Deformable obstacle crossing robot

Abstract

The invention relates to the technical field of obstacle crossing robots and discloses a deformable obstacle crossing robot which comprises a reaction device, the reaction device is connected with a steering device through a steering gear, the steering device is connected with a differential device through a motor gear, and when one side of the reaction device is collided, automatic steering is conducted through the steering device and the differential device; the differential device is connected with the wheel assembly, the differential device controls rotation of the wheel assembly, the wheel assembly is connected with the telescopic device through a sliding groove, and the telescopic device enables the wheel assembly to stretch out and draw back to climb over obstacles by controlling the front wheel connecting rod and the rear wheel connecting rod. The robot can flexibly move and automatically turn.

Description

Technical Field

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

[0002] Robots are devices that are controlled by instructions and automatically perform work. They can help humans complete some repetitive, complex, dangerous and heavy tasks. With the rapid development of science and technology, people are exploring more and more irregular areas, and the requirements for robots are getting higher and higher. Obstacle-crossing robots have appeared to replace humans in entering complex and dangerous areas. Obstacle-crossing robots can walk and cross obstacles in complex environments. Therefore, the performance of obstacle-crossing robots is constantly improving, with better support, higher stability, longer service life, stronger environmental adaptability and higher degree of automation, etc. However, the existing obstacle-crossing robots have their inevitable shortcomings.

[0003] The Chinese invention patent with announcement number: N105599818B discloses an obstacle-crossing robot. The technical solution of this patent is: it includes a frame, the frame is connected to a walking system, the walking system drives the frame to move, and a control system is fixed on the frame. The control system drives the entire device. The walking system is in contact with the load balance system. When a tilt occurs, the load balance system is adjusted to ensure stability during walking. This patent has strong environmental adaptability and high flexibility. However, the walking system of this patent is easily damaged, has poor stability, is easy to overturn front and back, and still has deficiencies in automation. When it is hit, it cannot react. Based on this, the present invention provides a deformable obstacle-crossing robot. Summary of the Invention

[0004] In response to the defects of the existing technology, the present invention provides a deformable obstacle-crossing robot. The wheels are driven by a motor, the wheels are retractable, the wheels can automatically turn when encountering a collision, and the wheels can be expanded to enable climbing over obstacles when encountering obstacles.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a deformable obstacle-crossing robot, comprising a steering device, which is connected to a reaction device. When the reaction device is hit by a collision, it automatically steers by relying on the steering device and the differential device. The differential device is connected to the wheel assembly, which controls the movement of the wheel assembly. The wheel assembly is connected to the telescopic device, and the front wheel connecting rod and the rear wheel connecting rod in the telescopic device control the wheel assembly to cross the obstacle.

[0006] The reaction device includes a reaction plate I, on which a reaction spring I is fixedly installed. The reaction plate I is fixedly mounted on the end of a reaction rack I. The reaction rack I slides on a steering hole I, which is fixedly mounted on a long plate. A reaction spring I and a reaction spring II are fixedly mounted on the long plate. The reaction spring II is fixedly mounted on the reaction plate II. The reaction plate II is fixedly mounted on the reaction rack II. The reaction rack II passes through the steering hole II and engages with the steering gear. The steering gear is simultaneously engaged with the reaction rack I. The steering gear is fixedly mounted on the steering rod, which is fixedly mounted on the bogie. The bogie is connected to the wheel assembly.

[0007] Furthermore, the steering device includes a steering rod, a first end of the steering rod is rotatably mounted on the long plate, and a second end is fixedly mounted on the bogie, the bogie is connected to the wheel assembly, a fixed short rod is fixedly mounted on the bogie, the fixed short rod is fixedly connected to the motor housing, the motor housing is fixedly connected to the motor, a motor gear is installed on the motor, the motor housing is fixedly connected to the fixed long rod, a driven gear is installed on the fixed long rod, and the driven gear is connected to the differential device.

