Obstacle-crossing mobile robot

Abstract

The utility model relates to the technical field of mobile robots, in particular to an obstacle crossing mobile robot. The obstacle crossing mobile robot comprises a chassis, a walking assembly, a rocker arm assembly, a rocker arm driving mechanism, a position detection device and a controller. The rocker driving mechanism is connected with the rocker assembly; when the rocker arm assemblies are folded, the swing tail ends of the two rocker arm assemblies located on the same side are located between the two corresponding swing centers, and the swing tail end of one rocker arm assembly is located above the other rocker arm assembly. When the rocker arm assembly is opened, the swing tail end can make contact with the walking face, and at least part of the structure of the walking assembly can be lifted. The position detection device is used for detecting the swing angle of each set of rocker arm assembly, and the position detection device and the rocker arm driving mechanism are both in communication connection with the controller. The obstacle-crossing mobile robot provided by the utility model is relatively high in exploration efficiency and relatively long in endurance time; in addition, structural interference can be avoided on the basis of smoothly crossing the obstacle.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot technology, and more specifically, to an obstacle-crossing mobile robot. Background Technology

[0002] With the increasingly severe and complex international situation and the increasing frequency of natural disasters such as earthquakes, the demand for robots in reconnaissance, patrolling, and urban rubble exploration and rescue has increased dramatically. As the application scenarios for robots become more extensive and complex, the requirements for their obstacle-crossing capabilities and autonomous exploration abilities are also becoming increasingly stringent.

[0003] Existing obstacle-crossing mobile robots generally use rocker arms to assist in obstacle crossing. When rocker arm assistance is not needed, whether the robot is stationary or in motion, the front end of the rocker arm can only turn upwards or to the outside of the front and rear walking wheels. In small spaces, the robot needs to repeatedly adjust the position of the rocker arm to pass smoothly, which affects the robot's exploration efficiency and battery life. Utility Model Content

[0004] The purpose of this invention is to provide an obstacle-crossing mobile robot to alleviate the technical problems of low exploration efficiency and short battery life of existing obstacle-crossing mobile robots.

[0005] The obstacle-crossing mobile robot provided by this utility model includes a chassis, a walking assembly, a rocker arm assembly, a rocker arm drive mechanism, a position detection device, and a controller.

[0006] The walking component is mounted on the chassis and can walk to drive the chassis to move; the rocker arm component includes four sets, which are rotatably mounted in pairs on the left and right sides of the chassis, and the two sets of rocker arm components on the same side are arranged in the front-back direction.

[0007] The rocker arm drive mechanism is connected to the rocker arm assembly and is used to drive the rocker arm assembly to swing, so that the rocker arm assembly can open or retract. When the rocker arm assembly is retracted, the swing ends of the two sets of rocker arm assemblies on the same side are located between the corresponding two swing centers, and the swing end of one set of rocker arm assemblies is located above the other set of rocker arm assemblies. When the rocker arm assembly is opened, the swing end of the rocker arm assembly can contact the walking surface and can lift at least a part of the structure of the walking assembly to cross obstacles.

[0008] The position detection device is used to detect the position of each group of rocker arm assemblies. Both the position detection device and the rocker arm drive mechanism are communicatively connected to the controller.

[0009] Preferably, as one possible implementation, the rocker arm drive mechanism includes two components, both of which are mounted on the chassis; the rocker arm drive mechanism includes a first rotary driver and a rocker arm drive shaft, wherein the first rotary driver is connected to the rocker arm drive shaft and is used to drive the rocker arm drive shaft to rotate.

[0010] In one of the rocker arm drive mechanisms, the two ends of the rocker arm drive shaft are coaxially fixed to two sets of rocker arm assemblies on the left and right sides in front, respectively. In the other rocker arm drive mechanism, the two ends of the rocker arm drive shaft are coaxially fixed to two sets of rocker arm assemblies on the left and right sides in rear.

[0011] Preferably, as one possible implementation, the position detection device includes two potentiometers, which are respectively coupled to two rocker arm drive shafts to detect the rotation angle of the corresponding rocker arm drive shafts.

