Robot walking auxiliary track device

Abstract

The utility model provides a robot walking auxiliary track device, and mainly relates to the technical field of mobile robots. A robot walking auxiliary track device comprises a walking base, a mounting plate is fixedly arranged at the front end of the walking base, connecting rods are symmetrically and rotationally connected to the bottom end of the mounting plate, the other ends of the connecting rods are rotationally connected with a supporting plate, an electric push rod is rotationally connected to the mounting plate, and the other end of the electric push rod is hinged to the bottom of the supporting plate. The beneficial effects of the utility model lie in that the electric push rod can stretch out and draw back to realize unfolding and folding, and can adapt to obstacles with different heights; when a high step is encountered, the electric push rod extends to push the supporting plate to be unfolded downwards and abut against the surface of the step, additional supporting points are provided for the walking base, the robot is helped to climb the step smoothly, and the problems that a traditional tracked robot is prone to slipping and insufficient in power when facing a high obstacle are solved.

Description

Technical Field

[0001] This utility model mainly relates to the field of mobile robot technology, specifically a robot walking auxiliary track device. Background Technology

[0002] In the industrial sector, tracked robots are used in multi-story factory structures for tasks such as inspecting equipment and transporting materials, requiring frequent movement between different floors. Traditional tracked robots are designed primarily for flat ground or simple undulating terrain. When faced with stairs, their obstacle-crossing ability is severely limited. The vertical height and step spacing of stairs cause tracked robots to easily slip on the edges of steps during climbing, failing to provide sufficient friction and driving force to propel the robot upwards. Utility Model Content

[0003] To achieve the above objectives, this utility model employs the following technical solution:

[0004] A robot walking assistance track device includes a walking base, an installation plate fixedly mounted at the front end of the walking base, a connecting rod symmetrically rotatably connected to the bottom end of the installation plate, a support plate rotatably connected to the other end of the connecting rod, an electric push rod rotatably connected to the installation plate, and the other end of the electric push rod hinged to the bottom of the support plate.

[0005] A rotating shaft is fixedly installed at the bottom of the mounting plate. Both ends of the rotating shaft are fixedly connected to the walking base. The two connecting rods are rotatably connected to the outer ring of the rotating shaft. The mounting plate is hollow and a connecting shaft is fixedly installed near the bottom. The electric push rod is rotatably connected to the connecting shaft.

[0006] A drive motor is fixedly installed on the inner wall of the mounting plate, a first sprocket is fixedly installed on the inner side of the connecting rod, the output shaft of the drive motor passes through the mounting plate and a second sprocket is fixedly installed at its end, and the second sprocket and the first sprocket are connected by a chain.

[0007] Compared with the existing technology, the beneficial effects of this utility model are:

[0008] This utility model has a simple structure, is easy to install and use, and can adapt to obstacles of different heights. It can be unfolded and folded by the extension and retraction of the electric push rod, and can adapt to obstacles of different heights. When encountering a high step, the electric push rod extends, pushes the support plate to unfold downward and abut against the surface of the step, providing an additional support point for the walking base, helping the robot to climb the step smoothly, and overcoming the problems of traditional tracked robots being prone to slipping and lacking power when facing high obstacles. Attached Figure Description

[0009] Appendix Figure 1 This is a first exploded structural diagram of the present invention;

[0010] Appendix Figure 2 This is a second exploded structural diagram of the present invention;

[0011] Appendix Figure 3 This is a schematic diagram of the overall structure of this utility model.

[0012] The following are the labels in the attached diagram: 1. Walking base; 2. Mounting plate; 3. Connecting rod; 4. Support plate; 5. Electric actuator; 6. Rotating shaft; 7. Drive motor; 8. First sprocket; 9. Second sprocket; 10. Chain. Detailed Implementation

[0013] The present invention will be further described in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the present invention, and these equivalent forms also fall within the scope defined in this application.

[0014] Referring to the accompanying drawings, a robot walking assistance track device includes a walking base 1, an installation plate 2 fixedly mounted at the front end of the walking base 1, a connecting rod 3 symmetrically rotatably connected to the bottom end of the installation plate 2, a support plate 4 rotatably connected to the other end of the connecting rod 3, an electric push rod 5 rotatably connected to the installation plate 2, the other end of the electric push rod 5 being hinged to the bottom of the support plate 4, and the support plate 4 abutting against an obstacle.