[0008] Furthermore, the differential device includes a power gear, which is engaged with the driven gear, and the power gear is fixedly connected to the drive shaft. The drive shaft is fixedly equipped with a drive gear I and a drive gear II. The ends of the drive gear I and the drive gear II are engaged with the differential gear I and the differential gear II. The differential gear I is fixedly installed on the wheel frame I, and the differential gear II is fixedly installed on the wheel frame II.

[0009] Furthermore, a cross is fixedly mounted on the wheel frame I, the cross is slidably connected to the retractable rod, the retractable rod is slidably connected to the inner wheel, the retractable rod is fixedly connected to the outer wheel, and a ball rod is fixedly mounted on the retractable rod. When the robot moves normally, one end of the ball rod with the ball slides in the slide groove. When overcoming obstacles, the end of the ball rod with the ball rotates in the slide groove. The slide groove is slidably mounted on the wheel frame I, wheel frame II and wheel frame III, and the slide groove slidably mounted on the wheel frame I and wheel frame II is connected to the telescopic frame.

[0010] Furthermore, the telescopic device includes a guard plate, which is fixedly connected to the vertical pole I and the through rod, the vertical pole I is slidably connected to the vertical pole II, the vertical pole II is fixedly mounted on the long plate, the through rod passes through the long plate and is connected to the gear assembly, the gear assembly is connected to the extension assembly, and the extension assembly is connected to the wheel assembly.

[0011] Furthermore, the gear assembly includes a fixing frame I, which is fixedly mounted on the long board and on which a telescopic gear I is mounted. The gear assembly includes a fixing frame II, which is fixedly mounted on the long board and on which a telescopic gear II is mounted. The telescopic gear I and the telescopic gear II are connected to the extension assembly.

[0012] Furthermore, the extension component includes a telescopic rack I, which is installed on the long board, the telescopic rack I is meshed with the telescopic gear I, the telescopic rack I is fixedly connected to the lower pressure ring, the lower pressure ring is installed on the steering rod, the lower pressure ring is connected to the front wheel connecting rod, the front wheel connecting rod is connected to the telescopic frame, the telescopic frame is connected to the wheel assembly, the extension component includes a telescopic rack II, the telescopic rack II is connected to the rear wheel connecting rod, the telescopic rack II slides on the rear wheel rod, and the rear wheel rod is fixedly mounted on the wheel frame III.

[0013] Compared with the prior art, the present invention has the following advantages: (1) The present invention is provided with a steering device and a differential device, which controls the different rotation speeds of the wheels when a collision occurs, so that the robot can move flexibly and turn automatically; (2) The present invention is provided with a unilateral reaction device, which can automatically retract when a collision occurs, so as to avoid continuing to move toward the collision object and damaging its own parts; (3) The present invention fixes the motor in the air, which protects the motor from being damaged when encountering an obstacle at the bottom; (4) The present invention is provided with a retractable wheel assembly, which can be enlarged or reduced, and can climb over obstacles by changing the size of the wheel; (5) The present invention is provided with a telescopic device, which controls the wheel through the through rod and the linkage generated by it to climb over obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0015] Figure 2 It is a partial schematic diagram of the reaction device of the present invention.

[0016] Figure 3 A partial schematic diagram of the steering device of the present invention Figure 1 .

[0017] Figure 4 for Figure 3 Enlarged view of point B in the middle.

[0018] Figure 5 for Figure 3 Enlarged view of point C in the middle.

[0019] Figure 6 A partial schematic diagram of the steering device of the present invention Figure 2 .

[0020] Figure 7 for Figure 6 Enlarged view of point D in the middle.

[0021] Figure 8 It is a partial schematic diagram of the wheel assembly of the present invention.

[0022] Figure 9 It is a schematic diagram of the telescopic device of the present invention.

[0023] Figure 10 for Figure 9Enlarged view of point E in the middle.

[0024] Figure 11 It is a front view of the present invention.

[0025] Figure 12 for Figure 11 Cross-section at AA in the middle.