[0012] Preferably, as one possible implementation, the walking assembly includes a walking drive mechanism and four tires, the tires are mounted on the chassis, the four tires correspond one-to-one with four sets of rocker arm assemblies, and the four tires are respectively located on the side of the corresponding rocker arm assembly facing away from the chassis.

[0013] The walking drive mechanism is mounted on the chassis and is connected to the tire to drive the tire to roll.

[0014] Preferably, as one possible implementation, the walking assembly further includes two sets of walking track assemblies, which are respectively installed on the left and right sides of the chassis; the walking drive mechanism is connected to the walking track assembly and is used to drive the walking track assembly and the tire to rotate synchronously; the rocker arm assembly is located between the walking track assembly and the tire.

[0015] Preferably, as one possible implementation, the track assembly includes a track and two synchronized wheels, the synchronized wheels being rotatably mounted on the chassis, and the track surrounding the two synchronized wheels.

[0016] At least one of the two walking timing wheels in any of the walking track assemblies is connected to the walking drive mechanism, which drives the walking timing wheels to rotate.

[0017] Preferably, as one possible implementation, the rocker arm assembly includes a rocker arm, a rocker arm track, and a rocker arm guide wheel, wherein the rocker arm guide wheel is mounted on the swing end of the rocker arm; two sets of rocker arm assemblies on the same side correspond to two walking synchronous wheels in the walking track assembly on the corresponding side, the swing center of the rocker arm coincides with the central axis of the corresponding walking synchronous wheel, and the rocker arm track surrounds the periphery of the corresponding walking synchronous wheel and the rocker arm guide wheel.

[0018] Preferably, as one possible implementation, the rocker arm is rotatably mounted with a drive wheel, the drive wheel and the corresponding walking synchronous wheel are coaxially arranged and have the same outer diameter, the drive wheel cooperates with the rocker arm track, and the tire is coaxially fixedly connected to the corresponding drive wheel.

[0019] Preferably, as one possible implementation, both the walking track and the rocker arm track are synchronous belts with external teeth and internal teeth; the internal teeth are arc teeth, and / or the external teeth are made of rubber, and / or the internal teeth are made of polyurethane.

[0020] Preferably, as one possible implementation, the obstacle-crossing mobile robot further includes an intelligent recognition device, which is installed on the chassis and used to identify obstacles; the intelligent recognition device is communicatively connected to the controller.

[0021] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0022] The obstacle-crossing mobile robot provided by this utility model is in a retracted state during normal walking. The swing ends of the two sets of rocker arm assemblies on either side are retracted between their respective swing centers, without protruding beyond the space occupied by the walking assembly and chassis structure. Compared to turning upwards or the outside of the walking assembly, this greatly reduces the space occupied. In small spaces, it can pass smoothly without adjusting the position of the rocker arm assemblies, improving the robot's exploration efficiency and extending its endurance. In addition, when the rocker arm assemblies are retracted, the swing end of one set of rocker arm assemblies on the same side is located above the other set of rocker arm assemblies. This means that the two sets of rocker arm assemblies on the same side partially overlap in the front-back direction when retracted. This ensures the length of the rocker arm assemblies, allowing them to smoothly lift the walking assembly and successfully cross obstacles when extended.

[0023] When approaching an obstacle, the controller controls the rocker arm drive mechanism to swing the two sets of rocker arm assemblies on the front side in the opening direction, so that the swinging ends of the rocker arm assemblies can contact the top of the obstacle in front. As the rocker arm assemblies open and the traveling assembly moves forward, the front part of the traveling assembly can be lifted, then rise and move forward to above the obstacle, and then contact the obstacle. After the front part of the traveling assembly can travel along the obstacle, the controller controls the rocker arm drive mechanism to stop driving the two sets of rocker arm assemblies on the front side; then, the controller controls the rocker arm drive mechanism to drive the two sets of rocker arms on the rear side. Components The rocker arm swings in the opening direction, allowing the swinging end of the rocker arm assembly to contact the walking surface. As the rocker arm assembly opens and the walking assembly moves forward, the rear of the walking assembly is lifted, moved forward, and then contacts the obstacle, until it successfully crosses the obstacle. During obstacle crossing, the position detection device monitors the position of each rocker arm assembly in real time and feeds the detected position information back to the controller. The controller can control the rocker arm drive mechanism to move according to the position information of each rocker arm assembly fed back by the position detection device, realizing closed-loop control.

