Obstacle avoidance type all-terrain mobile robot

Abstract

The utility model provides an obstacle avoidance type all-terrain mobile robot, which relates to the technical field of mobile robots and comprises a mobile robot body, buffer sleeves which are symmetrically distributed are fixedly connected to the surface of one side of the mobile robot body, and piston blocks are movably sleeved on the inner walls of the buffer sleeves. The surface of one side of the piston block is fixedly connected with a first buffer spring, one end of the first buffer spring is fixedly connected with the inner wall of one side of the buffer sleeve, the surface of the other side of the piston block is fixedly connected with a buffer rod, and one end of the buffer rod penetrates through and extends to the surface of one side of the buffer sleeve. The impact generated in the running process of the mobile robot body is protected, vibration impact generated by too large reset elastic force is avoided through low-speed reset of a buffer rod, and through cooperation of rotation of a buffer rotating wheel and swing of a swing sleeve, the impact force is relieved through swing when the mobile robot is subjected to inclined impact, so that the service life of the mobile robot is prolonged, and the service life of the mobile robot is prolonged. And the impact strength is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to mobile robot technical field especially relates to an obstacle avoidance type all terrain mobile robot. BACKGROUND

[0002] The obstacle avoidance type all terrain mobile robot is a kind of intelligent equipment, with the technical features such as all terrain adaptability, efficient obstacle avoidance system and autonomous navigation capability.It can be used for reconnaissance patrol and material transport in military field;It is applicable to dangerous environment operation and logistics transport in industrial field;It can carry out polar exploration and space exploration tasks in scientific research field.With the technical progress, the performance of the robot will be continuously improved, and the application field will also continue to expand, and in the future, it will be more intelligent, miniaturized and lightened, to bring more convenience and safety for human.

[0003] Although the existing obstacle avoidance type all terrain mobile robot can learn the best driving strategy under different terrain and obstacle conditions by the setting of multiple laser sensors and the cooperation of intelligent obstacle avoidance algorithm, when sudden impact and knock are encountered in the driving process, the impact generated by impact and knock cannot be effectively buffered, so that the interference to the robot is reduced, and the problem of rollover caused by excessive impact force is prone to occur. UTILITY MODEL CONTENT

[0004] The utility model aims at solving the shortcomings in prior art, and the current obstacle avoidance type all terrain mobile robot can learn the best driving strategy under different terrain and obstacle conditions by the setting of multiple laser sensors and the cooperation of intelligent obstacle avoidance algorithm, but when sudden impact and knock are encountered in the driving process, the impact generated by impact and knock cannot be effectively buffered, so that the interference to the robot is reduced, and the problem of rollover caused by excessive impact force is prone to occur.

[0005] In order to achieve the above object, the utility model adopts the following technical scheme:

[0006] An obstacle avoidance type all terrain mobile robot, including mobile robot body, the side surface of mobile robot body is fixedly connected with the buffer sleeve that is symmetrically distributed, the inner wall of buffer sleeve movably sleeves piston block, the side surface of piston block is fixedly connected with first buffer spring, and the one end of first buffer spring is fixedly connected with the side inner wall of buffer sleeve, the other side surface of piston block is fixedly connected with buffer rod, and the one end of buffer rod penetrates and extends to the side surface of buffer sleeve, and the one end of two buffer rods is fixedly connected with U-shaped protection block.

[0007] The side surface of buffer sleeve is provided with impact protection device, and impact protection device includes second buffer spring, and the one end of second buffer spring is fixedly connected with the side surface of buffer sleeve.

[0008] Preferably, one end of the two second buffer springs is fixedly connected with the inner wall of one side of the U-shaped protective block, and the outer surface of the buffer sleeve is fixedly communicated with an exhaust pipe.

[0009] Preferably, a one-way valve is fixedly installed on the outer surface of the exhaust pipe, the outer surface of the buffer sleeve is fixedly communicated with an air inlet hole, and the inner top wall and the inner bottom wall of the U-shaped protective block are symmetrically provided with rotating rods which are installed through bearings.

