Obstacle removing structure and robot thereof

Abstract

The invention discloses an obstacle clearing structure and a robot thereof. The obstacle clearing structure comprises a driving part, a rotating wheel, a first obstacle clearing part and a second obstacle clearing part. The driving part is used for providing driving force for rotation, the rotating wheel is driven by the driving part and can rotate relative to the driving part, the multiple first obstacle removing parts are circumferentially distributed around the rotating wheel, and the multiple second obstacle removing parts are circumferentially distributed around the rotating wheel; the number of the second obstacle removing parts is smaller than that of the first obstacle removing parts. Wherein the first obstacle removing parts are meshed with the rotating wheel, and the degree of freedom of relative rotation exists between every two adjacent first obstacle removing parts; the second obstacle clearing part is installed on the first obstacle clearing part, and the second obstacle clearing part can rotate relative to the first obstacle clearing part. The obstacle clearing device is different from the problem that existing obstacle clearing structures mostly adopt fixed design and are low in adaptability.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a clearing structure and its robot. Background Technology

[0002] The application of obstacle removal robots is becoming increasingly widespread in disaster relief, industrial cleanup, and operations in complex environments. Traditional obstacle removal devices mostly adopt rigid structural designs, such as fixed buckets, push plates, or rotary cutting blades. These structures have obvious limitations when facing irregular obstacles or complex terrain: First, rigid connections make the device prone to structural fatigue or fracture under impact loads; second, they lack adaptive adjustment capabilities, making it difficult to adapt to dynamic changes in obstacles, which can easily lead to low obstacle removal efficiency or equipment jamming; third, single-point obstacle removal mode has limited coverage and requires the robot to move as a whole to adjust its posture, resulting in high energy consumption and insufficient flexibility.

[0003] Most current obstacle clearing structures adopt a fixed design, which makes it difficult to adapt to complex working environments and diverse obstacles. Fixed structures result in large size and weight, limiting their application in certain scenarios. Summary of the Invention

[0004] To address the aforementioned technical shortcomings, the purpose of this invention is to provide a clearing structure and its robot, which differs from existing clearing structures that mostly employ a fixed design and suffer from low adaptability.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The present invention provides a clearing structure, comprising: A drive unit, the drive unit being used to provide a driving force for rotation; A rotating wheel, which is driven by the drive unit and is able to rotate relative to the drive unit; The first obstacle clearing unit, there are multiple first obstacle clearing units, and they are circumferentially distributed around the wheel; The second clearing unit, comprising multiple units, is circumferentially distributed around the rotating wheel; wherein the number of the second clearing units is less than the number of the first clearing units. The first obstacle clearing part engages with the rotating wheel, and two adjacent first obstacle clearing parts have a degree of freedom of relative rotation; the second obstacle clearing part is mounted on the first obstacle clearing part, and the second obstacle clearing part can rotate relative to the first obstacle clearing part.

[0006] Preferably, two connecting arms are fixedly provided on the first obstacle clearing part, and two adjacent first obstacle clearing parts are connected by the connecting arms. A meshing part is formed between the two adjacent connecting arms, and the corresponding rotating wheel is provided with meshing teeth that cooperate with the meshing part. At this time, the second obstacle clearing unit rotates first around the rotating wheel as the center of rotation.

[0007] Preferably, two connecting arms located on the same first obstacle clearing part are provided with a rotatable connecting shaft, and the second obstacle clearing part passes through the first obstacle clearing part and is fixedly connected to the connecting shaft; At this time, the second obstacle clearing unit rotates a second time with the connecting shaft as the center of rotation.

[0008] Preferably, the first obstacle clearing part has a through groove for the second obstacle clearing part to pass through; the connecting shaft has a blind groove for fixing the second obstacle clearing part.

[0009] Preferably, the through groove has a gradually widening structure along the direction away from the connecting shaft, so that the portion of the second obstacle clearing part located in the through groove has a rotational clearance in the circumferential direction of the rotating wheel.

[0010] Preferably, the rotating wheel is rotatably mounted on the drive unit via a drive shaft.

[0011] Preferably, the drive unit includes a mounting base and a transmission belt, the rotating shaft is rotatably mounted on the mounting base and rotates via the transmission belt.

[0012] Preferably, the first obstacle-clearing section has several weight-reducing holes.

[0013] Preferably, the second obstacle-clearing part is a flexible plate.

[0014] A robot includes an obstacle-clearing structure and a robot body. The drive unit is mounted on the robot body, and a drive motor is provided on the robot body to provide a power source for the drive unit.

[0015] The beneficial effects of this invention are as follows: Through its dual-clearing design and two types of rotation, it breaks through the limitations of the traditional single-point clearing mode and has a flexible rotation effect.

[0016] The first clearing unit forms a basic working unit with the rotating wheel as its core, while the second clearing unit builds an extended working layer around its outer edge. The two units form multiple degrees of freedom through connecting arms, connecting shafts, etc., to achieve coordinated movement.