[0024] After passing the obstacle, the controller controls the rocker arm drive mechanism to drive each rocker arm assembly to swing in the storage direction. During this process, the position detection device detects the position of the rocker arm assembly in real time. The controller can control the rocker arm drive mechanism to move according to the position information of each rocker arm assembly fed back by the position detection device. This not only enables closed-loop control, but also prevents the front and rear rocker arm assemblies from interfering with each other, so that the front and rear rocker arm assemblies can be retracted smoothly.

[0025] Therefore, the obstacle-crossing mobile robot provided by this utility model has high exploration efficiency and long battery life; in addition, it can avoid structural interference while successfully crossing obstacles. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0027] Figure 1 A three-dimensional structural diagram of the obstacle-crossing mobile robot provided in an embodiment of this utility model;

[0028] Figure 2 A side view of the obstacle-crossing mobile robot provided in an embodiment of this utility model;

[0029] Figure 3A top view of the obstacle-crossing mobile robot provided in an embodiment of this utility model;

[0030] Figure 4 This is a partial structural schematic diagram of the obstacle-crossing mobile robot provided in an embodiment of the present utility model;

[0031] Figure 5 This is another structural schematic diagram of the obstacle-crossing mobile robot provided in an embodiment of the present utility model;

[0032] Figure 6 A schematic diagram of the assembly structure of the walking component, rocker arm component and walking drive mechanism on one side of the obstacle-crossing mobile robot provided in this embodiment of the utility model;

[0033] Figure 7 A schematic diagram of the assembly structure of the rocker arm assembly, rocker arm drive mechanism and drive wheel in the obstacle-crossing mobile robot provided in this embodiment of the utility model;

[0034] Figure 8 An exploded structural diagram of a portion of the obstacle-crossing mobile robot provided in an embodiment of this utility model;

[0035] Figure 9 This is a structural diagram of the obstacle-crossing mobile robot provided in this embodiment of the invention during daily walking;

[0036] Figure 10 A schematic diagram of the obstacle-crossing mobile robot provided in this embodiment of the present invention when the rocker arm assembly is opened to the working starting position;

[0037] Figure 11 A schematic diagram of the first state structure of the obstacle-crossing mobile robot provided in this embodiment of the utility model during obstacle crossing;

[0038] Figure 12 This is a schematic diagram of the second state structure of the obstacle-crossing mobile robot provided in an embodiment of the present invention when crossing obstacles;

[0039] Figure 13 A schematic diagram of the obstacle-crossing mobile robot provided in this embodiment of the present invention when the rocker arm assembly is retracted to the working starting position;

[0040] Figure 14 This is a structural diagram of the obstacle-crossing mobile robot provided in an embodiment of the present invention when it completes obstacle crossing.

[0041] Explanation of reference numerals in the attached figures:

[0042] 100 - Chassis; 110 - Mechanical transmission compartment; 120 - Battery compartment; 130 - Control equipment compartment;

[0043] 200 - Rocker arm assembly; 210 - Rocker arm; 220 - Rocker arm track; 230 - Rocker arm guide wheel;

[0044] 300 - Rocker arm drive mechanism; 310 - Rocker arm drive shaft; 320 - Rocker arm motor; 330 - Worm gear reducer;

[0045] 400-potentiometer;

[0046] 500 - Walking drive mechanism; 510 - Drive motor; 520 - Transmission mechanism;

[0047] 600 - Tire; 610 - Drive wheel;

[0048] 700 - Track assembly; 710 - Track; 720 - Track timing pulley;

[0049] 800 - Intelligent Identification Device;

[0050] 900 - Obstacles. Detailed Implementation

[0051] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0052] The present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings.

