Robot with high trafficability
By designing a drive mechanism for the side-rotating push rod and the downward pressing foot, the problem of the robot's wheels getting stuck in potholes was solved. Furthermore, by using a floating component to provide buoyancy and propulsion in the water, the robot was able to efficiently navigate through complex environments.
Patent Information
- Application Number
- CN202423207859.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-25
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2034-12-25
AI Technical Summary
The robot's wheels are prone to getting stuck and losing drive on uneven terrain, making it difficult to pass through, and it lacks effective propulsion when moving in water.
The design utilizes components and a drive mechanism, including a side-rotating push rod and a lower pressure foot. The side-rotating push rod drives the lower pressure foot to rotate, and the curved structure contacts the ground to support the robot body. In water, a floating component provides buoyancy and propels the blades to generate power.
It improves the robot's ability to navigate complex road conditions and water environments, ensuring that the robot can get out of trouble on potholes and float and move in water.
Smart Images
Figure CN223878000U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to the field of robot technology, especially relate to a robot with high passability. BACKGROUND
[0002] In the field of modern science and technology, robots move by adopting the wheel driving mode. The wheel driving has many advantages, which can enable the robot to realize efficient, stable and rapid movement on relatively flat and smooth road surface.
[0003] However, when passing through the pothole section, once the wheel is trapped in the pit, the robot is easy to be trapped in a dilemma. Since the form and depth of the pit are irregular, the wheel may be stuck, thereby losing the ability to continue driving. At this moment, the friction and resistance generated by the interaction between the wheel and the pit wall will greatly restrict the rotation of the wheel, at the same time, the wheel may also rotate futilely in the pit, so that the robot is difficult to pass through smoothly.
[0004] In view of this, the present application provides a robot with high passability to solve the above problems. UTILITY MODEL CONTENTS
[0005] In view of the deficiencies existing in the prior art, the utility model aims to provide a robot with high passability, which can be moved forward by rotating the side rotating push rod and the downward foot through the design of the passing assembly and the driving mechanism, so as to solve the problems proposed in the above background technology.
[0006] The present application specifically adopts the following technical solutions to achieve the above-mentioned purposes:
[0007] A robot with high passability, comprising four wheels installed below the robot body, a driving mechanism is arranged below the robot body;
[0008] Two groups of passing assemblies are arranged on both sides of the driving mechanism, the passing assembly comprises a side rotating push rod, a downward foot is arranged at the rear end of the side rotating push rod, and the downward foot is of arc-shaped structure on one side;
[0009] The downward foot is hollow inside, a spring is fixedly installed inside the downward foot, and one end of the side rotating push rod extends into the downward foot and is fixedly connected with the spring.
[0010] Through the above technical solution, when the side rotating push rod rotates, the downward foot is driven to rotate. The arc-shaped structure of the downward foot can smoothly contact with the ground, avoiding the occurrence of the jamming phenomenon. When the downward foot contacts with the ground, the robot body can be stably lifted, and the robot body is pushed to move in the rotating process.
[0011] As a preferred implementation, the curved surface of the lower pressing foot is provided with an anti-skid layer made of rubber particle material, and the outer wall of one end of the side rotating push rod is attached to the inner wall of the lower pressing foot.
[0012] Through the above technical solution, the anti-skid layer can improve the friction of the lower pressing foot, so that it is not easy to slide when contacting the ground.
[0013] As a preferred implementation, the driving mechanism includes a bottom box, a driving rod is installed at the front inside of the bottom box, a driven rod is installed at the rear inside of the bottom box, a driven wheel is installed in the middle of the driven rod, a driving wheel is installed in the middle of the driving rod, and the driving wheel and the driven wheel are transmissionally connected through a belt.
[0014] Through the above technical solution, when the driving wheel rotates, the driving wheel can transmit power to the driven wheel through the belt, thereby driving the driven rod to rotate synchronously.
[0015] As a preferred implementation, a secondary gear is installed at one end of the driving rod, a primary gear is meshingly connected to one side of the secondary gear, a servo motor is provided at the rear of the primary gear, the rear end of the servo motor is fixedly connected to the inner wall of the bottom box, and the output shaft of the servo motor is fixedly connected to the primary gear.
[0016] Through the above technical solution, the servo motor can drive the primary gear to rotate through the output shaft, and the primary gear can drive the secondary gear to rotate synchronously when the primary gear rotates.
[0017] As a preferred implementation, the driving rod is fixedly connected to the front two groups of side rotating push rods through the bottom box at both ends, the driven rod is fixedly connected to the rear two groups of side rotating push rods through the bottom box at both ends, and the diameter length of the driving rod is the same as that of the driven rod.