[0017] At the same time, the dual obstacle clearing units can form a certain phase difference, enabling dynamic and flexible obstacle clearing, which effectively improves the obstacle clearing effect. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional structural diagram of a obstacle-clearing structure provided by the present invention.

[0020] Figure 2 for Figure 1 Top view.

[0021] Figure 3 for Figure 2 Enlarged view of part A in the middle.

[0022] Figure 4 This is a schematic diagram of the first obstacle removal unit.

[0023] Figure 5 This is a schematic diagram of the structure of two first obstacle clearing units combined together.

[0024] Figure 6 This is a cross-sectional view of the first and second obstacle removal units when they are connected.

[0025] Figure 7 for Figure 6 A schematic diagram showing the separation of the first and second obstacle removal sections.

[0026] Explanation of reference numerals in the attached figures: 1-First obstacle clearing section, 11-Through groove, 12-Connecting arm, 13-Weight reduction hole; 2-Second Clearance Department; 3-Drive shaft; 4-Rotating wheel, 41-Rotating tooth; 5-Connecting shaft, 51-Blind slot; 001-Drive Unit; 011-Mounting base; 012 - Transmission belt. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1: like Figures 1 to 7 As shown, the present invention provides a clearing structure, which mainly includes a drive unit 001, a rotating wheel 4, a first clearing unit 1 and a second clearing unit 2, and is applied to a robot, and is mainly installed at the front end of the robot for clearing operations.

[0029] Specifically, the drive unit 001 is a power mechanism used to provide the driving force for rotation, enabling the obstacle-clearing structure to rotate. The drive unit 001 mainly includes a mounting base 011 and a transmission belt 012. The mounting base 011 is fixedly connected to the robot body, that is, the robot body has a fixed position for connecting to the mounting base 011, which can be achieved by bolt connection. One end of the transmission belt 012 is connected to the obstacle-clearing structure, and the other end is connected to the drive motor on the robot body. Specifically, pulleys are provided at corresponding positions, that is, pulleys are installed on the shaft of the drive motor and the drive shaft 3 of the obstacle-clearing structure.

[0030] The drive shaft 3 of the obstacle clearing structure is mounted on the rotating wheel 4, meaning that the rotation of the rotating wheel 4 is achieved through the rotation of the drive shaft 3. The rotating wheel 4 is provided with a first obstacle clearing part 1, wherein there are multiple first obstacle clearing parts 1, which are evenly distributed around the rotating wheel 4 in the circumferential direction. The first obstacle clearing parts 1 mesh with the rotating wheel 4, and there is a relative rotational degree of freedom between two adjacent first obstacle clearing parts 1, that is, there is a meshing part between two adjacent first obstacle clearing parts 1. The corresponding rotating wheel 4 is provided with meshing teeth that cooperate with the meshing part. The meshing part is formed specifically as follows: two connecting arms 12 are fixedly mounted on the first obstacle clearing part 1, and two adjacent first obstacle clearing parts 1 are connected through the connecting arms 12, and a meshing part is formed between the two adjacent connecting arms 12.

[0031] The obstacle removal structure, through the circumferential arrangement of the first obstacle removal part 1 and the relative rotational degrees of freedom between adjacent first obstacle removal parts 1, enables the second obstacle removal part 2 arranged on the first obstacle removal part 1 to have two types of rotation, specifically: a first rotation and a second rotation. The formation of these two rotations, compared to the fixed type, is equivalent to having multiple degrees of freedom, which can form flexible rotation. At the same time, this relative rotation (rotation with different rotation centers) can further generate a phase difference, further improving the obstacle removal effect.

[0032] Specifically, the second obstacle removal unit 2 is installed on the first obstacle removal unit 1, and the second obstacle removal unit 2 can rotate relative to the first obstacle removal unit 1. That is, two connecting arms 12 located on the same first obstacle removal unit 1 are provided with a rotatable connecting shaft 5. The second obstacle removal unit 2 passes through the first obstacle removal unit 1 and is fixedly connected to the connecting shaft 5. The second obstacle removal unit 2 rotates relative to the first obstacle removal unit 1 with the connecting shaft 5 as the center of rotation.

[0033] Combination Figure 2As shown, since the second obstacle-clearing unit 2 is mounted on the first obstacle-clearing unit 1, it can rotate around the rotating wheel 4 as the center of rotation, forming the first rotation, i.e. Figure 2 As indicated by the middle arrow J1.

[0034] Combination Figure 3 As shown, since the second obstacle clearing unit 2 passes through the first obstacle clearing unit 1 and is fixedly connected to the connecting shaft 5, and the connecting shaft 5 can rotate, the second obstacle clearing unit 2 can rotate around the connecting shaft 5 as the center of rotation, forming a second rotation, that is... Figure 3 As indicated by the middle arrow J2.

