Auxiliary device for robot to cross obstacles

Abstract

The utility model provides an auxiliary device for a robot to cross obstacles, the auxiliary device comprises a support moving part and a driving assembly, the driving assembly comprises a shaft connecting assembly and a transmission assembly, and the shaft connecting assembly obtains power from a rotating shaft of the robot and drives the support moving part to move through the transmission assembly. The supporting moving part jacks up the whole robot and moves along with the mode given by the transmission assembly, so that the overall posture of the robot is adjusted in a small range, the balance state formed when the robot is clamped by an obstacle is broken, the robot can recover to the advancing posture more conveniently, and the obstacle crossing capacity of the robot is improved; the flexibility and adaptability of the robot are improved; and meanwhile, the arranged auxiliary device is simple in structure, additional driving force does not need to be added, an original advancing assembly does not need to be modified, and the convenience of modifying an existing robot is greatly improved.

Description

Technical Field

[0001] The utility model relates to the field of automation equipment, and more specifically, to an auxiliary device for a robot to cross obstacles. Background Art

[0002] Among the existing robot design directions, intelligence and improving its adaptability have always been the main improvement directions. In the working process of various robots, they may still face some challenges and problems. For example, in many actual application scenarios, the environment in which they move is not entirely flat or regular. There may be various obstacles in their application environment, such as stones, stairs, thresholds, uneven roads, etc. Traditional flat ground movement may not be able to adapt to such a changing environment. Therefore, it is very important to enhance the robot's obstacle crossing ability and expand the robot's functions. By enhancing the obstacle crossing ability, not only can the robot's adaptability and flexibility be improved, but also the robot can perform tasks in a wider environment, enhance its autonomy and task efficiency, while also improving safety and reliability and expanding the scope of application.

[0003] For wheeled robots, common methods for improving their obstacle-crossing capabilities include using larger-diameter wheels or adding tracks. Larger-diameter wheels can elevate the robot, allowing it to more easily and efficiently cross higher obstacles. Adding tracks or other accessories to the wheels can increase contact with the road surface or obstacles, thereby improving the robot's ability to overcome obstacles. However, using larger-diameter wheels or tracks also reduces some of the robot's maneuverability and occupies a larger surface area, hindering the installation of functional components. Utility Model Content

[0004] The utility model aims to overcome at least one of the above-mentioned deficiencies in the prior art and provide an auxiliary device for a robot to cross obstacles.

[0005] One purpose of the present invention is to provide an auxiliary device for a robot to cross obstacles, comprising:

[0006] Supporting moving parts, used to lift the robot and drive it to move;

[0007] and a driving assembly for driving the supporting movable member;

[0008] The driving assembly includes: a shaft connecting assembly for obtaining power from the rotating shaft of the robot; and a transmission assembly for converting the power to drive the supporting movable part to move.

[0009] In this technical solution, the robot is driven to move by a rotating shaft, and by setting an auxiliary device, the driving force of the rotating shaft can be used to lift the robot as a whole and drive it to move; specifically, the auxiliary device includes a supporting moving part and a driving assembly, and the driving assembly includes a shaft connecting assembly and a transmission assembly. The shaft connecting assembly obtains power from the rotating shaft of the robot and drives the supporting moving part to move through the transmission assembly. The supporting moving part lifts the robot as a whole and moves in the pattern assigned by the transmission assembly, thereby adjusting the overall posture of the robot in a small range, breaking the equilibrium state formed by the robot being stuck by an obstacle, and making the robot more convenient to restore to a moving posture, thereby improving the robot's ability to cross obstacles and enhancing the robot's flexibility and adaptability; at the same time, the auxiliary device set up has a simple structure, and does not require additional driving force and does not require modification of the original moving assembly, which greatly improves the convenience of modifying existing robots.

[0010] Furthermore, the supporting movable member includes: a friction movable bar, and a pair of limiting rotation members arranged on both sides of the friction movable bar; the transmission assembly drives the limiting rotation member to rotate, and the two limiting rotation members respectively drive one end of the friction movable bar to rotate around the center of the limiting rotation member.

[0011] In this technical solution, the supporting moving part includes a friction moving bar and a pair of limiting rotating parts arranged on both sides of the friction moving bar. The two limiting rotating parts fix the spacing of the friction moving bar, and the two limiting rotating parts are led by the transmission component to rotate so that the friction moving bar can realize reciprocating motion with the rotation of the limiting rotating parts. Through a simple structure, the power transmitted by the transmission component is conveniently and fully utilized and finally converted into the reciprocating motion of the friction moving bar.

