Climbing structure of crawling ladder robot

Abstract

The utility model discloses a climbing structure of a ladder climbing robot, which belongs to the field of robots and comprises a robot body, a first crawler belt is mounted outside the robot body, a support rod is fixedly connected to one side of the robot body, and the outside of the support rod is in transmission connection with the first crawler belt. According to the scheme, when a worker starts the device to climb stairs, an electric cylinder can be started to enable the output end of the electric cylinder to extend, after the output end of the electric cylinder extends, a bent rod can drive a rack to move above a gear, and due to the fact that the gear is meshed with the rack, the rack can be driven to move to the position above the gear; when the rack moves above the gear, the gear, namely the mounting rod, is driven to rotate, in the process, the second crawler belt rotates by a certain angle, then one side of the second crawler belt makes contact with the stair surface of the stair, and through contact between the second crawler belt and the stair, the device can climb the stair; and therefore, the application range of the robot body is widened.

Description

Technical Field

[0001] The utility model relates to the field of robots, and more particularly to a climbing structure of a ladder-climbing robot. Background Art

[0002] A robot is an intelligent machine capable of semi- or fully autonomous operation. It can be programmed and automatically controlled to perform tasks such as work or movement. The earliest known robot in history was a wooden puppet crafted by craftsmen in the image of Liu Yan, commissioned by Emperor Yang of Sui. Equipped with mechanical mechanisms, it possessed the ability to sit, stand, bow, and crouch. Possessing fundamental capabilities such as perception, decision-making, and execution, robots can assist or even replace humans in completing dangerous, arduous, and complex tasks, improving work efficiency and quality, serving human life, and expanding or extending the scope of human activities and capabilities.

[0003] However, most robots currently on the market do not have the ability to climb stairs, which means that when they encounter stairs or obstacles similar to stairs, they often need to take a detour, which prolongs the robot's travel time and reduces its work efficiency. This is inconvenient and has certain limitations when used.

[0004] Therefore, in order to solve the above problems, a climbing structure of a ladder-climbing robot is proposed. Utility Model Content

[0005] 1. Technical problems to be solved

[0006] In view of the problems existing in the prior art, the purpose of the present invention is to provide a climbing structure of a ladder-climbing robot to solve the problems raised in the above-mentioned background technology.

[0007] 2. Technical solution

[0008] In order to solve the above problems, the present invention adopts the following technical solutions.

[0009] A climbing structure of a ladder robot includes a robot body, a No. 1 crawler track is installed on the outside of the robot body, a support rod is fixedly connected to one side of the robot body, the outside of the support rod is transmission-connected to the No. 1 crawler track, the inside of the support rod is rotatably connected to a mounting rod, a groove is provided in the middle of the support rod, a gear is provided in the middle of the mounting rod, a No. 2 crawler track is installed on both sides of the mounting rod, an electric cylinder is fixedly connected to the inside of the robot body, a bent rod is fixedly connected to the output end of the electric cylinder, a rack is fixedly connected to the bottom of the bent rod, and the rack is meshed with the gear.

[0010] Furthermore, the gear is located inside the slot body, and the outer diameter of the gear is smaller than the inner diameter of the slot body.

[0011] Furthermore, a motor is fixedly connected to the outside of the No. 2 crawler track, and the output end of the motor is transmission-connected to the No. 2 crawler track.

[0012] Furthermore, the interior of the robot body is rotatably connected to a No. 1 connecting rod and a No. 2 connecting rod, and the middle portion of the No. 1 connecting rod is rotatably connected to the middle portion of the No. 2 connecting rod.

[0013] Furthermore, a spring is provided between the No. 1 connecting rod and the No. 2 connecting rod, and both ends of the spring are rotatably connected to the upper parts of the No. 1 connecting rod and the No. 2 connecting rod respectively.

[0014] Furthermore, the end of the No. 1 connecting rod is rotatably connected to a rotating wheel, and the rotating wheel is transmission-connected to the No. 1 crawler track.