[0018] Through the above technical solution, the driving rod and the driven rod can drive the side rotating push rod to rotate synchronously when they rotate.
[0019] As a preferred implementation, two groups of annular grooves are respectively formed in the two sides of the bottom box, a guide rod is arranged in each annular groove, and one end of the guide rod is fixedly connected to the side rotating push rod.
[0020] Through the above technical solution, when the side rotating push rod rotates, it can drive the guide rod to rotate along the path of the annular groove, and the cooperation of the annular groove and the guide rod provides an accurate movement path for the rotation of the side rotating push rod.
[0021] As a preferred implementation, it further includes a floating water assembly located below the robot body, the floating water assembly includes two floating plates one, which are respectively installed below the front and rear sides of the robot body, and one floating plate two is respectively installed on the front and rear sides of the bottom box.
[0022] Through the technical scheme, when the robot body enters water, the floating plate one and the floating plate two can make the robot body float on the water surface.
[0023] As a preferred embodiment, a set of propelling paddles are arranged on the outer side of each side rotating propeller, and a connecting part is arranged at the front end of the propelling paddles, wherein the thickness of the connecting part is greater than the thickness of the propelling paddles, and the connecting part is fixedly connected with the side rotating propeller.
[0024] Through the technical scheme, the connecting part is fixedly connected with the side rotating propeller, and the connecting mode forms a stable structural relationship between the propelling paddles and the side rotating propeller.
[0025] After the above technical scheme is adopted, the robot has the following beneficial effects:
[0026] 1. In order to effectively solve the problem that the robot body wheels are trapped in pits and cannot pass through, a driving mechanism and a passing assembly are designed. When the wheels of the robot body accidentally fall into a pit, the side rotating propeller will start to rotate under the driving of the driving mechanism, and at the same time, the downward pressing foot rotates cooperatively, and the two cooperate with each other to generate upward lifting force and outward pushing force in the rotating process, thereby stably supporting the robot body and assisting its displacement. With this design, the wheels trapped in the pit can gradually escape from the predicament and restore normal operation, thereby improving the passing ability of the robot in complex pit road conditions.
[0027] 2. By designing the water floating assembly, in the case that the robot body enters water, the floating plate one and the floating plate two provide buoyancy for the robot body to float on the water surface. When the driving mechanism drives the side rotating propeller to rotate, the propelling paddles can rotate. Through the interaction between the propelling paddles and the water body during the rotating process, the propelling paddles can effectively generate the power to push the robot body to move on the water surface, thereby improving the passing ability of the robot in the water environment. BRIEF DESCRIPTION OF DRAWINGS
[0028] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.
[0029] Figure 1 It is a whole structure schematic diagram of the robot with high passing ability.
[0030] Figure 2Another perspective structure schematic view of the robot with high passability.
[0031] Figure 3 The utility model discloses a drive mechanism overhead section connection structure schematic view of the robot with high passability.
[0032] Figure 4 The utility model discloses a structure schematic view of the robot with high passability through the assembly section.
[0033] Figure 5 For Figure 2 The A part enlarged schematic view.
[0034] In the drawing, 1, robot main body;2, drive mechanism;21, bottom box;22, servo motor;23, main gear;24, auxiliary gear;25, drive rod;26, driven rod;27, driven wheel;28, drive wheel;29, belt;3, pass through the assembly;31, side rotary push rod;32, down pressure foot;33, antiskid layer;34, spring;35, guide rod;36, annular groove;4, float water assembly;41, float plate one;42, float plate two;43, push paddle;44, connecting portion;5, wheel. Specific implementation
[0035] The technical scheme in the embodiments of the utility model will be apparently and completely described in combination with the drawings in the embodiments of the utility model, and obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skill in the art without creative labor belong to the range of the utility model protection.
[0036] Please refer to Figures 1 to 5 A robot with high passability, including four wheels 5 that robot main body 1 is installed below robot main body 1, be equipped with drive mechanism 2 below robot main body 1;
[0037] Two groups of pass through the assembly 3 are equipped respectively on the both sides of drive mechanism 2, and pass through the assembly 3 includes side rotary push rod 31, and side rotary push rod 31 rear end is equipped with down pressure foot 32, and one side of down pressure foot 32 is arc structure;
[0038] Down pressure foot 32 is hollow inside, and spring 34 is fixedly installed in down pressure foot 32 inside, and one end of side rotary push rod 31 is inserted into down pressure foot 32 and is fixedly connected with spring 34.
