Auxiliary climbing device for robot

Abstract

The utility model discloses a robot auxiliary climbing device which comprises a robot driving wheel and an installation plate, the installation plate is detachably installed on one side wall of the robot driving wheel, a butt joint piece is arranged on the surface of the robot driving wheel, an auxiliary installation piece is arranged on the surface of the installation plate, and a climbing mechanism is arranged on one side of the installation plate. The butt joint piece comprises two protruding blocks and two butt joint grooves. When the robot climbs the stairs, the locking spring wires are shifted to release the limiting of the telescopic rods in the guide cylinders, one ends of the two telescopic rods penetrate through the inner cavities of the through holes to move to the outside under the action of the second springs, and when the robot drives the wheels to rotate, the contact points of the telescopic rods and the stairs serve as fulcrums, so that the telescopic rods are fixed. The robot can more easily complete the climbing action, so that the climbing efficiency is improved, the ladder climbing capacity is improved, the situation that the robot slides or overturns during climbing is avoided, when the telescopic rod is not needed, the telescopic rod is pushed into the guide cylinder, and the locking spring wire fixes the telescopic rod in the guide cylinder.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot-assisted climber. Background Art

[0002] Robots are intelligent machines that can work semi-autonomously or fully autonomously. They perform various tasks, such as operation or movement, through programming and automatic control. Robots have basic features such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] Currently, when robots that use tracks to move encounter complex roads or steps, due to the instability of complex roads or steps, there may be tilted, bumpy, irregular and other features, and the robot's own climbing ability is limited. These features may result in insufficient friction between the robot's tracks and the ground, making the climbing robot prone to sliding or overturning when encountering complex roads or steps. For this reason, a robot-assisted climber is proposed. Utility Model Content

[0004] Based on this, it is necessary to provide a robot-assisted climber to address the above-mentioned technical problems and improve the robot's ability to climb stairs.

[0005] In order to solve the above technical problems, the utility model solves the problem that a climbing robot is prone to sliding or overturning when encountering complex roads or steps through the following technical solutions.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A robot-assisted climber, comprising:

[0008] A robot driving wheel, a mounting plate and a climbing mechanism, wherein the mounting plate is detachably mounted on a side wall of the robot driving wheel;

[0009] A docking piece and an auxiliary mounting piece, wherein the docking piece is placed on the surface of the robot driving wheel, the auxiliary mounting piece is placed on the surface of the mounting plate, the climbing mechanism is arranged on one side of the mounting plate, the docking piece includes two protrusions and two docking grooves, and the climbing mechanism includes two connecting blocks, two guide cylinders and two telescopic rods.

[0010] As a preferred embodiment of the robot-assisted climber provided by the utility model, the two protrusions are respectively fixed on both sides of the surface of the robot driving wheel, and the two docking grooves are respectively opened at the top of the two protrusions.

[0011] As a preferred embodiment of the robot-assisted climber provided by the utility model, the auxiliary mounting member includes docking blocks respectively fixed to both sides of the surface of the mounting plate, and the surface of the docking blocks is provided with through holes.

[0012] As a preferred embodiment of the robot-assisted climber provided by the utility model, the top end of the docking block is fixedly connected to a top block, a vertical rod is movably inserted into the surface of the top block, the bottom end of the vertical rod is fixedly connected to a positioning block, and the bottom end of the positioning block is engaged with the inner cavity of the docking groove on the same side.

[0013] As a preferred embodiment of the robot-assisted climber provided by the utility model, the portion of the vertical rod placed between the top block and the positioning block is sleeved with a spring 1, the two ends of the spring 1 are respectively connected to the surfaces of the top block and the positioning block, and the top end of the vertical rod is fixedly connected to a pull block.

[0014] As a preferred embodiment of the robot-assisted climber provided by the utility model, the two connecting blocks are respectively fixed to the top and bottom of the mounting plate surface, through holes are opened on both sides of the surfaces of the two connecting blocks, and the guide cylinder is fixed between the inner walls of the two through holes on the same side.