[0053] See Figures 1-8This embodiment provides an obstacle-crossing mobile robot, which includes a chassis 100, a walking assembly, a rocker arm assembly 200, a rocker arm drive mechanism 300, a position detection device, and a controller. The walking assembly is mounted on the chassis 100 and can walk to move the chassis 100. The rocker arm assembly 200 includes four sets, each rotatably mounted in pairs on the left and right sides of the chassis 100, with the two sets of rocker arm assemblies 200 on the same side arranged in a front-back direction. The rocker arm drive mechanism 300 is connected to the rocker arm assembly 200 and is used to drive the rocker arm assembly 200 to swing, so that the rocker arm assembly 200 swings. Open or retract; when the rocker arm assembly 200 is retracted, the swing ends of the two sets of rocker arm assemblies 200 on the same side are located between the corresponding two swing centers, and the swing end of one set of rocker arm assemblies 200 is above the other set of rocker arm assemblies 200; when the rocker arm assembly 200 is opened, the swing end of the rocker arm assembly 200 can contact the walking surface and can lift at least part of the structure of the walking assembly to cross obstacles; the position detection device is used to detect the swing angle of each set of rocker arm assemblies 200, and both the position detection device and the rocker arm drive mechanism 300 are communicatively connected to the controller.

[0054] The obstacle-crossing mobile robot provided in this embodiment is in a retracted state during normal walking (e.g., Figure 9 As shown, the swing ends of the two sets of rocker arm assemblies 200 on either side are retracted between the corresponding two swing centers, and do not protrude beyond the space occupied by the walking component and the chassis 100 structure. Compared with the upper part of the turning or the outer side of the walking component, the space occupied is greatly reduced. When the space is small, the position of the rocker arm assembly 200 can be adjusted without adjusting it, which can improve the robot's exploration efficiency and extend its endurance. In addition, when the rocker arm assembly 200 is retracted, the swing end of one set of rocker arm assemblies 200 on the same side is located above the other set of rocker arm assemblies 200. This is equivalent to the two sets of rocker arm assemblies 200 on the same side partially overlapping in the front-back direction when retracted. In this way, the length of the rocker arm assembly 200 can be guaranteed, so that the rocker arm assembly 200 can be smoothly lifted by the walking component after being opened, and can smoothly cross obstacles.

[0055] See Figures 9-11 When approaching obstacle 900, the controller controls the rocker arm drive mechanism 300 to drive the two sets of rocker arm assemblies 200 on the front side in the opening direction (e.g., ...). Figure 10 (The arrow indicates the direction) swings, allowing the swinging end of the rocker arm assembly 200 to contact the top of the obstacle 900 in front. As the rocker arm assembly 200 opens and the traveling assembly moves forward, the front part of the traveling assembly can be lifted, then rise and move forward to above the obstacle 900, and then contact the obstacle 900. After the front part of the traveling assembly can travel along the obstacle 900, the controller controls the rocker arm drive mechanism 300 to stop driving the left and right sets of rocker arm assemblies 200 on the front side; then, see... Figure 12The controller controls the rocker arm drive mechanism 300 to drive the two sets of rocker arm assemblies 200 located at the rear to swing in the opening direction, so that the swinging ends of the rocker arm assemblies 200 can contact the walking surface. As the rocker arm assemblies 200 open and the walking assembly moves forward, the rear part of the walking assembly can be lifted, moved forward, and then contact the obstacle 900 until it successfully crosses the obstacle 900. During the obstacle crossing process, the position detection device detects the position of each set of rocker arm assemblies 200 in real time and feeds back the detected position information to the controller. The controller can control the rocker arm drive mechanism 300 to move according to the position information of each set of rocker arm assemblies 200 fed back by the position detection device, realizing closed-loop control.

[0056] See Figure 13 and Figure 14 After passing the obstacle 900, the controller controls the rocker arm drive mechanism 300 to drive each rocker arm assembly 200 to swing in the storage direction. During this process, the position detection device detects the position of the rocker arm assembly 200 in real time. The controller can control the rocker arm drive mechanism 300 to move according to the position information of each rocker arm assembly 200 fed back by the position detection device. This not only realizes closed-loop control, but also prevents the front and rear rocker arm assemblies 200 from interfering with each other, so that the front and rear rocker arm assemblies 200 can be retracted smoothly.