[0039] When the side rotating push rod 31 rotates, the lower pressing foot 32 is driven to rotate. The arc-shaped structure of the lower pressing foot 32 can smoothly contact the ground, avoiding the occurrence of jamming. When the lower pressing foot 32 contacts the ground, it can stably support the robot body 1 and push the robot body 1 to move during rotation.
[0040] The arc-shaped surface of the lower pressing foot 32 is provided with a non-slip layer 33 made of rubber particles. The outer wall of one end of the side rotating push rod 31 is attached to the inner wall of the lower pressing foot 32.
[0041] The non-slip layer 33 can improve the friction of the lower pressing foot 32, making it not easy to slide when contacting the ground.
[0042] The driving mechanism 2 includes a bottom box 21. A driving rod 25 is installed inside the front of the bottom box 21. A driven rod 26 is installed inside the rear of the bottom box 21. A driven wheel 27 is installed in the middle of the driven rod 26. A driving wheel 28 is installed in the middle of the driving rod 25. The driving wheel 28 and the driven wheel 27 are transmissionally connected through a belt 29.
[0043] When the driving wheel 28 rotates, the driving wheel 28 can transmit power to the driven wheel 27 through the belt 29, thereby driving the driven rod 26 to rotate synchronously.
[0044] One end of the driving rod 25 is provided with a secondary gear 24. The secondary gear 24 is meshingly connected with a primary gear 23 on one side. The primary gear 23 is provided with a servo motor 22 at the rear. The rear end of the servo motor 22 is fixedly connected with the inner wall of the bottom box 21. The output shaft of the servo motor 22 is fixedly connected with the primary gear 23.
[0045] The servo motor 22 can drive the primary gear 23 to rotate through the output shaft, and the primary gear 23 can drive the secondary gear 24 to rotate synchronously when the primary gear 23 rotates.
[0046] The driving rod 25 is fixedly connected with the two groups of side rotating push rods 31 in front of the bottom box 21 through the two ends penetrating the bottom box 21. The driven rod 26 is fixedly connected with the two groups of side rotating push rods 31 at the rear of the bottom box 21 through the two ends penetrating the bottom box 21. The diameter length of the driving rod 25 is the same as that of the driven rod 26.
[0047] When the driving rod 25 and the driven rod 26 rotate, they can synchronously drive the side rotating push rod 31 to rotate.
[0048] Two groups of annular grooves 36 are respectively formed on the two sides of the bottom box 21. A guide rod 35 is arranged in the annular groove 36. One end of the guide rod 35 is fixedly connected with the side rotating push rod 31.
[0049] When the side rotating push rod 31 rotates, it can drive the guide rod 35 to rotate along the path of the annular groove 36. The cooperation of the annular groove 36 and the guide rod 35 provides an accurate movement path for the rotation of the side rotating push rod 31.
[0050] Further comprising a floating assembly 4 below the robot body 1, the floating assembly 4 comprises two floating plates 41, which are respectively installed on the front and back sides of the robot body 1, and each of the front and back sides of the bottom box 21 is respectively installed with a floating plate 42.
[0051] When the robot body 1 enters the water, the floating plate 41 and the floating plate 42 can make the robot body 1 float on the water surface.
[0052] Each side rotating push rod 31 is provided with a group of push paddles 43, and the front end of each push paddle 43 is provided with a connecting part 44, and the thickness of the connecting part 44 is greater than the thickness of the push paddle 43, and the connecting part 44 is fixedly connected with the side rotating push rod 31.
[0053] The connecting part 44 is fixedly connected with the side rotating push rod 31, and the connecting mode forms a stable structural relationship between the push paddle 43 and the side rotating push rod 31. The side rotating push rod 31 is a key component of power transmission, and through the firm connection, the power can be accurately transmitted from the side rotating push rod 31 to the push paddle 43.