[0015] As a preferred embodiment of the robot-assisted climber provided by the utility model, the inner cavity of the guide cylinder is slidably connected with a movable block, the telescopic rod is fixed to one end of the movable block on the same side, and the middle part of the telescopic rod surface is fixedly connected with a fixed sleeve.

[0016] As a preferred embodiment of the robot-assisted climber provided by the utility model, a second spring is connected between the movable block and the inner wall of the perforation.

[0017] As a preferred embodiment of the robot-assisted climber provided by the utility model, concave holes are provided on one side wall of the two guide cylinders opposite to each other, and locking pieces are provided on one side of the two concave holes.

[0018] As a preferred embodiment of the robot-assisted climber provided by the utility model, the locking member includes tightening screws threadedly connected to the middle parts of the surfaces of the two connecting blocks respectively, and the surfaces of the two tightening screws are both provided with locking spring wires, and one ends of the two locking spring wires are respectively movable through the inner cavities of the two recessed holes.

[0019] Compared with the prior art, the utility model has the following beneficial effects:

[0020] 1. The utility model provides a robot-assisted climber. When the robot climbs stairs, the locking spring wire is turned to release the limit of the telescopic rod in the guide cylinder. Under the action of spring 2, one end of the two telescopic rods passes through the perforated inner cavity and moves to the outside. During the rotation of the robot driving wheel, the contact point between the telescopic rod and the stairs is used as a fulcrum, so that the robot can complete the climbing action more easily, thereby improving the climbing efficiency and the ability to climb stairs, and avoiding the robot from sliding or overturning when climbing. When the telescopic rod is not needed, it is pushed into the guide cylinder, and the locking spring wire fixes the telescopic rod in the guide cylinder, so that rapid retraction and release can be completed.

[0021] 2. The utility model provides a robot-assisted climber. During installation, the two docking blocks on the mounting plate are aligned with the two protrusions and then connected. When part of the protrusion passes through the inner cavity of the docking block, the positioning block is forced to move upward, so that the spring 1 is in a compressed state. When the position of the positioning block corresponds to the position of the docking groove, under the action of the spring 1, the bottom end of the positioning block enters the inner cavity of the docking groove for positioning, thereby pre-installing the mounting plate on the robot driving wheel without the need for complicated adjustment or calibration processes, effectively reducing the time for subsequent installation, allowing the staff to complete the installation task faster, and improving overall work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 Provides an overall three-dimensional structural schematic diagram for the utility model;

[0024] Figure 2 A schematic diagram of the three-dimensional structure of the installation plate and the robot driving wheel being separated is provided for the utility model;

[0025] Figure 3 A three-dimensional structural diagram of a robot driving wheel and its upper components is provided for the utility model;

[0026] Figure 4 Provides a three-dimensional structural schematic diagram of a mounting plate and its upper components for the utility model;

[0027] Figure 5 Provide a partial cross-sectional view of the utility model;

[0028] Figure 6 The utility model provides a three-dimensional structural schematic diagram of an auxiliary mounting piece.

[0029] The markings in the figure are as follows:

[0030] 1. Robot driving wheel; 2. Mounting plate; 3. Docking piece; 31. Bump; 32. Docking groove; 4. Auxiliary mounting piece; 41. Docking block; 42. Through hole; 43. Top block; 44. Vertical rod; 45. Positioning block; 46. Spring 1; 47. Pull block; 5. Climbing mechanism; 51. Connecting block; 52. Through hole; 53. Guide cylinder; 54. Movable block; 55. Telescopic rod; 56. Spring 2; 57. Concave hole; 6. Locking piece; 61. Tightening screw; 62. Locking spring wire. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0032] Example 1

[0033] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , a robot-assisted climber, a robot driving wheel 1, a mounting plate 2 and a climbing mechanism 5, wherein the mounting plate 2 is detachably mounted on a side wall of the robot driving wheel 1;

[0034] The docking member 3 and the auxiliary mounting member 4, the docking member 3 is placed on the surface of the robot driving wheel 1, the auxiliary mounting member 4 is placed on the surface of the mounting plate 2, the climbing mechanism 5 is arranged on one side of the mounting plate 2, the docking member 3 includes two protrusions 31 and two docking grooves 32, and the climbing mechanism 5 includes two connecting blocks 51, two guide cylinders 53 and two telescopic rods 55.