[0012] Furthermore, it is arranged that the rotation centers of the limiting rotation parts are located on the same horizontal plane, and the two ends of the friction moving bar are respectively connected to the two limiting rotation parts for rotation, and the distances from the two rotation centers to the friction moving bar are equal, so that the forces at both ends of the friction moving bar are evenly distributed and the support heights at both ends of the friction moving bar are kept consistent, thereby improving the movement effect of the friction moving bar, further improving the effect of the robot crossing obstacles, and allowing the robot to recover to a moving posture more quickly.

[0013] Preferably, the two limiting rotation members are identical first gears, and mounting holes are provided at the same position on both first gears; the friction moving bar is provided with at least two connecting rods, one end of each connecting rod being fixedly connected to one end of the friction moving bar, and the other end being rotationally connected to the limiting rotation member via the mounting holes. In this technical solution, the limiting rotation member adopts a gear transmission, which improves the stability of the transmission assembly transmitting the power to the friction moving bar; secondly, by providing at least two connecting rods connecting the gear and the friction moving bar, a certain distance is maintained between the friction moving bar and the gear, so that the movement trace of the friction moving bar extends outside the gear, reducing the mutual interference between the gear and the friction moving bar, and ensuring the effective operation of the auxiliary device.

[0014] Furthermore, a number of auxiliary rotating parts are provided between the two rotating parts, which are arranged so that the rotation center of the auxiliary rotating part and the rotation center of the limiting rotating part are located on the same straight line. The auxiliary rotating part is rotatably connected to one end of a connecting rod and is connected to the friction moving bar through the connecting rod, so that a support is further provided in the middle part of the friction moving bar, which improves the force uniformity of the friction moving bar, ensures the rigidity of the friction moving bar, and thereby improves its stability in use and service life.

[0015] Preferably, the friction moving bar is configured as a straight bar, and the connecting bar is perpendicular to the friction moving bar, thereby further limiting the movement trajectory of the friction moving bar and improving the movement stability of the friction moving bar.

[0016] Furthermore, the shaft connection assembly includes a plurality of third gears, which are configured to form a fixed connection with the rotating shaft; the transmission assembly includes a plurality of fourth gears, and the third gears drive the supporting movable member via the fourth gears. In this technical solution, by arranging the shaft connection assembly and the transmission assembly to cooperate with each other, stable and reliable transmission is achieved between the rotating shaft, the transmission assembly, and the restricted movable member. The meshing transmission between the multiple gears further improves the accuracy and stability of the transmission adjustment between the auxiliary device and the rotating shaft.

[0017] Preferably, the shaft connection assembly includes a pair of third gears, and the third gears are respectively arranged on both sides of the supporting movable member, and the transmission assembly is arranged between the third gear and the supporting movable member; the third gear forms a first motion combination with the supporting movable member through the transmission assembly, so that the third gear drives the supporting movable member through the transmission assembly; a third gear forms a second motion combination with another third gear through the transmission assembly and the supporting movable member, so that any third gear can drive another third gear to rotate synchronously, thereby making the gears stably engaged and operating synchronously, so that the friction movable member can be stably transmitted, and further adjusting the accuracy and stability of the motion adjustment of the friction movable member.

[0018] Another object of the present invention is to provide a robot comprising: a main body, a pair of movable wheels disposed on either side of the main body, and the obstacle-crossing assistive device provided in this technical solution; the shaft connection assembly is connected to the rotating shafts of the movable wheels, and the supporting movable member is disposed between the two movable wheels on the same side. Preferably, the robot includes two sets of the assistive devices, one on each side of the robot.

[0019] In this technical solution, to improve the auxiliary device's ability to adjust the robot's posture, a shaft connection assembly is connected to the rotating shaft of the moving wheel, and the supporting moving member is located between the two moving wheels on the same side. This allows the moving wheel and the auxiliary device to share the rotating shaft power, resulting in a simpler structure, better utilization of the robot's rotating shaft power, improved adaptability and precise adjustment capabilities of the auxiliary device, and reduced space and cost for installing the auxiliary device on the robot. Preferably, to simultaneously balance the gravity of the auxiliary device and the robot as a whole, and to enhance the stability and accuracy of the robot's movement posture adjustment when crossing obstacles, the auxiliary devices are symmetrically located on both sides of the robot to improve the robot's balance and stability.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. Provided is an auxiliary device for a robot to cross obstacles. The auxiliary device includes a supporting moving part and a driving assembly. The driving assembly includes a shaft connecting assembly and a transmission assembly. The shaft connecting assembly obtains power from the robot's rotating shaft and drives the supporting moving part to move through the transmission assembly. The supporting moving part lifts the entire robot and moves in a pattern assigned by the transmission assembly, thereby adjusting the overall posture of the robot in a small range, breaking the equilibrium state formed by the robot being stuck by an obstacle, and allowing the robot to more conveniently restore to a moving posture, thereby improving the robot's obstacle-crossing ability and enhancing the robot's flexibility and adaptability. At the same time, the auxiliary device is simple in structure, does not require additional driving force, and does not require modification of the original traveling assembly, which greatly improves the convenience of modifying existing robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is one of the structural schematic diagrams of a robot obstacle-crossing auxiliary device of the present utility model.