[0026] Reference numerals: 1-reaction device; 101-reaction plate I; 102-reaction rack I; 103-reaction spring I; 104-reaction plate II; 105-reaction rack II; 106-reaction spring II; 107-steering hole I; 108-steering hole II; 2-steering device; 201-steering gear; 202-steering rod; 203-steering rack; 204-fixed short rod; 205-fixed long rod; 206-motor housing; 207-motor; 208-motor bolt; 209-motor gear; 210-driven gear; 3-differential device; 301-power gear; 302-drive shaft; 303-drive gear I; 304-drive gear II; 305-differential gear I; 306-differential gear II; 4-wheel assembly; 401-wheel carrier I; 402-wheel carrier II; 403-cross; 404-inner wheel; 405-retraction rod; 406-outer wheel; 407-ball rod; 408-chute; 409-wheel carrier III; 5-telescopic device; 501-guard plate; 502-vertical pole I; 503-vertical pole II; 504-through rod; 505-fixing frame I; 506-telescopic gear I; 507-fixing frame II; 508-telescopic gear II; 509-telescopic rack I; 510-lower pressure ring; 511-front wheel connecting rod; 512-telescopic frame; 513-telescopic rack II; 514-rear wheel rod; 515-rear wheel connecting rod; 516-long board; 517-housing. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0028] Embodiment: A deformable obstacle-crossing robot includes a reaction device 1, which is connected to a steering device 2 via a steering gear 201, and the steering device 2 is connected to a differential device 3 via a motor gear 209. When the reaction device 1 is hit on one side, it automatically steers by relying on the steering device 2 and the differential device 3. The differential device 3 is connected to a wheel assembly 4, which controls the rotation of the wheel assembly 4. The wheel assembly 4 is connected to a telescopic device 5 via a slide groove 408. The telescopic device 5 controls the front wheel link 511 and the rear wheel link 515 to extend and retract the wheel assembly 4 to overcome obstacles.

[0029] The reaction device 1 includes a reaction plate I101, which is fixed to the end of a reaction rack I102, a reaction spring I103 is fixed on the reaction plate I101, the reaction rack I102 passes through the steering hole I107 and engages with the steering gear 201, the reaction rack I102 slides on the long plate 516, the long plate 516 is fixed with a reaction spring I103 and a reaction spring II106, the reaction spring II106 is fixedly mounted on the reaction plate II104, and the reaction plate Ⅱ104 is fixed to the end of the reaction rack Ⅱ105, and the reaction rack Ⅱ105 passes through the steering hole Ⅱ108 and engages with the steering gear 201. When the reaction plate Ⅰ101 is collided, the reaction spring Ⅰ103 is compressed, the reaction rack Ⅰ102 is meshed with the steering gear 201 and slides on the long plate 516 in the direction away from the reaction plate Ⅰ101. At this time, the steering gear 201 rotates counterclockwise; when the collision ends, the reaction spring Ⅰ103 stretches and the reaction plate Ⅰ101 is reset.

[0030] The steering device 2 includes a steering gear 201, which is fixed to a steering rod 202, and the end of the steering rod 202 is rotatably mounted on the long plate 516. The steering rod 202 is fixedly mounted on a bogie 203. A fixed short rod 204 and a fixed long rod 205 are fixedly mounted on the bogie 203. The fixed short rod 204 is fixedly connected to the side of a motor housing 206. A motor 207 is arranged inside the motor housing 206. The motor housing 206 and the motor 207 are fixed by 6 motor bolts 208. The motor 207 provides power for the entire device. A motor gear 209 is mounted on the motor 207, and the motor gear 209 is engaged with a driven gear 210. The driven gear 210 is mounted on the end of the fixed long rod 205. The fixed long rod 205 is fixedly connected to the motor housing 206 to lift the motor 207 to prevent damage to the motor 207 when the lower part encounters an obstacle.