[0035] In the embodiment of the present application, two protrusions 31 are respectively fixed on both sides of the surface of the robot driving wheel 1, and two docking grooves 32 are respectively opened at the top of the two protrusions 31. The auxiliary mounting member 4 includes docking blocks 41 respectively fixed on both sides of the surface of the mounting plate 2. The docking block 41 is U-shaped, and its inner cavity is adapted to the protrusion 31, which plays a role in correcting the position so that the position of the mounting hole on the mounting plate 2 corresponds to the position of the mounting hole of the robot driving wheel 1. A through hole 42 is opened on the surface of the docking block 41 to provide a space for the positioning block 45 to move. The top of the docking block 41 is fixedly connected with a top block 4 3. A vertical rod 44 is movably inserted into the surface of the top block 43, and a positioning block 45 is fixedly connected to the bottom end of the vertical rod 44. The bottom of the positioning block 45 is set as an inclined surface, and the bottom end of the positioning block 45 is engaged with the inner cavity of the docking groove 32 on the same side. The part of the vertical rod 44 placed between the top block 43 and the positioning block 45 is sleeved with a spring 46. Under the action of the spring 46, the positioning block 45 is forced to move upward and automatically moves downward when it corresponds to the position of the docking groove 32. The two ends of the spring 46 are respectively connected to the surfaces of the top block 43 and the positioning block 45, and the top of the vertical rod 44 is fixedly connected to a pull block 47.

[0036] In the embodiment of the present application, two connecting blocks 51 are respectively fixed to the top and bottom of the surface of the mounting plate 2, and through holes 52 are provided on both sides of the surfaces of the two connecting blocks 51. The guide cylinder 53 is fixed between the inner walls of the two through holes 52 on the same side, and the inner cavity of the guide cylinder 53 is slidably connected with a movable block 54. The diameter of the movable block 54 is larger than the diameter of the through hole 52 to prevent the telescopic rod 55 from detaching. The telescopic rod 55 is fixed to one end of the movable block 54 on the same side. When the driving wheel 1 of the robot rotates, the telescopic rod 55 contacts the step, and the robot uses its contact point as a fulcrum to complete the climbing action. The middle part of the surface of the telescopic rod 55 is fixedly connected There is a fixed sleeve, a spring 56 is connected between the movable block 54 and the inner wall of the through hole 52, a concave hole 57 is opened on the opposite side wall of the two guide cylinders 53, and a locking piece 6 is arranged on one side of the two concave holes 57. The locking piece 6 includes a tightening screw 61 threadedly connected to the middle part of the surface of the two connecting blocks 51 respectively, and the surface of the two tightening screws 61 is sleeved with a locking spring wire 62. When one end of the locking spring wire 62 is against the fixed sleeve, it will prevent one end of the telescopic rod 55 from moving to the outside through the through hole 52, and play a role in limiting the telescopic rod 55. One end of the two locking spring wires 62 respectively moves through the inner cavity of the two concave holes 57.

[0037] The use process of a robot-assisted climbing device provided by the utility model is as follows: first, during installation, the staff aligns the two docking blocks 41 with the two protrusions 31, and then fits part of the mounting plate 2 with the surface of the robot driving wheel 1. During the movement of the mounting plate 2, when the protrusion 31 passes through the inner cavity of the docking block 41, the positioning block 45 is squeezed and moves upward through the through hole 42. After one side of the protrusion 31 passes, the position of the docking groove 32 is placed at the lower part of the positioning block 45, and under the action of the spring 46, the positioning block 45 automatically moves downward to the opposite side. The inner cavity of the connecting groove 32 completes the preliminary connection between the mounting plate 2 and the robot driving wheel 1, and then the staff can fix the robot driving wheel 1 and the mounting plate 2 together with tools and screws. When the robot needs to climb the stairs, the hand moves the locking spring wire 62 so that one end of the locking spring wire 62 is pulled out through the recessed hole 57, thereby releasing the limit on the telescopic rod 55. One end of the telescopic rod 55 will move to the outside under the action of the spring 2 56, so as to assist the robot in climbing. Normally, the telescopic rod is pushed into the guide cylinder, and then the locking spring wire is moved to fix the telescopic rod in the guide cylinder.