[0023] Figure 2 This is the second structural diagram of the auxiliary device for a robot to cross obstacles in the present utility model.

[0024] Figure 3 The utility model is a schematic structural diagram of a robot provided with an auxiliary device for crossing obstacles.

[0025] Description of the drawings: supporting moving part 10, friction moving bar 11, connecting rod 12, shaft connecting assembly 20, third gear 210, transmission assembly 30, limiting rotation part 31, first gear 310, mounting hole 311, fourth gear 320, auxiliary rotating part 33, main body 100, moving wheel 200. DETAILED DESCRIPTION

[0026] The drawings in this utility model are for illustrative purposes only and are not to be construed as limiting the scope of this utility model. To better illustrate the following embodiments, some components in the drawings may be omitted, enlarged, or reduced in size, and do not represent the actual dimensions of the products. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted from the drawings.

[0027] Example 1

[0028] like Figure 1-Figure 2 As shown, this embodiment provides an auxiliary device for a robot to cross obstacles, including: a supporting movable member 10 for lifting the robot and driving it to move; and a driving assembly for driving the supporting movable member 10; the driving assembly includes: an axis connection assembly 20 for obtaining power from the rotating shaft of the robot; and a transmission assembly 30 for converting the power to drive the supporting movable member 10 to move. Specifically, the axis connection assembly 20 obtains power from the rotating shaft of the robot and drives the supporting movable member 10 to move through the transmission assembly 30. The supporting movable member 10 lifts the entire robot and moves in the pattern assigned by the transmission assembly 30, thereby adjusting the overall posture of the robot in a small range, breaking the equilibrium state formed by the robot being stuck by an obstacle, and allowing the robot to more conveniently return to a moving posture, thereby improving the robot's ability to cross obstacles and enhancing the robot's flexibility and adaptability.

[0029] Furthermore, the supporting movable member 10 includes: a friction movable bar 11, and a pair of limiting rotation members 31 arranged on both sides of the friction movable bar 11; the transmission assembly 30 drives the limiting rotation members 31 to rotate, and the two limiting rotation members 31 respectively drive one end of the friction movable bar 11 to rotate around the center of the limiting rotation member 31. Specifically, the two limiting rotation members 31 fix the spacing of the friction movable bar 11, and the two limiting rotation members 31 are led by the transmission assembly 30 to rotate so that the friction movable bar 11 can achieve reciprocating motion as the limiting rotation members 31 rotate. Through a simple structure, the power transmitted by the transmission assembly 30 is conveniently and fully utilized and finally converted into the reciprocating motion of the friction movable bar 11. Preferably, the friction movable bar 11 is set to be a straight rod, and the connecting rod 12 is perpendicular to the friction movable bar 11, thereby further limiting the movement trajectory of the friction movable bar 11 and improving the movement stability of the friction movable bar 11.

[0030] Furthermore, it is arranged so that the rotation centers of the limiting rotation members 31 are located on the same horizontal plane, and the two ends of the friction moving bar 11 are respectively connected to the two limiting rotation members 31 for rotation, and the distances from the two rotation centers to the friction moving bar 11 are equal, so that the forces at both ends of the friction moving bar 11 are evenly distributed and the support heights at both ends of the friction moving bar 11 are kept consistent, thereby improving the movement effect of the friction moving bar 11, further improving the effect of the robot crossing obstacles, and allowing the robot to recover to a moving posture more quickly.

[0031] Furthermore, a number of auxiliary rotating members 33 are provided between the two rotating members, and the arrangement is such that the rotation center of the auxiliary rotating member 33 is located on the same straight line as the rotation center of the limiting rotating member 31. The auxiliary rotating member 33 is rotatably connected to one end of a connecting rod 12 and is connected to the friction moving bar 11 through the connecting rod 12, thereby further providing support in the middle of the friction moving bar 11, thereby improving the force uniformity of the friction moving bar 11, ensuring the rigidity of the friction moving bar 11, and thereby improving its stability in use and service life.