[0031] The differential device 3 includes a power gear 301, which meshes with the driven gear 210. The power gear 301 drives the drive shaft 302 to rotate. The drive gear I 303 and the drive gear II 304 are fixed on the drive shaft 302. When the robot moves normally, the drive shaft 302 drives the drive gear I 303 and the drive gear II 304 to mesh with the differential gear I 305 and the differential gear II 306, and then the wheel frame I 401 and the wheel frame II 402 rotate to drive the wheels forward; when the reaction plate I 101 is collided, the steering device 2 moves counterclockwise, the differential gear I 305 accelerates, and the rotation of the differential gear I 305 drives the wheels on the same side to accelerate, thereby completing the turn.

[0032] The wheel assembly 4 includes a wheel frame I 401, a differential gear I 305 is fixedly installed on the first end of the wheel frame I 401, a cross 403 is fixedly installed on the second end of the wheel frame I 401, the cross 403 is slidingly connected to the four retraction rods 405 of the wheel assembly, the retraction rod 405 passes through the inner wheel 404 and is fixedly connected to the outer wheel 406, and the inside of the retraction rod 405 is fixedly connected to the ball rod 407. When the robot moves normally, the end of the ball rod 407 with the ball slides in the slide groove 408. When overcoming obstacles, the end of the ball rod 407 with the ball rotates in the slide groove 408. The slide groove 408 is slidingly installed on the wheel frame I 401, the wheel frame II 402 and the wheel frame III 409.

[0033] The telescopic device 5 includes a guard plate 501, which is fixedly connected to the vertical pole I502 and the through rod 504. The vertical pole I502 slides relatively with the vertical pole II503. The through rod 504 passes through the long plate 516. The long plate 516 is fixedly provided with a shell 517. The long plate 516 is fixedly provided with a fixing frame I505 and a fixing frame II507. The long plate 516 is slidably provided with a telescopic rack I509 and a telescopic rack II513. The fixing frame I505 and the fixing frame II507 are provided with a telescopic gear I506 and a telescopic gear II508. The telescopic gear I506 and the telescopic gear II508 are engaged with the through rod 504.

[0034] When the lower part encounters an obstacle, the guard plate 501 rises, the vertical rod I 502 slides toward the inside of the vertical rod II 503, the through rod 504 engages with the telescopic gear I 506 and the telescopic gear II 508, the telescopic gear I 506 rotates counterclockwise, the telescopic gear I 506 engages with the telescopic rack I 509, the telescopic rack I 509 moves with the lower pressure ring 510 toward the direction of the wheel assembly 4, the lower pressure ring 510 presses the two front wheel connecting rods 511 with the telescopic frame 512 and pushes on the bogie 203, the wheel frame I 401 and the wheel frame II 402 at the same time. The slide 408 slides toward both ends, the ball rod 407 pushes the retractable rod 405 to slide away from the cross 403, and the inner wheel 404 and the outer wheel 406 simultaneously become larger to cross the obstacle; the telescopic gear II 508 rotates clockwise, and the telescopic rack II 513 slides on the rear wheel rod 514 toward the wheel assembly 4, squeezing the two rear wheel connecting rods 515, pushing the slide 408 to slide toward both ends, and the ball rod 407 brings the retractable rod 405 to slide away from the cross 403, and the inner wheel 404 and the outer wheel 406 simultaneously become larger to cross the obstacle.

[0035] After crossing the obstacle, the guard plate 501 drops due to its own gravity, the vertical pole I 502 slides out from the inside of the vertical pole II 503, the through rod 504 moves downward, the telescopic gear I 506 rotates clockwise, the telescopic rack I 509 brings the lower pressure ring 510 to move toward the steering gear 201, the two front wheel connecting rods 511 retract inward, the telescopic frame 512 clamps the bogie 203 inward, the slide groove 408 slides away from the wheel, the ball rod 407 brings the retraction rod 405 to slide toward the inside of the cross 403, and the wheel returns to its original state; the telescopic gear II 508 rotates counterclockwise, the telescopic rack II 513 slides upward on the rear wheel rod 514, the two rear wheel connecting rods 515 retract inward, the slide groove 408 slides away from the wheel, the ball rod 407 brings the retraction rod 405 to slide toward the inside of the cross 403, and the wheel returns to its original state.