[0038] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] Obviously, the embodiments described above are only some embodiments of the utility model, rather than all embodiments. The preferred embodiments of the utility model are given in the accompanying drawings, but they do not limit the patent scope of the utility model. The utility model can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the utility model more thorough and comprehensive. Although the utility model is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to replace some of the technical features therein with equivalents. Any equivalent structure made using the contents of the utility model specification and the accompanying drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the utility model.

Claims

1. A robot-assisted climber, characterized in that: It includes: A robot driving wheel (1), a mounting plate (2) and a climbing mechanism (5), wherein the mounting plate (2) is detachably mounted on a side wall of the robot driving wheel (1); A docking member (3) and an auxiliary mounting member (4), wherein the docking member (3) is placed on the surface of a robot driving wheel (1), and the auxiliary mounting member (4) is placed on the surface of a mounting plate (2); the climbing mechanism (5) is arranged on one side of the mounting plate (2); the docking member (3) comprises two protrusions (31) and two docking grooves (32); and the climbing mechanism (5) comprises two connecting blocks (51), two guide cylinders (53) and two telescopic rods (55).

2. A robot-assisted climber according to claim 1, characterized in that: The two protrusions (31) are respectively fixed to two sides of the surface of the robot driving wheel (1), and the two docking grooves (32) are respectively opened at the top ends of the two protrusions (31).

3. The robot-assisted climber according to claim 1, characterized in that: The auxiliary mounting member (4) comprises docking blocks (41) respectively fixed to two sides of the surface of the mounting plate (2), and a through hole (42) is provided on the surface of the docking block (41).

4. A robot-assisted climber according to claim 3, characterized in that: The top end of the docking block (41) is fixedly connected to a top block (43), a vertical rod (44) is movably inserted into the surface of the top block (43), the bottom end of the vertical rod (44) is fixedly connected to a positioning block (45), and the bottom end of the positioning block (45) is snap-connected to the inner cavity of the docking groove (32) on the same side.

5. The robot-assisted climber according to claim 4, characterized in that: A spring (46) is sleeved on the portion of the vertical rod (44) disposed between the top block (43) and the positioning block (45); two ends of the spring (46) are respectively connected to the surfaces of the top block (43) and the positioning block (45); and a pull block (47) is fixedly connected to the top end of the vertical rod (44).

6. The robot-assisted climber according to claim 1, characterized in that: The two connection blocks (51) are respectively fixed to the top and bottom of the surface of the mounting plate (2), and through holes (52) are provided on both sides of the surface of the two connection blocks (51). The guide cylinder (53) is fixed between the inner walls of the two through holes (52) on the same side.

7. The robot-assisted climber according to claim 6, characterized in that: The inner cavity of the guide cylinder (53) is slidably connected to a movable block (54), the telescopic rod (55) is fixed to one end of the movable block (54) on the same side, and a fixed sleeve is fixedly connected to the middle of the surface of the telescopic rod (55).

8. The robot-assisted climber according to claim 7, characterized in that: A second spring (56) is connected between the movable block (54) and the inner wall of the through hole (52).

9. The robot-assisted climber according to claim 6, characterized in that: A concave hole (57) is formed on one side wall of the two guide cylinders (53) facing each other, and a locking member (6) is disposed on one side of the two concave holes (57).

10. The robot-assisted climber according to claim 9, characterized in that: The locking member (6) comprises tightening screws (61) respectively threadedly connected to the middle of the surfaces of the two connecting blocks (51), and the surfaces of the two tightening screws (61) are both sleeved with locking spring wires (62), and one end of the two locking spring wires (62) is movable through the inner cavities of the two concave holes (57).

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