[0032] Example 2

[0033] like Figure 1-Figure 2 As shown, this embodiment also provides an auxiliary device for a robot to cross obstacles, including: a supporting movable member 10, used to lift the robot and drive it to move; and a driving component that drives the supporting movable member 10; the driving component includes: an axis connection component 20, used to obtain power from the rotating shaft of the robot; and a transmission component 30, used to convert the power and drive the supporting movable member 10 to move. Specifically, the axis connection component 20 obtains power from the rotating shaft of the robot and drives the supporting movable member 10 to move through the transmission component 30. The supporting movable member 10 lifts the entire robot and moves in the pattern assigned by the transmission component 30, thereby adjusting the overall posture of the robot in a small range, breaking the equilibrium state formed by the robot being stuck by an obstacle, and allowing the robot to more conveniently return to a moving posture, thereby improving the robot's ability to cross obstacles and enhancing the robot's flexibility and adaptability.

[0034] Furthermore, the supporting member 10 includes a friction bar 11 and a pair of rotation-limiting members 31 disposed on either side of the friction bar 11. The transmission assembly 30 drives the rotation-limiting members 31 to rotate, and the two rotation-limiting members 31 each drive one end of the friction bar 11 to rotate about the center of the rotation-limiting member 31. The two rotation-limiting members 31 stabilize the spacing between the friction bars 11, conveniently and fully utilizing the power transmitted by the transmission assembly 30 and ultimately converting it into reciprocating motion of the friction bar 11.

[0035] Preferably, the friction moving bar 11 is configured as a straight bar, and the connecting rod 12 is perpendicular to the friction moving bar 11 , thereby further limiting the movement trajectory of the friction moving bar 11 and improving the movement stability of the friction moving bar 11 .

[0036] Furthermore, it is arranged so that the rotation centers of the limiting rotation members 31 are located on the same horizontal plane, and the two ends of the friction moving bar 11 are respectively connected to the two limiting rotation members 31 for rotation, and the distances from the two rotation centers to the friction moving bar 11 are equal, so that the forces at both ends of the friction moving bar 11 are evenly distributed and the support heights at both ends of the friction moving bar 11 are kept consistent, thereby improving the movement effect of the friction moving bar 11, further improving the effect of the robot crossing obstacles, and allowing the robot to recover to a moving posture more quickly.

[0037] Preferably, the two rotation-limiting members 31 are identical first gears 310, each having a mounting hole 311 at the same position. The friction movement bar 11 is provided with at least two connecting rods 12, one end of each connecting rod 12 being fixedly connected to one end of the friction movement bar 11, and the other end being rotationally connected to the rotation-limiting member 31 via the mounting hole 311. Specifically, the rotation-limiting member 31 utilizes a gear transmission, which improves the stability of the transmission assembly 30 transmitting the power to the friction movement bar 11. Furthermore, by providing at least two connecting rods 12 connecting the gear and the friction movement bar 11, a certain distance is maintained between the friction movement bar 11 and the gear, allowing the movement trace of the friction movement bar 11 to extend beyond the gear. This reduces interference between the gear and the friction movement bar 11, ensuring the effective operation of the auxiliary device.

[0038] Furthermore, a number of auxiliary rotating members 33 are provided between the two rotating members, and the arrangement is such that the rotation center of the auxiliary rotating member 33 is located on the same straight line as the rotation center of the limiting rotating member 31. The auxiliary rotating member 33 is rotatably connected to one end of a connecting rod 12 and is connected to the friction moving bar 11 through the connecting rod 12, thereby further providing support in the middle of the friction moving bar 11, thereby improving the force uniformity of the friction moving bar 11, ensuring the rigidity of the friction moving bar 11, and thereby improving its stability in use and service life.

[0039] Furthermore, the shaft connection assembly 20 includes a plurality of third gears 210, which are used to form a fixed connection with the rotating shaft; the transmission assembly 30 includes a plurality of fourth gears 320, and the third gears 210 drive the supporting movable member 10 through the fourth gears 320. Specifically, the shaft connection assembly 20 includes a pair of third gears 210, the third gears 210 are respectively arranged on both sides of the supporting movable member 10, and the transmission assembly 30 is arranged between the third gears 210 and the supporting movable member 10; the third gears 210 form a first motion combination with the supporting movable member 10 through the transmission assembly 30, so that the third gears 210 drive the supporting movable member 10 through the transmission assembly 30; one third gear 210 forms a second motion combination with another third gear 210 through the transmission assembly 30 and the supporting movable member 10, so that any third gear 210 can drive another third gear 210 to rotate synchronously, thereby ensuring stable engagement and synchronous operation between the gears, so that the friction movable member can be stably transmitted, and the accuracy and stability of the motion adjustment of the friction movable member are further adjusted.

