the head track 3. Since the upper part of the three-stage belt 16 is fixed to the three-stage telescopic frame 18, it drives the three-stage telescopic frame 18 to move synchronously. Finally, the three-stage telescopic frame 18 abuts against one side of the three-stage telescopic middle fixed seat 15 to achieve support. At this time, the movement amount of the end of the three-stage telescopic rod 17 on the three-stage telescopic frame 18 is twice the movement amount of the three-stage pulley, and the movement distance is greater. For details, refer to Figure 19 and Figure 20 As shown in the figure, bearings are provided at the connecting holes to facilitate the guidance and limiting of each telescopic rod. Based on this principle, a four-stage telescopic mechanism or a five-stage telescopic mechanism can be added under the premise of meeting the weight requirements. I will not go into details here.

[0060] When the present invention is used, when crossing a lower obstacle, the head track 3 rotates upward and the walking track 2 moves forward, and then the bottom of the head track 3 overlaps the obstacle. During the continued forward movement, the walking track 2 gradually tilts and moves upward to the obstacle. At this time, the head of the head track 3 has crossed the obstacle, and the head track 3 rotates downward. Under the action of the gravity of the counterweight block 5, the robot uses the top of the obstacle as a fulcrum to make the tail of the robot tilt up, and continues to move forward until the center of gravity of the robot passes the obstacle. Then, the rotation angle of the head track 3 is controlled to achieve the crossing of the obstacle. During the process, the ratchet structure on the track surface is relied upon to achieve a tight grip with the obstacle surface.

[0061] refer to Figure 24As shown, when crossing a higher obstacle, the head track 3 and the two walking tracks 2 form a three-track structure; when encountering a higher obstacle, during the climbing stage along the side of the obstacle, the head track 3 rotates upward by a certain angle, touches the obstacle, and contacts the side of the obstacle. When the walking track 2 moves forward, the walking track 2 and the head track 3 form a three-point stable structure, allowing the robot to climb vertically upward. The telescopic mechanism is arranged at an angle at this time, and the end of the telescopic mechanism away from the head track 3 abuts the ground to form a supporting effect, and the telescopic mechanism moves in the direction away from the head track 3. Since the end of the telescopic mechanism away from the head track 3 abuts the ground, it plays a supporting role for the base plate and the walking track 2. Therefore, during the rapid climbing stage, the walking track 2 gradually leaves the ground and moves upward. At this time, the telescopic mechanism, the head track 3 and the base plate form a triangular stable support structure, and the head track 3 and the telescopic mechanism move simultaneously, and the walking track 2 gradually leaves the ground and moves upward, so that the robot moves along the surface of the vertical obstacle. Due to the support of the head track 3, the unevenness of the vertical surface can be ignored and the robot can still climb quickly. During the vertical climb phase, the head track 3 moves to the top corner of the obstacle and rotates a certain angle, causing its ratchet teeth to engage the top corner of the obstacle, effectively hooking the robot. Under the action of gravity, the robot adjusts its posture vertically downward. The walking track 2 and the head track 3 form a three-point stable structure, allowing the robot to climb steadily upward. The telescopic mechanism then reverses and lifts off the ground, allowing the robot to move upward as a whole. When the head track 3 has completely reached the top of the obstacle, the robot is hooked and prevented from falling due to the heavier head and the gripping force of the head track 3 on the top surface of the obstacle. The telescopic mechanism then continues to reverse and enters the recovery phase. When the telescopic mechanism is fully recovered, the head of the robot moves downward due to its heavier head, causing the robot's tail to tilt. The two conveyor tracks in the middle section clamp onto the top corner of the obstacle, providing support and preventing the robot from sliding. At this point, the walking track 2 and the head track 3 in the middle section continue to form a three-point stable support, allowing the robot to move smoothly forward. In the parallel crawling stage, the robot has climbed up the obstacle as a whole and there is no risk of slipping. The robot is in a parallel full-track crawling state. The head track 3 and the walking track 2 form a three-point stable structure, allowing the robot to move forward smoothly, achieving climbing and crossing higher obstacles.