[0057] Therefore, the obstacle-crossing mobile robot provided in this embodiment has high exploration efficiency and long battery life; in addition, it can avoid structural interference while successfully crossing the obstacle 900.

[0058] In fact, see Figure 10 When approaching obstacle 900, the controller can first control the rocker arm drive mechanism 300 to drive all four rocker arm assemblies 200 to open to the working starting position, and then perform the obstacle-crossing process described above; similarly, see Figure 13 After passing the obstacle 900, the controller can first control the rocker arm drive mechanism 300 to drive all four rocker arm assemblies 200 to the working starting position, and then perform the above retraction action.

[0059] Two rocker arm drive mechanisms 300 can be configured, and both rocker arm drive mechanisms 300 can be mounted on the chassis 100. In the specific structure of each rocker arm drive mechanism 300, a first rotary driver and a rocker arm drive shaft 310 can be included. The first rotary driver is connected to the rocker arm drive shaft 310 to drive the rocker arm drive shaft 310 to rotate. The two ends of the rocker arm drive shaft 310 in one rocker arm drive mechanism 300 are coaxially fixed to two sets of rocker arm assemblies 200 on the left and right sides in front, respectively, so that the two sets of rocker arm assemblies 200 in front can swing synchronously. The two ends of the rocker arm drive shaft 310 in the other rocker arm drive mechanism 300 are coaxially fixed to two sets of rocker arm assemblies 200 on the left and right sides in rear, respectively, so that the two sets of rocker arm assemblies 200 in rear can swing synchronously. In this way, the controller can control the actions of the two rocker arm drive mechanisms 300 respectively, so that the two sets of rocker arm assemblies 200 in front and the two sets of rocker arm assemblies 200 in rear swing separately, achieving smooth obstacle crossing and retraction.

[0060] The output shaft of the first rotary driver and the connection end of the rocker arm drive shaft 310 can be machined to the same size "shaft flatness". The connection method of the two shafts allows for the use of two pressure blocks to clamp and connect at the shaft flatness, which can effectively reduce the large amount of play caused by machining error and assembly error, and ensure the rotation accuracy of the rocker arm assembly 200.

[0061] Specifically, the first rotary drive may include a rocker arm motor 320 and a worm gear reducer 330. The input end of the rocker arm motor 320 is connected to the input end of the worm gear reducer 330, and the output end of the worm gear reducer 330 is coaxially fixed to the rocker arm drive shaft 310.

[0062] The aforementioned position detection device may include two potentiometers 400, which are respectively coupled to two rocker arm drive shafts 310. The two potentiometers 400 detect the rotation angle of the corresponding rocker arm drive shaft 310, thereby obtaining the position of the rocker arm assembly 200. Specifically, the brushes within the potentiometers 400 can rotate together with the rocker arm drive shafts 310, thus providing feedback on the rotation angle of the rocker arm drive shafts 310.

[0063] The specific structure of the walking component can include a walking drive mechanism 500 and four tires 600. The tires 600 are mounted on the chassis 100, and the four tires 600 are correspondingly set with four rocker arm assemblies 200. The four tires 600 are respectively set on the side of the corresponding rocker arm assembly 200 facing away from the chassis 100. In this way, the rocker arm assembly 200 can be retracted between the tires 600 and the chassis 100, resulting in a better concealment effect. The walking drive mechanism 500 is mounted on the chassis 100 and connected to the tires 600 so that the walking drive mechanism 500 drives the tires 600 to roll, thereby realizing the walking function of the tires 600.

[0064] In the specific structure of the walking component, two sets of walking track assemblies 700 can also be set. The two sets of walking track assemblies 700 are respectively installed on the left and right sides of the chassis 100. The walking drive mechanism 500 is connected to the walking track assembly 700 so that the walking drive mechanism 500 can drive the walking track assembly 700 to operate. The rocker arm assembly 200 is set between the walking track assembly 700 and the tire 600, which facilitates the structural layout and helps to simplify the transmission structure between the walking track assembly 700 and the walking drive mechanism 500.