[0035] Furthermore, in combination Figure 7 As shown, the first obstacle clearing part 1 has a through groove 11 for the second obstacle clearing part 2 to pass through; the connecting shaft 5 has a blind groove 51 for the second obstacle clearing part 2 to be fixed, thereby connecting the second obstacle clearing part 2 with the connecting shaft 5.

[0036] In addition, in order to make the second rotation effective, the through groove 11 is formed with a gradually widening structure along the direction away from the connecting shaft 5, so that the part of the second obstacle clearing part 2 located in the through groove 11 has a rotation gap in the circumferential direction of the rotating wheel 4. That is, the through groove 11 must have a certain spatial gap so that the second obstacle clearing part 2 can have a certain rotation space.

[0037] Furthermore, to improve the obstacle removal effect, in actual use, the number of second obstacle removal units 2 is less than the number of first obstacle removal units 1, so that there is a larger gap between two adjacent second obstacle removal units 2, forming a double obstacle removal unit design. This allows the rotating wheel 4 to form a basic working unit, and the second obstacle removal units 2 to build an extended working layer around its outer edge. Simultaneously, the second obstacle removal unit 2 is a flexible plate, such as rubber or a plastic plate with certain wear resistance and strength, further improving the flexibility. The material of the first obstacle removal unit 1 can also be a plastic plate with certain strength or other materials. In this embodiment, its specific material and the materials of other components are not limited. Considering the large number of first obstacle removal units 1, several weight-reducing holes 13 can be opened on them, specifically as follows... Figure 4 As shown.

[0038] Example 2: This embodiment provides a robot. The obstacle clearing structure is installed on the robot body. The drive unit 001 is also installed on the robot body. The drive unit 001 includes a mounting base 011 and a transmission belt 012. The drive unit 001 is fixedly connected to the robot body through the mounting base 011. A drive motor is also provided on the robot body to provide a power source for the drive unit 001. That is, the drive motor drives the drive shaft 3 to rotate through belt transmission, which in turn drives the wheel 4 to rotate. Accordingly, pulleys are installed on the shaft of the drive motor and the drive shaft 3, forming a connection with the transmission belt.

[0039] Specifically, the term "robot" in this embodiment is a general term and does not limit it to any particular type of robot. In actual use, it can be any specific robot in the actual usage scenario, and it only needs to set the connection point with the mounting base 011.

[0040] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A clearing structure, characterized in that, include: A drive unit, the drive unit being used to provide a driving force for rotation; A rotating wheel, which is driven by the drive unit and is able to rotate relative to the drive unit; The first obstacle clearing unit, there are multiple first obstacle clearing units, and they are circumferentially distributed around the wheel; The second clearing unit, comprising multiple units, is circumferentially distributed around the rotating wheel; wherein the number of the second clearing units is less than the number of the first clearing units. The first obstacle clearing part engages with the rotating wheel, and two adjacent first obstacle clearing parts have a degree of freedom of relative rotation; the second obstacle clearing part is mounted on the first obstacle clearing part, and the second obstacle clearing part can rotate relative to the first obstacle clearing part.

2. The obstacle clearing structure as described in claim 1, characterized in that, Two connecting arms are fixedly provided on the first obstacle clearing part. Two adjacent first obstacle clearing parts are connected by the connecting arms, and a meshing part is formed between the two adjacent connecting arms. The corresponding rotating wheel is provided with meshing teeth that cooperate with the meshing part. At this time, the second obstacle clearing unit rotates first around the rotating wheel as the center of rotation.

3. The obstacle clearing structure as described in claim 2, characterized in that, Two connecting arms located on the same first obstacle clearing part are provided with a rotatable connecting shaft, and the second obstacle clearing part passes through the first obstacle clearing part and is fixedly connected to the connecting shaft; At this time, the second obstacle clearing unit rotates a second time with the connecting shaft as the center of rotation.

4. The obstacle clearing structure as described in claim 3, characterized in that, The first obstacle clearing part has a through groove for the second obstacle clearing part to pass through; the connecting shaft has a blind groove for the second obstacle clearing part to be fixed.

5. The obstacle clearing structure as described in claim 4, characterized in that, The through groove forms a gradually widening structure along the direction away from the connecting shaft, so that the portion of the second obstacle clearing part located in the through groove has a rotational clearance in the circumferential direction of the rotating wheel.

6. The obstacle clearing structure as described in claim 1, characterized in that, The rotating wheel is rotatably mounted on the drive unit via a drive shaft.

7. The obstacle clearing structure as described in claim 6, characterized in that, The drive unit includes a mounting base and a transmission belt. The rotating shaft is rotatably mounted on the mounting base and rotates via the transmission belt.

8. The obstacle clearing structure as described in claim 1, characterized in that, The first obstacle removal section has several weight reduction holes.

9. The obstacle clearing structure as described in claim 1, characterized in that, The second obstacle removal section is a flexible plate.

10. A robot, characterized in that, The obstacle clearing structure includes any one of claims 1-9, and further includes a robot body, the drive unit is mounted on the robot body, and a drive motor is provided on the robot body to provide a power source for the drive unit.

Images