[0054] In specific use, the working principle of the utility model is as follows:
[0055] When the wheels 5 of the robot body 1 are stuck or accidentally fall into the pit, the servo motor 22 drives the main gear 23 to rotate. The main gear 23 drives the auxiliary gear 24 to rotate, so as to drive the driving rod 25 to rotate. The continuous rotating movement of the driving rod 25 drives the driving wheel 28 to rotate, and the driving wheel 28 transmits power to the driven wheel 27 through the belt 29, and then drives the driven rod 26 to rotate synchronously. In the process of the driving rod 25 and the driven wheel 27 rotating together, the side rotating push rod 31 is driven to rotate. When the side rotating push rod 31 rotates, the downward pressing foot 32 is driven to rotate. The arc-shaped structure design of the downward pressing foot 32 can smoothly contact with the ground, avoiding the occurrence of the jamming phenomenon. When the downward pressing foot 32 contacts with the ground, the robot body 1 can be stably lifted, and the robot body 1 can be pushed to move in the rotating process. In the continuous dynamic operation process, the originally trapped wheels 5 of the robot body 1 can be separated from the pit, so that the robot can restore the normal passing state. When the downward pressing foot 32 encounters the road surface protrusion, the spring 34 will be compressed in the downward pressing foot 32, so that the downward pressing foot 32 can be lifted to a certain height, thereby facilitating the passing of the ground protrusion. In addition, when the robot body 1 is normally used, the side rotating push rod 31 can be retracted to the side of the bottom box 21, so as to avoid any interference to the normal travel.
[0056] When the robot body 1 enters the water, the floating plate one 41 and the floating plate two 42 can make the robot body 1 float on the water surface. At the same time, according to the transmission path described above in the land scene, the servo motor 22 can drive the side rotating push rod 31 to rotate. At this time, the side rotating push rod 31 can drive the push paddle 43 to continuously rotate in the water, and through the interaction force between the push paddle 43 and the water, the power for moving the robot body 1 on the water surface is generated, so that the robot body 1 can pass through the water surface area, and the adaptability and efficient passing ability of the robot in the complex amphibious environment are improved.
[0057] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A robot with high mobility, comprising a robot body (1) and four wheels (5) mounted below the robot body (1), characterized in that: The robot body (1) is provided with a drive mechanism (2) below it; The drive mechanism (2) is provided with two sets of passing components (3) on both sides. The passing component (3) includes a side-rotating push rod (31). The rear end of the side-rotating push rod (31) is provided with a lower pressure foot (32). One side of the lower pressure foot (32) is an arc-shaped structure. The lower pressure foot (32) is hollow inside, and a spring (34) is fixedly installed inside the lower pressure foot (32). One end of the side-rotating push rod (31) extends into the lower pressure foot (32) and is fixedly connected to the spring (34).
2. The robot with high maneuverability as described in claim 1, characterized in that: The arc-shaped surface of the lower pressure foot (32) is provided with an anti-slip layer (33), which is made of rubber granules. The outer wall of one end of the side-rotating push rod (31) is in contact with the inner wall of the lower pressure foot (32).
3. The robot with high maneuverability as described in claim 2, characterized in that: The drive mechanism (2) includes a base box (21), a drive rod (25) is installed at the front inside the base box (21), a driven rod (26) is installed at the rear inside the base box (21), a driven wheel (27) is installed in the middle of the driven rod (26), and a drive wheel (28) is installed in the middle of the drive rod (25). The drive wheel (28) and the driven wheel (27) are connected by a belt (29).
4. A robot with high maneuverability as described in claim 3, characterized in that: A secondary gear (24) is installed at one end of the drive rod (25). A main gear (23) is meshed with one side of the secondary gear (24). A servo motor (22) is provided behind the main gear (23). The rear end of the servo motor (22) is fixedly connected to the inner wall of the bottom box (21). The output shaft of the servo motor (22) is fixedly connected to the main gear (23).
5. A robot with high maneuverability as described in claim 4, characterized in that: The driving rod (25) passes through the bottom box (21) at both ends and is fixedly connected to the two sets of front side-rotating push rods (31). The driven rod (26) passes through the bottom box (21) at both ends and is fixedly connected to the two sets of rear side-rotating push rods (31). The diameter of the driving rod (25) is the same as the diameter of the driven rod (26).
6. A robot with high mobility as described in claim 3, characterized in that: The bottom box (21) has two sets of annular grooves (36) on both sides. A guide rod (35) is provided in the annular groove (36). One end of the guide rod (35) is fixedly connected to the side-rotating push rod (31).
7. A robot with high mobility as described in claim 6, characterized in that: It also includes a floating assembly (4) located below the robot body (1). The floating assembly (4) includes a float plate (41), which has two parts, which are installed on the front and rear sides below the robot body (1) respectively. A float plate (42) is installed on the front and rear sides of the bottom box (21).
8. A robot with high mobility as described in claim 7, characterized in that: Each of the side-rotating push rods (31) has a set of push blades (43) on its outer side. The front end of each push blade (43) has a connecting part (44). The thickness of the connecting part (44) is greater than the thickness of the push blade (43). The connecting part (44) is fixedly connected to the side-rotating push rod (31).