[0065] In the specific structure of the track assembly 700, a track 710 and two synchronous pulleys 720 can be provided. The synchronous pulleys 720 are rotatably mounted on the chassis 100, and the track 710 is wrapped around the periphery of the two synchronous pulleys 720. At least one of the two synchronous pulleys 720 in any track assembly 700 is connected to the travel drive mechanism 500, so that the travel drive mechanism 500 drives the synchronous pulleys 720 to rotate. In this way, the travel drive mechanism 500 can drive the two tracks 710, enabling the two tracks 710 to perform the walking function. There can be two travel drive mechanisms 500, to drive two sets of track assemblies 700 respectively.

[0066] In the specific structure of the rocker arm assembly 200, a rocker arm 210, a rocker arm track 22, and a rocker arm guide wheel 230 can be provided. The rocker arm guide wheel 230 is installed at the swing end of the rocker arm 210. The two sets of rocker arm assemblies 200 on the same side are respectively aligned with the two synchronous wheels 720 in the corresponding track assembly 700. The swing center of the rocker arm 210 is aligned with the central axis of the corresponding synchronous wheel 720. The rocker arm track 220 is wrapped around the periphery of the corresponding synchronous wheel 720 and the rocker arm guide wheel 230. In this way, the synchronous wheel 720 can drive the track 710 to rotate while also driving the rocker arm track 220 to rotate. Thus, the swing end of the rocker arm track 220 can contact the walking surface and can move synchronously with the walking track 220, which can improve obstacle crossing smoothness.

[0067] A drive wheel 610 is rotatably mounted on the rocker arm 210. The drive wheel 610 and the corresponding walking synchronous wheel 720 are arranged coaxially, and their outer diameters are the same. The drive wheel 610 is then engaged with the rocker arm track 220. Thus, when the rocker arm track 220 is in operation, it can drive the drive wheel 610 to rotate. The tire 600 is also arranged coaxially with the corresponding drive wheel 610. Therefore, the rotation of the drive wheel 610 can drive the tire 600 to roll and move, thus enabling the tire 600 to be driven. The structure is simple and easy to assemble.

[0068] Both the walking track 710 and the rocker arm track 220 can be configured as synchronous belts with external and internal teeth.

[0069] The internal teeth of the timing belt can be set to circular arc teeth, which can enhance the smoothness and transmission efficiency of the timing belt. Accordingly, the traveling timing pulley 720, the rocker arm guide pulley 230, and the drive pulley 610 all have circular arc tooth structures.

[0070] The outer teeth of the timing belt can be made of rubber to increase the friction between the timing belt and the running surface and reduce slippage.

[0071] Polyurethane can be selected as the material for the internal teeth of the timing belt to ensure its service life.

[0072] The aforementioned tire 600 can be selected as a high-shock-absorbing hollow tire to improve the shock absorption effect.

[0073] In fact, four rocker arm assemblies 200 are symmetrically distributed on the left and right sides of the chassis 100, four tires 600 are symmetrically distributed on the left and right sides of the chassis 100, and two sets of track assemblies 700 are symmetrically distributed on the left and right sides of the chassis 100.

[0074] The walking drive mechanism 500 may include a drive motor 510 and a transmission mechanism 520. The transmission mechanism 520 includes a transmission belt, a driving pulley, and a driven pulley. The transmission belt is sleeved around the driving pulley and the driven pulley. The drive motor 510 is connected to the driving pulley, and the driven pulley is coaxially fixed to the corresponding walking synchronous pulley 720. This can simultaneously meet the robot's movement speed and driving torque requirements. The synchronous belt transmission mechanism has high transmission efficiency, can achieve high-precision, five-sliding transmission, low transmission noise, and requires no lubrication. The transmission belt, driving pulley, and driven pulley all have a circular arc tooth structure, and the reduction ratio of the transmission mechanism 520 can be 1.32.

[0075] In this embodiment, an intelligent recognition device 800 may also be provided and installed on the chassis 100 to identify obstacles 900. The intelligent recognition device 800 is communicatively connected to the controller. During the robot's exploration of the unknown environment, after the intelligent recognition device 800 senses the obstacle 900, the controller can issue an instruction on how much the rocker arm 210 needs to rotate based on the obstacle signal identified by the intelligent recognition device 800, thus performing an obstacle-crossing action. Preferably, the intelligent recognition device 800 is installed on the top of the chassis 100.