[0015] The mounting plate 2 is fixedly provided with a rotating shaft 6 at its bottom end. The two ends of the rotating shaft 6 are fixedly connected to the walking base 1. The two connecting rods 3 are rotatably connected to the outer ring of the rotating shaft 6. The mounting plate 2 is hollow and a connecting shaft is fixedly provided near the bottom. The electric push rod 5 is rotatably connected to the connecting shaft. Through this structural design, the support plate 4 can be unfolded.

[0016] A drive motor 7 is fixedly installed on the inner wall of the mounting plate 2, and a first sprocket 8 is fixedly installed on the inner side of the connecting rod 3. The output shaft of the drive motor 7 passes through the mounting plate 2 and a second sprocket 9 is fixedly installed at its end. The second sprocket 9 and the first sprocket 8 are connected by a chain 10. The angle of the connecting rod 3 can be adjusted through this structural design.

[0017] The controller controls the start and stop of the drive motor 7 and the electric push rod 5. The position of the controller is set by the operator according to the actual situation during operation. The controller is used to control the electrical components used in this solution, including but not limited to sensors, motors, telescopic rods, water pumps, solenoid valves, heating wires, heat pumps, displays, computer input devices, switches, communication devices, lights, speakers, and microphones. The controller is an Intel processor, AMD processor, PLC controller, ARM processor, or microcontroller. It is used in conjunction with a motherboard, memory modules, storage media, and power supply. The power supply is AC power or a lithium battery. When a display screen is provided, a graphics card is also provided. For the operating principle of the controller, please refer to "Automatic Control Principles," "Microcontroller Principles and Application Simulation Cases," and "Sensor Principles and Applications" published by Tsinghua University Press. Other books in this field can also be consulted. Other automation control and electrical components not mentioned are knowledge well known to those skilled in the art and will not be described in detail here.

[0018] When the robot detects an obstacle such as a step, ramp, or protrusion, the controller activates the electric push rod 5. The electric push rod 5 pushes the support plate 4 downward around the pivot 6, and the bottom end of the support plate 4 abuts against the surface of the obstacle, forming a support fulcrum to assist the front end of the walking base 1 in lifting up or crossing the obstacle. The drive motor 7 starts, and the output shaft drives the second sprocket 9 to rotate, which drives the first sprocket 8 inside the connecting rod 3 to rotate through the chain 10, thereby synchronously adjusting the angle of the two connecting rods 3. The power system driving the walking base 1, such as the track or wheel set, starts. With the support of the electric push rod 5 and the connecting rod 3, the support plate 4 provides a front fulcrum for the walking base 1, assisting it in climbing or crossing obstacles.

[0019] During the process, the controller can adjust the extension length of the electric push rod 5 and the rotation angle of the drive motor 7 in real time based on sensor feedback such as pressure sensor and tilt sensor, and dynamically optimize the support position and force of the support plate 4. For example, when going uphill, the support plate tilts forward to provide thrust, and when going downhill, it tilts backward to prevent tipping.

[0020] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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 of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot walking assist track device, comprising a walking base (1), characterized in that: The front end of the walking base (1) is fixedly provided with an installation plate (2), and the bottom end of the installation plate (2) is symmetrically connected to a connecting rod (3). The other end of the connecting rod (3) is rotatably connected to a support plate (4). An electric push rod (5) is rotatably connected to the installation plate (2), and the other end of the electric push rod (5) is hinged to the bottom of the support plate (4).

2. The robot walking auxiliary track device according to claim 1, characterized in that: The mounting plate (2) has a fixed rotating shaft (6) at its bottom end. Both ends of the rotating shaft (6) are fixedly connected to the walking base (1). The two connecting rods (3) are rotatably connected to the outer ring of the rotating shaft (6). The mounting plate (2) is hollow and has a connecting shaft fixedly installed near the bottom. The electric push rod (5) is rotatably connected to the connecting shaft.

3. The robot walking assist track device according to claim 2, characterized in that: A drive motor (7) is fixedly installed on the inner wall of the mounting plate (2), a first sprocket (8) is fixedly installed on the inner side of the connecting rod (3), the output shaft of the drive motor (7) passes through the mounting plate (2) and a second sprocket (9) is fixedly installed at its end, and the second sprocket (9) is connected to the first sprocket (8) by a chain (10).

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