[0010] Preferably, the outer surface of the rotating rod is fixedly sleeved with an oscillating sleeve, the outer surface of the rotating rod is movably sleeved with torsion springs which are symmetrically distributed, and one end of the two torsion springs is fixedly connected with the inner top wall and the inner bottom wall of the U-shaped protective block.

[0011] Preferably, the other end of the two torsion springs is fixedly connected with the upper surface and the lower surface of the oscillating sleeve respectively, the inner wall of the oscillating sleeve is movably sleeved with an expansion block, and one end of the expansion block is fixedly connected with a supporting spring.

[0012] Preferably, one end of the supporting spring is fixedly connected with the inner wall of one end of the oscillating sleeve, and the upper surface of the expansion block is fixedly connected with a positioning rod.

[0013] Preferably, the outer surface of one end of the positioning rod is installed with a buffer rotating wheel through a bearing, and the outer surface of the buffer rotating wheel is fixedly sleeved with an elastic rubber ring.

[0014] Compared with the prior art, the utility model has the beneficial effects that:

[0015] In the utility model, the impact protection device is used for protecting the impact generated by the mobile robot body during driving, the slow reset of the buffer rod avoids the vibration impact caused by excessive reset elasticity, and the rotation of the buffer rotating wheel and the swing of the oscillating sleeve are matched to reduce the impact strength by swing when the impact is received. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A main body structure schematic view of the obstacle-avoiding all-terrain mobile robot is provided in the utility model;

[0017] Figure 2 A buffer sleeve structure perspective view of the obstacle-avoiding all-terrain mobile robot is provided in the utility model;

[0018] Figure 3 A buffer rotating wheel structure perspective view of the obstacle-avoiding all-terrain mobile robot is provided in the utility model;

[0019] Figure 4The utility model provides a kind of swing sleeve structure perspective view of barrier type all-terrain mobile robot provided.

[0020] In the figure: 1, mobile robot body; 2, buffer sleeve; 3, piston block; 4, first buffer spring; 5, buffer rod; 6, U-shaped protection block; 7, second buffer spring; 71, exhaust pipe; 72, check valve; 73, air inlet hole; 74, rotating rod; 75, swing sleeve; 76, torsion spring; 77, telescopic block; 78, supporting spring; 79, positioning rod; 710, buffer rotating wheel; 711, elastic rubber ring. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the utility model will be apparently and completely described below with reference to the embodiments of the utility model. Apparently, the described embodiments are only part of the embodiments of the utility model, but not all the embodiments. Based on the embodiments of the utility model, all the other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0022] In order to facilitate understanding of the utility model, the utility model will be more fully described below with reference to the related utility model, and several embodiments of the utility model are given. However, the utility model can be realized in many different forms, and is not limited to the embodiments described in the text. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive.

[0023] It should be noted that when an element is referred to as "fixed to" another element, it can be directly on the other element or there can be a middle element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or there can be a middle element. The terms "vertical", "horizontal", "left", "right", and similar expressions used herein are for illustrative purposes only.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the utility model belongs. The terms used in the specification of the utility model are only for the purpose of describing specific embodiments and are not intended to limit the utility model. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0025] EMBODIMENT

[0026] As Figures 1-4The utility model provides a kind of technical scheme shown in the utility model: a kind of obstacle avoidance type all-terrain mobile robot, including mobile robot body 1, the surface of the side of mobile robot body 1 is fixedly connected with the buffer sleeve 2 of symmetrical distribution, the inner wall of buffer sleeve 2 movably sleeve joint has piston block 3, the surface of the side of piston block 3 is fixedly connected with first buffer spring 4, the elastic force of first buffer spring 4 drives piston block 3 to reset movement, one end of first buffer spring 4 is fixedly connected with the inner wall of the side of buffer sleeve 2, the other surface of piston block 3 is fixedly connected with buffer rod 5, one end of buffer rod 5 penetrates and extends to the surface of the side of buffer sleeve 2, one end of two buffer rods 5 is fixedly connected with U-shaped protection block 6;

[0027] The surface of the side of buffer sleeve 2 is provided with impact protection device, and the impact protection device includes second buffer spring 7, one end of second buffer spring 7 is fixedly connected with the surface of the side of buffer sleeve 2.