[0040] Example 3

[0041] like Figure 3 As shown, a robot is provided, comprising: a main body 100, a pair of moving wheels 200 disposed on either side of the main body 100, and an auxiliary device for the robot to cross obstacles as provided in Example 1 or Example 2; an axis connection assembly 20 connected to the rotating shafts of the moving wheels 200, and a supporting moving member 10 disposed between the two moving wheels 200 on the same side. Preferably, the robot includes two sets of auxiliary devices, one on each side of the robot.

[0042] Specifically, the shaft connection assembly 20 is connected to the rotating shaft of the moving wheel 200, and the supporting moving member 10 is arranged between the two moving wheels on the same side, so that the moving wheel 200 and the auxiliary device share the rotating shaft power, which makes the structure simpler, better utilizes the robot's rotating shaft power, improves the adaptability and precise adjustment capability of the auxiliary device, improves the auxiliary device's ability to adjust the robot's posture, and also saves space and cost for installing the auxiliary device on the robot. Preferably, in order to simultaneously balance the gravity of the auxiliary device and the robot as a whole, and at the same time enhance the stability and accuracy of the robot's movement posture adjustment when crossing obstacles, the auxiliary device is arranged symmetrically on both sides of the robot to improve the robot's balance ability and stability.

[0043] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A robot obstacle-crossing assisting device, characterized in that: include: Supporting moving parts, used to lift the robot and drive it to move; and a driving assembly for driving the supporting movable member; The driving assembly includes: a shaft connecting assembly for obtaining power from the rotating shaft of the robot; and a transmission assembly for converting the power to drive the supporting movable part to move.

2. The robot obstacle-crossing assisting device according to claim 1, characterized in that: The supporting moving member includes: a friction moving bar, and a pair of rotation limiting members arranged on both sides of the friction moving bar; The transmission assembly drives the rotation-limiting member to rotate, and the two rotation-limiting members respectively drive one end of the friction moving bar to rotate around the center of the rotation-limiting member.

3. The robot obstacle-crossing assisting device according to claim 2, characterized in that: The rotation centers of the rotation-limiting members are located on the same horizontal plane, and the two ends of the friction movement bar are respectively connected to the two rotation-limiting members for rotation, and the distances from the two rotation centers to the friction movement bar are equal.

4. The robot obstacle-crossing assisting device according to claim 2, characterized in that: The two limiting rotation members are the same first gears, and mounting holes are provided at the same position of the two first gears; at least two connecting rods are provided on the friction moving bar, one end of the connecting rod is fixedly connected to one end of the friction moving bar, and the other end forms a rotational connection with the limiting rotation member through the mounting hole.

5. The robot obstacle-crossing assisting device according to claim 4, characterized in that: A plurality of auxiliary rotating members are provided between the two rotating members. The rotation centers of the auxiliary rotating members and the rotation center of the limiting rotating member are located on the same straight line. The auxiliary rotating member is rotationally connected to one end of a connecting rod and is connected to the friction moving bar through the connecting rod.

6. The robot obstacle-crossing assisting device according to claim 4, characterized in that: The friction moving bar is a straight bar, and the connecting rod is perpendicular to the friction moving bar.

7. The robot obstacle-crossing assisting device according to any one of claims 1 to 6, characterized in that: The shaft connection assembly includes a plurality of third gears, and the third gears are used to form a fixed connection with the rotating shaft; the transmission assembly includes a plurality of fourth gears, and the third gears drive the supporting movable member through the fourth gears.

8. The robot obstacle-crossing assisting device according to any one of claims 1 to 6, characterized in that: The shaft connection assembly includes a pair of third gears, the third gears are respectively arranged on both sides of the supporting movable member, and the transmission assembly is arranged between the third gears and the supporting movable member; The third gear forms a first motion combination with the supporting movable member through the transmission assembly, so that the third gear drives the supporting movable member through the transmission assembly; A third gear forms a second motion combination with another third gear through a transmission assembly and a supporting moving member, so that any third gear can drive another third gear to rotate synchronously.

9. A robot comprising: The main body and a pair of moving wheels arranged on both sides of the main body are characterized in that it also includes an auxiliary device for a robot to cross obstacles as described in any one of claims 1 to 8; the shaft connection assembly is connected to the rotating shaft of the moving wheel, and the supporting moving part is arranged between the two moving wheels on the same side.

10. A robot according to claim 9, characterized in that: The robot includes two sets of auxiliary devices which are respectively arranged on two sides of the robot.

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