[0015] 3. Beneficial effects

[0016] Compared with the prior art, the advantages of the present invention are:

[0017] In this solution, when the staff starts this device to climb stairs, the electric cylinder can be started to extend the output end of the electric cylinder. When the output end of the electric cylinder is extended, the bent rod will drive the rack to move above the gear. Because the gear and the rack are engaged, when the rack moves above the gear, it will drive the gear, that is, the mounting rod, to rotate. During this process, the No. 2 track will rotate at a certain angle, and then one side of the No. 2 track will contact the stair surface of the stairs. Through the contact between the No. 2 track and the stairs, the device can climb stairs, thereby improving the applicability of the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0019] Figure 2 Schematic diagram of the connection relationship between the support rod and the installation rod in the present invention;

[0020] Figure 3 Schematic diagram of the connection relationship between the No. 1 connecting rod and the No. 2 connecting rod and the robot body in the present invention;

[0021] Figure 4 For the utility model Figure 3 Schematic diagram of the structure at point A in the middle.

[0022] Description of the numbers in the figure:

[0023] 1. Robot body; 11. Connecting rod No. 1; 12. Connecting rod No. 2; 13. Spring; 14. Rotating wheel; 15. Track No. 1; 16. Support rod; 17. Trough; 18. Mounting rod; 19. Gear; 2. Track No. 2; 21. Motor; 22. Electric cylinder; 23. Bending rod; 24. Rack. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0025] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "mounted / connected," and "connected" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be internal communication between two components. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to the specific circumstances.

[0027] Example:

[0028] See also Figure 1-4A ladder-climbing robot climbing structure includes a robot body 1, a No. 1 crawler 15 is installed on the outside of the robot body 1, a support rod 16 is fixedly connected to one side of the robot body 1, the outside of the support rod 16 is transmission-connected to the No. 1 crawler 15, the inside of the support rod 16 is rotatably connected to a mounting rod 18, a groove 17 is provided in the middle of the support rod 16, a gear 19 is provided in the middle of the mounting rod 18, and a No. 2 crawler 2 is installed on both sides of the mounting rod 18, an electric cylinder 22 is fixedly connected to the inside of the robot body 1, a bent rod 23 is fixedly connected to the output end of the electric cylinder 22, and a rack 24 is fixedly connected to the bottom of the bent rod 23. The rack 24 is meshed with the gear 19. In this solution, when the staff starts the device to climb the stairs, the electric cylinder 22 can be started to extend the output end of the electric cylinder 22. When the output end of the electric cylinder 22 is extended, the bent rod 23 will drive the rack 24 to move above the gear 19. Because the gear 19 and the rack 24 are meshed, when the rack 24 moves above the gear 19, it will drive the gear 19, that is, the mounting rod 18, to rotate. During this process, the No. 2 crawler 2 will rotate at a certain angle, and then one side of the No. 2 crawler 2 will contact the step surface of the stairs. Through the contact between the No. 2 crawler 2 and the stairs, the device can climb the stairs.

[0029] See also Figure 1-4 The gear 19 is located inside the groove body 17, and the outer diameter of the gear 19 is smaller than the inner diameter of the groove body 17. In this solution, since the outer diameter of the gear 19 is smaller than the inner diameter of the groove body 17, the gear 19 can rotate inside the support rod 16.

[0030] See also Figure 1-4 The outside of the No. 2 crawler 2 is fixedly connected with a motor 21, and the output end of the motor 21 is transmission-connected to the No. 2 crawler 2. In this solution, the motor 21 provides power for the rotation of the No. 2 crawler 2.

[0031] See also Figure 1-4 The robot body 1 is internally rotatably connected to a connecting rod No. 11 and a connecting rod No. 2 12. The middle part of the connecting rod No. 11 is rotatably connected to the middle part of the connecting rod No. 2 12. In this solution, the connecting rod No. 11 and the connecting rod No. 2 12 play a shock-absorbing and protective role for the device.