[0028] One end of two second buffer springs 7 is fixedly connected with the inner wall of the side of U-shaped protection block 6, the outer surface of buffer sleeve 2 is fixedly communicated with exhaust pipe 71, and second buffer spring 7 plays a further buffering and damping effect on buffer sleeve 2.

[0029] The outer surface of exhaust pipe 71 is fixedly installed with one-way valve 72, the outer surface of buffer sleeve 2 is fixedly communicated with air inlet hole 73, the inner top wall and the inner bottom wall of U-shaped protection block 6 are fixedly installed with rotation rod 74 in symmetrical distribution through bearing, one-way valve 72 plays a role in limiting the air intake of exhaust pipe 71, and the air intake through air inlet hole 73 makes the air intake effect of buffer sleeve 2 reduced.

[0030] The outer surface of rotation rod 74 is fixedly sleeve jointed with swing sleeve 75, the outer surface of rotation rod 74 is movably sleeve jointed with torsional spring 76 in symmetrical distribution, one end of two torsional springs 76 is fixedly connected with the inner top wall and the inner bottom wall of U-shaped protection block 6 respectively, swing sleeve 75 plays a role in positioning rotation through the cooperation of rotation rod 74 and bearing, so as to avoid damage caused by hard contact.

[0031] The other end of two torsional springs 76 is fixedly connected with the upper surface and the lower surface of swing sleeve 75 respectively, the inner wall of swing sleeve 75 is movably sleeve jointed with telescopic block 77, one end of telescopic block 77 is fixedly connected with supporting spring 78, swing sleeve 75 plays a role in rotating reset through the torsional force of torsional spring 76.

[0032] One end of supporting spring 78 is fixedly connected with the inner wall of one end of swing sleeve 75, the upper surface of telescopic block 77 is fixedly connected with positioning rod 79, and supporting spring 78 plays a role in cooperating telescopic block 77 to shrink and driving reset.

[0033] The outer surface of one end of the positioning rod 79 is provided with a buffer rotating wheel 710 through a bearing, the outer surface of the buffer rotating wheel 710 is fixedly sleeved with an elastic rubber ring 711, the elastic rubber ring 711 can absorb impact energy when the buffer rotating wheel 710 is impacted by elastically deforming, so that the impact energy is not all transmitted to the buffer rotating wheel 710 at once, thereby prolonging the service life of the buffer rotating wheel 710, and the hard contact friction is changed into rotating friction through the rotation of the buffer rotating wheel 710.

[0034] Through the impact protection device, the impact generated during the running of the mobile robot body 1 is protected, the vibration impact generated by the excessive reset elastic force is avoided through the slow reset of the buffer rod 5, and the impact force is relieved through swinging when an inclined impact is generated through the rotation of the buffer rotating wheel 710 and the swinging of the swinging sleeve 75, thereby reducing the impact strength.

[0035] The working process of the utility model:

[0036] Step one, when the U-shaped protection block 6 is impacted from the front, the first buffer spring 4 and the second buffer spring 7 cooperate to perform double buffering, the buffer rod 5 drives the piston block 3 to move, the movement of the piston block 3 causes the gas in the buffer sleeve 2 to be extruded, and the gas is synchronously discharged through the air inlet hole 73 and the exhaust pipe 71, when the buffering is completed, the first buffer spring 4 and the second buffer spring 7 drive the piston block 3 to reset through the buffer rod 5, at this time, due to the limitation of the one-way valve 72, only the air inlet hole 73 provides the gas into the buffer sleeve 2, thereby slowing down the reset speed of the U-shaped protection block 6, and avoiding the vibration impact caused by the excessive reset elastic force;