[0076] The aforementioned intelligent recognition device 800 can also construct maps.

[0077] A mechanical transmission compartment 110, a battery compartment 120, and a control equipment compartment 130 may also be provided on the chassis 100. The mechanical transmission compartment 110 may be configured as two, one in front and one in back, to accommodate two walking drive mechanisms 500 respectively. The control equipment compartment 130 is used to accommodate the controller. The battery compartment 120 and the control equipment compartment 130 are both located between the two mechanical transmission compartments 110.

[0078] In the description of this utility model, it should be noted that the terms "upper", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0079] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An obstacle-surmounting mobile robot characterized by comprising: The chassis, the walking assembly, the rocker arm assembly, the rocker arm driving mechanism, the position detection device and the controller are included. The walking assembly is installed on the chassis and can walk to drive the chassis to move. The rocker arm driving mechanism is connected with the rocker arm assembly and is used to drive the rocker arm assembly to swing so as to open or fold the rocker arm assembly. When the rocker arm assembly is folded, the swing ends of the two rocker arm assemblies on the same side are located between the corresponding two swing centers, and the swing end of one of the rocker arm assemblies is located above the swing end of the other rocker arm assembly.

2. The mobile robot according to claim 1, wherein, When the rocker arm assembly is opened, the swing end of the rocker arm assembly can contact the walking surface and can lift at least part of the structure of the walking assembly to cross the obstacle. The position detection device is used to detect the position of each rocker arm assembly.

3. The mobile robot of claim 2, wherein, The position detection device and the rocker arm driving mechanism are both connected with the controller.

4. The mobile robot of any of claims 1-3, wherein, The rocker arm driving mechanism includes two first rotary drivers and rocker arm driving shafts. The two ends of the rocker arm driving shaft in one of the rocker arm driving mechanisms are coaxially fixed with the two rocker arm assemblies on the left and right sides in front.

5. The mobile robot of claim 4, wherein, The two ends of the rocker arm driving shaft in the other rocker arm driving mechanism are coaxially fixed with the two rocker arm assemblies on the left and right sides at the back.

6. The mobile robot of claim 5, wherein, The position detection device includes two potentiometers. The walking assembly includes a walking driving mechanism and four tires. The walking driving mechanism is installed on the chassis and is connected with the tires to drive the tires to roll. The walking assembly further includes two walking track assemblies. The walking track assembly includes a walking track and two walking synchronous wheels. At least one of the two walking synchronous wheels in any walking track assembly is connected with the walking driving mechanism. The walking driving mechanism is used to drive the walking synchronous wheels to rotate.

7. The mobile robot of claim 6, wherein, The rocker arm assembly comprises a rocker arm, a rocker arm track and a rocker arm guide wheel mounted at the swing end of the rocker arm; two groups of the rocker arm assemblies on the same side correspond to two walking synchronous wheels in the walking track assembly on the corresponding side respectively, the swing center of the rocker arm coincides with the central axis of the corresponding walking synchronous wheel, and the rocker arm track is wrapped around the periphery of the corresponding walking synchronous wheel and the rocker arm guide wheel.

8. The mobile robot of claim 7, wherein, The rocker arm is rotationally mounted with a driving wheel coaxial with the corresponding walking synchronous wheel and having the same outer diameter, the driving wheel is matched with the rocker arm track, and the tire is fixedly connected with the corresponding driving wheel coaxially.

9. The mobile robot of claim 7, wherein, The walking track and the rocker arm track are both synchronous belts with outer teeth and inner teeth. The inner teeth are circular arc teeth, and / or the material of the outer teeth is rubber, and / or the material of the inner teeth is polyurethane.

10. The mobile robot of any of claims 1-3, wherein, The obstacle-crossing mobile robot further comprises an intelligent identification device mounted on the chassis and used for identifying obstacles; and the intelligent identification device is in communication connection with the controller.

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