[0032] See also Figure 1-4 A spring 13 is provided between the No. 1 connecting rod 11 and the No. 2 connecting rod 12, and the two ends of the spring 13 are rotatably connected to the upper part of the No. 1 connecting rod 11 and the No. 2 connecting rod 12 respectively. In this solution, when the No. 1 track 15 rolls over the protrusion, the No. 1 connecting rod 11 and the No. 2 connecting rod 12 will both rotate. During this process, the spring 13 will be squeezed by the No. 1 connecting rod 11 and the No. 2 connecting rod 12 and elastically deformed, thereby cushioning the impact caused by the No. 1 track 15 rolling over the protrusion.

[0033] See also Figure 1-4 The end of the No. 1 connecting rod 11 is rotatably connected to the runner 14, and the runner 14 is transmission-connected to the No. 1 crawler track 15. In this solution, the runner 14 supports the No. 1 crawler track 15.

[0034] Working principle: When the staff starts this device to climb stairs, the electric cylinder 22 can be started to extend the output end of the electric cylinder 22. When the output end of the electric cylinder 22 is extended, the bent rod 23 will drive the rack 24 to move above the gear 19. Because the gear 19 and the rack 24 are engaged, when the rack 24 moves above the gear 19, it will drive the gear 19, that is, the mounting rod 18, to rotate. During this process, the No. 2 crawler 2 will rotate at a certain angle, and then one side of the No. 2 crawler 2 will contact the step surface of the stairs. Through the contact between the No. 2 crawler 2 and the stairs, this device can climb the stairs.

[0035] The above description is merely a preferred embodiment of the present invention; however, the scope of protection of the present invention is not limited thereto. Any person skilled in the art who, within the technical scope disclosed in the present invention, makes equivalent substitutions or modifications based on the technical solutions and improved concepts of the present invention shall be covered by the scope of protection of the present invention.

Claims

1. A ladder-climbing robot climbing structure, comprising a robot body (1), characterized in that: The robot body (1) is provided with a No. 1 crawler (15) on the outside, and a support rod (16) is fixedly connected to one side of the robot body (1). The outside of the support rod (16) is transmission-connected to the No. 1 crawler (15). The inside of the support rod (16) is rotationally connected to a mounting rod (18). A groove (17) is provided in the middle of the support rod (16). A gear (19) is provided in the middle of the mounting rod (18). The No. 2 crawler (2) is installed on both sides of the mounting rod (18). The inside of the robot body (1) is fixedly connected to an electric cylinder (22). The output end of the electric cylinder (22) is fixedly connected to a bent rod (23). A rack (24) is fixedly connected to the bottom of the bent rod (23). The rack (24) is meshed with the gear (19).

2. The ladder-climbing robot climbing structure according to claim 1, characterized in that: The gear (19) is located inside the trough body (17), and the outer diameter of the gear (19) is smaller than the inner diameter of the trough body (17).

3. The ladder-climbing robot climbing structure according to claim 1, characterized in that: The exterior of the No. 2 crawler belt (2) is fixedly connected to a motor (21), and the output end of the motor (21) is transmission-connected to the No. 2 crawler belt (2).

4. The ladder-climbing robot climbing structure according to claim 1, characterized in that: The robot body (1) is internally rotatably connected to a first connecting rod (11) and a second connecting rod (12), and the middle portion of the first connecting rod (11) is rotatably connected to the middle portion of the second connecting rod (12).

5. The ladder-climbing robot climbing structure according to claim 4, characterized in that: A spring (13) is provided between the No. 1 connecting rod (11) and the No. 2 connecting rod (12), and both ends of the spring (13) are rotatably connected to the upper parts of the No. 1 connecting rod (11) and the No. 2 connecting rod (12).

6. The ladder-climbing robot climbing structure according to claim 5, characterized in that: The end of the No. 1 connecting rod (11) is rotatably connected to a rotating wheel (14), and the rotating wheel (14) is transmission-connected to the No. 1 crawler belt (15).

Images