[0037] Step two, when being impacted and collided from the side, the hard impact friction is changed into rotating contact friction through the rotation of the buffer rotating wheel 710 and the elastic rubber ring 711, and the telescopic block 77 drives the supporting spring 78 to contract to further buffer, thereby reducing the impact degree on the mobile robot body 1, when the impact degree is large, at this time, the swinging sleeve 75 drives the torsional spring 76 to rotate and store energy, and cooperates with the telescopic block 77 to drive the buffer rotating wheel 710 to swing, thereby reducing the impact degree center by changing the contact form, not only improving the buffering effect, but also protecting the buffer rotating wheel 710, which is beneficial to prolonging the service life, and after the impact is completed, the elastic force of the supporting spring 78 and the torsional spring 76 can reset the telescopic rod and the buffer rotating wheel 710.

[0038] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An obstacle-avoiding all-terrain mobile robot comprising a mobile robot body (1), characterized in that: The side surface of the mobile robot body (1) is fixedly connected with symmetrically distributed buffer sleeves (2), the inner wall of the buffer sleeve (2) is movably sleeved with a piston block (3), one side surface of the piston block (3) is fixedly connected with a first buffer spring (4), one end of the first buffer spring (4) is fixedly connected with one side inner wall of the buffer sleeve (2), the other side surface of the piston block (3) is fixedly connected with a buffer rod (5), one end of the buffer rod (5) penetrates and extends to one side surface of the buffer sleeve (2), and one end of each of two buffer rods (5) is fixedly connected with a U-shaped protection block (6). The side surface of the buffer sleeve (2) is provided with an impact protection device, and the impact protection device comprises a second buffer spring (7), one end of the second buffer spring (7) is fixedly connected with the side surface of the buffer sleeve (2).

2. The obstacle avoidance all-terrain mobile robot according to claim 1, characterized in that: One end of each of two second buffer springs (7) is fixedly connected with one side inner wall of the U-shaped protection block (6), and the outer surface of the buffer sleeve (2) is fixedly communicated with an exhaust pipe (71).

3. The obstacle avoidance all-terrain mobile robot according to claim 2, characterized in that: The outer surface of the exhaust pipe (71) is fixedly installed with a one-way valve (72), the outer surface of the buffer sleeve (2) is fixedly communicated with an air inlet hole (73), and the inner top wall and the inner bottom wall of the U-shaped protection block (6) are rotatably installed with symmetrically distributed rotating rods (74) through bearings.

4. The obstacle avoidance all-terrain mobile robot according to claim 3, characterized in that: The outer surface of the rotating rod (74) is fixedly sleeved with an oscillating sleeve (75), and the outer surface of the rotating rod (74) is movably sleeved with symmetrically distributed torsion springs (76), one end of each of two torsion springs (76) is fixedly connected with the inner top wall and the inner bottom wall of the U-shaped protection block (6).

5. The obstacle avoidance all-terrain mobile robot according to claim 4, characterized in that: The other end of each of two torsion springs (76) is fixedly connected with the upper surface and the lower surface of the oscillating sleeve (75), the inner wall of the oscillating sleeve (75) is movably sleeved with a telescopic block (77), and one end of the telescopic block (77) is fixedly connected with a supporting spring (78).

6. The obstacle avoidance all-terrain mobile robot according to claim 5, characterized in that: One end of the supporting spring (78) is fixedly connected with one end inner wall of the oscillating sleeve (75), and the upper surface of the telescopic block (77) is fixedly connected with a positioning rod (79).

7. The obstacle avoidance all-terrain mobile robot according to claim 6, characterized in that: The outer surface of one end of the positioning rod (79) is rotatably installed with a buffer rotating wheel (710) through a bearing, and the outer surface of the buffer rotating wheel (710) is fixedly sleeved with an elastic rubber ring (711).

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