[0036] Working principle: Start the motor 207, the motor gear 209 on the motor 207 rotates and drives the driven gear 210 to rotate, the driven gear 210 engages with the power gear 301, the power gear 301 rotates, the differential device 3 drives the wheel frame I401 and the wheel frame II402 to rotate, the wheel frame I401 and the wheel frame II402 rotate, the wheels on both sides rotate, and the robot moves forward. When the reaction plate I101 is collided, the reaction spring I103 is compressed, the reaction rack I102 engages with the steering gear 201 and slides on the long plate 516 away from the reaction plate I101. At this time, the steering gear 201 rotates counterclockwise, and the steering rod 202 rotates counterclockwise with the steering device 2. At this time, in order to avoid obstacles, the differential gear I305 needs to accelerate, driving the wheel on the side close to the reaction plate I101 to increase the speed to complete the turn.

[0037] When the lower part encounters an obstacle, the guard plate 501 rises, the vertical rod I 502 slides toward the inside of the vertical rod II 503, the through rod 504 engages with the telescopic gear I 506 and the telescopic gear II 508, the telescopic gear I 506 rotates counterclockwise, the telescopic gear I 506 engages with the telescopic rack I 509, the telescopic rack I 509 moves with the lower pressure ring 510 toward the direction of the wheel assembly 4, the lower pressure ring 510 presses the two front wheel connecting rods 511 with the telescopic frame 512 and pushes on the bogie 203, the wheel frame I 401 and the wheel frame II 402 at the same time. The slide 408 slides toward both ends, the ball rod 407 pushes the retractable rod 405 to slide away from the cross 403, and the inner wheel 404 and the outer wheel 406 simultaneously become larger to cross the obstacle; the telescopic gear II 508 rotates clockwise, and the telescopic rack II 513 slides on the rear wheel rod 514 toward the wheel assembly 4, squeezing the two rear wheel connecting rods 515, pushing the slide 408 to slide toward both ends, and the ball rod 407 brings the retractable rod 405 to slide away from the cross 403, and the inner wheel 404 and the outer wheel 406 simultaneously become larger to cross the obstacle.

[0038] After crossing the obstacle, the guard plate 501 drops due to its own gravity, the vertical pole I 502 slides out from the inside of the vertical pole II 503, the through rod 504 moves downward, the telescopic gear I 506 rotates clockwise, the telescopic rack I 509 brings the lower pressure ring 510 to move toward the steering gear 201, the two front wheel connecting rods 511 retract inward, the telescopic frame 512 clamps the bogie 203 inward, the slide groove 408 slides away from the wheel, the ball rod 407 brings the retraction rod 405 to slide toward the inside of the cross 403, and the wheel returns to its original state; the telescopic gear II 508 rotates counterclockwise, the telescopic rack II 513 slides upward on the rear wheel rod 514, the two rear wheel connecting rods 515 retract inward, the slide groove 408 slides away from the wheel, the ball rod 407 brings the retraction rod 405 to slide toward the inside of the cross 403, and the wheel returns to its original state.

Claims

1. A deformable obstacle-crossing robot, characterized in that: The invention comprises a steering device (2), the steering device (2) being connected to a reaction device (1), and when the reaction device (1) is hit, the steering device (2) and the differential device (3) are used to automatically turn, the differential device (3) being connected to a wheel assembly (4), the differential device (3) controlling the movement of the wheel assembly (4), the wheel assembly (4) being connected to a telescopic device (5), and the front wheel connecting rod (511) and the rear wheel connecting rod (515) in the telescopic device (5) controlling the wheel assembly (4) to climb over an obstacle; The reaction device (1) includes a reaction plate I (101), a reaction spring I (103) fixedly mounted on the reaction plate I (101), the reaction plate I (101) fixedly mounted on the end of a reaction rack I (102), the reaction rack I (102) slides on a steering hole I (107), the steering hole I (107) is fixedly mounted on a long plate (516), the long plate (516) is fixedly mounted with a reaction spring I (103) and a reaction spring II (106), the reaction spring II (106) The reaction plate II (104) is fixedly mounted on the reaction plate II (104), the reaction plate II (104) and the reaction rack II (105) are fixedly mounted, the reaction rack II (105) passes through the steering hole II (108) and engages with the steering gear (201), the steering gear (201) is simultaneously engaged with the reaction rack I (102), the steering gear (201) is fixedly mounted on the steering rod (202), the steering rod (202) is fixedly mounted on the bogie (203), and the bogie (203) is connected to the wheel assembly (4).