[0062] When the robot goes downhill from a higher obstacle, it uses a backward method to achieve downhill. First, the head track 3 is rotated downward by a certain angle, so that the connection position of the head track 3 and the bottom plate is arched upward by a certain height. At this time, the bottom plate and the walking track 2 are arranged tilted, and then the end of the bottom plate and the walking track 2 away from the head track 3 is gradually moved toward the edge of the obstacle. During this process, the ratchet structure on the track surface is engaged with the corner position of the top of the obstacle. At this time, the telescopic mechanism is driven to extend, and the robot continues to retreat. Due to the change in the center of gravity, under the action of gravity, the tail of the robot gradually rotates downward by a certain angle. When the end of the telescopic mechanism contacts the ground, the telescopic mechanism continues to extend a certain distance, so that the telescopic mechanism generates a pre-support force to support the robot body. At this time, the head track 3 rotates upward until it is in the same plane with the bottom plate, and then the telescopic mechanism gradually retracts, thereby driving the head track 3 and the bottom plate to gradually move downward until the walking track 2 contacts the ground, thus achieving the downhill process. The track structure of the walking track 2 and the head track 3 has the function of automatically adjusting the posture of the device when climbing and going downhill (the head track 3 can hook the top corners of the obstacle, and gravity automatically adjusts the direction of the device downward), which solves the problem that when the dual-track robot is climbing, the posture is skewed, causing the tracks to be out of sync, and then causing the device to tilt and roll.

[0063] In order to improve stability, in one embodiment, multiple support wheels 20 are evenly arranged between the driving wheel 201 and the driven wheel 202 on the same side. The wheel axles of the support wheels 20 are connected to the outer side of the base plate, and the support wheels 20 are meshed and connected with the inner side of the crawler body 203 on the corresponding side.

[0064] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A climbing and obstacle-crossing robot, characterized by: include: base plate; Walking tracks are symmetrically arranged on both sides of the base plate and can drive the base plate to move; A head crawler, one end of which is movably connected to the front end of the base plate, and the head crawler can rotate up and down around the front end of the base plate; The telescopic mechanism is arranged on the base plate and can move forward and backward along the length direction of the base plate; when the head track climbs an obstacle, the end of the telescopic mechanism away from the head track can move in the direction away from the head track, and the end of the telescopic mechanism away from the head track remains in contact with the ground.

2. The climbing and obstacle-crossing robot according to claim 1, characterized in that: The walking crawler includes a driving wheel, a driven wheel and a crawler body, the driving wheel and the driven wheel are respectively movably arranged at the front and rear ends of one side of the base plate through wheel axles, the crawler body is wound around the driven wheel and the driving wheel, and the inner side of the crawler body is respectively meshed and connected with the driving wheel and the driven wheel; a first driving motor is fixedly provided on the base plate, and the output shaft of the first driving motor is transmission-connected to the driving wheel.

3. The climbing and obstacle-crossing robot according to claim 2, characterized in that: The head track comprises a head wheel frame, a head driving wheel, a head driven wheel and a head track body, the wheel axle of the head driven wheel is rotatably installed on the front end of the base plate, the wheel axle of the head driving wheel is rotatably installed on the front end of the head wheel frame, the head track body is wrapped around the head driving wheel and the head driven wheel, and the inner side of the head track body is respectively meshed with the head driving wheel and the head driven wheel; a head driving motor is fixedly provided in the head wheel frame, the head driving motor is located between the head driving wheel and the head driven wheel, and the output shaft of the head driving motor is connected to the wheel axle of the head driving wheel through a worm gear mechanism; a rotating motor is fixedly provided on one side of the head wheel frame, and the output shaft of the rotating motor is connected to the wheel axle of the head driven wheel through a worm gear mechanism; the rear end of the head wheel frame is fixedly connected to the wheel axle of the head driven wheel.

4. The climbing and obstacle-crossing robot according to claim 3, characterized in that: Counterweight blocks are provided on both sides of the head driving wheel, and the counterweight blocks are fixedly mounted on the head wheel frame.

5. The climbing and obstacle-crossing robot according to claim 1, characterized in that: The telescopic mechanism includes a first-level telescopic mechanism, which includes a first-level telescopic base plate slidably arranged on the base plate, a strip groove arranged along the length direction of the base plate, a lead screw is provided in the strip groove, one end of the lead screw is transmission-connected to a lead screw motor, a lead screw nut is threadedly connected to the lead screw, a first-level slider is fixedly connected to the top of the lead screw nut, and the first-level slider is fixedly connected to the first-level telescopic base plate.

6. The climbing and obstacle-crossing robot according to claim 5, characterized in that: The top end of the secondary belt is fixedly provided with a secondary telescopic frame, and one end of the secondary telescopic frame is fixedly provided with a secondary telescopic rod parallel to the bottom plate, and the secondary telescopic middle fixed seat is provided with two connecting holes, and the end of the secondary telescopic rod is movably passed through the corresponding connecting holes on the secondary telescopic middle fixed seat; the wheel shaft of one of the secondary pulleys is connected to the secondary belt drive motor.

7. The climbing and obstacle-crossing robot according to claim 6, characterized in that: The telescopic mechanism also includes a three-stage telescopic mechanism, and the three-stage telescopic mechanism includes a fixedly connected three-stage telescopic upper fixed seat and a three-stage telescopic middle fixed seat, the three-stage telescopic upper fixed seat is located on the upper part of the secondary telescopic rod, and the three-stage telescopic upper fixed seat and the three-stage telescopic middle fixed seat are movably provided with a three-stage pulley, and a closed three-stage belt is wound between the two three-stage pulleys, and the bottom of the three-stage belt is fixedly connected to the top of the secondary telescopic middle fixed seat through a connecting block, and the top of the three-stage belt is fixedly connected to the three-stage telescopic frame at one end close to the three-stage telescopic upper fixed seat through a connecting block, and the three-stage telescopic frame is fixedly provided with two fixed ends away from the head crawler. A three-stage telescopic rod parallel to the base plate, two connecting through holes are provided on the upper part of the three-stage telescopic middle fixed seat, the end of the three-stage telescopic rod is movably inserted into the corresponding connecting through holes on the upper part of the three-stage telescopic middle fixed seat, and two connecting through holes are provided on the lower part of the three-stage telescopic middle fixed seat, and the end of the secondary telescopic rod can be inserted into the corresponding connecting through holes on the lower part of the three-stage telescopic middle fixed seat; the three-stage telescopic middle fixed seat is located at the end of the secondary telescopic middle fixed seat away from the head crawler; a three-stage telescopic lower support seat is fixedly provided at the end of the three-stage telescopic rod, and the three-stage telescopic lower support seat can abut against the ground; the wheel shaft transmission of one of the secondary pulleys is connected to a secondary belt drive motor.

8. The climbing and obstacle-crossing robot according to claim 3, characterized in that: The inner side of the crawler body is evenly provided with synchronous gear teeth, and the outer side of the crawler body is evenly provided with a plurality of ratchet structures; the synchronous gear teeth can be engaged and connected with the driving wheel and the driven wheel; the head crawler body has the same structure as the crawler body.

9. The climbing and obstacle-crossing robot according to claim 4, characterized in that: The head wheel frame includes a first side plate and a second side plate that are symmetrically arranged, the head drive motor is arranged between the first side plate and the second side plate, and the counterweight block is fixedly provided on the outer side of the first side plate and the outer side of the second side plate.

10. The climbing and obstacle-crossing robot according to claim 2, characterized in that: A plurality of supporting wheels are evenly arranged between the driving wheel and the driven wheel on the same side. The wheel axles of the supporting wheels are connected to the outer side of the base plate, and the supporting wheels are meshed and connected with the inner side of the crawler body on the corresponding side.

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