2. The deformable obstacle-crossing robot according to claim 1, characterized in that: The steering device (2) includes a steering rod (202), a first end of the steering rod (202) being rotatably mounted on a long plate (516), and a second end being fixedly mounted on a bogie (203), a fixed short rod (204) being fixedly mounted on the bogie (203), the fixed short rod (204) being fixedly connected to a motor housing (206), the motor housing (206) being fixedly connected to a motor (207), a motor gear (209) being mounted on the motor (207), the motor housing (206) being fixedly connected to a fixed long rod (205), a driven gear (210) being mounted on the fixed long rod (205), and the driven gear (210) being connected to a differential device (3).

3. The deformable obstacle-crossing robot according to claim 1, characterized in that: The differential device (3) includes a power gear (301), the power gear (301) meshes with the driven gear (210), the power gear (301) is fixedly connected to the drive shaft (302), the drive shaft (302) is fixedly equipped with a drive gear I (303) and a drive gear II (304), the two ends of the drive gear I (303) and the drive gear II (304) are meshed with the differential gear I (305) and the differential gear II (306), the differential gear I (305) is fixedly mounted on the wheel frame I (401), and the differential gear II (306) is fixedly mounted on the wheel frame II (402).

4. The deformable obstacle-crossing robot according to claim 3, characterized in that: A cross (403) is fixedly mounted on the wheel frame I (401), the cross (403) is slidably connected to the retractable rod (405), the retractable rod (405) is slidably connected to the inner wheel (404), the retractable rod (405) is fixedly connected to the outer wheel (406), and a ball rod (407) is fixedly mounted on the retractable rod (405). When the robot moves normally, one end of the ball rod (407) with the ball slides in the slide groove (408). When overcoming an obstacle, the one end of the ball rod (407) with the ball rotates in the slide groove (408). The slide groove (408) is slidably mounted on the wheel frame I (401), the wheel frame II (402) and the wheel frame III (409). The slide grooves (408) slidably mounted on the wheel frame I (401) and the wheel frame II (402) are connected to the telescopic frame (512).

5. The deformable obstacle-crossing robot according to claim 4, characterized in that: The telescopic device (5) comprises a guard plate (501), the guard plate (501) is fixedly connected to the vertical rod I (502) and the through rod (504), the vertical rod I (502) is slidably connected to the vertical rod II (503), the vertical rod II (503) is fixedly mounted on the long plate (516), the through rod (504) passes through the long plate (516) and is connected to the gear assembly, the gear assembly is connected to the extension assembly, and the extension assembly is connected to the wheel assembly (4).

6. The deformable obstacle-crossing robot according to claim 5, characterized in that: The gear assembly includes a fixing frame I (505), which is fixedly mounted on the long board (516), and a telescopic gear I (506) is mounted on the fixing frame I (505). The gear assembly includes a fixing frame II (507), which is fixedly mounted on the long board (516), and a telescopic gear II (508) is mounted on the fixing frame II (507). The telescopic gear I (506) and the telescopic gear II (508) are connected to the extension assembly.

7. The deformable obstacle-crossing robot according to claim 6, characterized in that: The extension assembly includes a telescopic rack I (509), which is mounted on a long plate (516), meshed with a telescopic gear I (506), fixedly connected to a lower pressing ring (510), mounted on a steering rod (202), connected to a front wheel connecting rod (511), connected to a telescopic frame (512), connected to a wheel assembly (4), and includes a telescopic rack II (513), connected to a rear wheel connecting rod (515), and sliding on a rear wheel rod (514). The rear wheel rod (514) is fixedly mounted on a wheel frame III (409).

Images