Obstacle negotiation device and robot

Abstract

The application relates to the technical field of robots, and discloses an obstacle-crossing guide device and a robot. The obstacle-crossing guide device provided by the application comprises a guide mechanism, the guide mechanism comprises a fixing assembly and a guide piece, the guide piece is rotationally connected with the fixing assembly, and a guide curved surface is arranged on the guide piece; when the guide piece abuts against an obstacle, the guide curved surface abuts against the obstacle, so that the reaction force of the obstacle on the guide piece pushes the robot to lift up. The obstacle-crossing guide device is provided with the guide piece, and the guide curved surface is arranged on the guide piece; when the guide piece abuts against the obstacle, the reaction force of the obstacle on the guide piece can push the robot to lift up, so that the robot can cross the obstacle under the self power and the reaction force of the obstacle on the guide piece, and the problem of poor obstacle-crossing performance of the robot is solved.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to obstacle crossing guidance devices and robots. Background Technology

[0002] With the development of technology, unmanned robots are widely used in various industries. In robots that operate on the ground, the chassis structure is typically designed to be as close to the ground as possible to facilitate the work of the components mounted on the chassis. However, this close-to-the-ground chassis results in poor obstacle-crossing performance.

[0003] Therefore, improvements to existing technologies are necessary.

[0004] The above information is provided as background information only to aid in understanding this disclosure and does not constitute an assertion or admission that any of the above content can be used as prior art relative to this disclosure. Utility Model Content

[0005] This application provides an obstacle-crossing guidance device and a robot to solve the problem of poor obstacle-crossing performance of robots.

[0006] In a first aspect, embodiments of this application provide an obstacle crossing guidance device, including a guidance mechanism, the guidance mechanism including a fixing component and a guide member, the guide member being rotatably connected to the fixing component, and the guide member being provided with a guide curved surface; When the guide comes into contact with the obstacle, the guide surface comes into contact with the obstacle so that the reaction force of the obstacle on the guide pushes the robot up.

[0007] In one possible implementation, the guide is provided with a plurality of guide wheels, all of which are rotatably connected to the guide and are arranged sequentially according to the elongation direction of the guide surface; when the guide comes into contact with an obstacle, the guide wheels come into contact with the obstacle.

[0008] In one possible implementation, the fixing assembly includes a first fixing plate, a second fixing plate, and a connecting shaft. The first fixing plate and the second fixing plate are spaced apart, the connecting shaft is fixedly connected to the first fixing plate and the second fixing plate, and the guide is rotatably connected to the connecting shaft.

[0009] In one possible implementation, the obstacle-crossing guidance device further includes a torsion spring, which is sleeved on the connecting shaft. One end of the torsion spring is fixedly connected to the first fixed plate, and the other end is fixedly connected to the guide member.

[0010] In one possible implementation, a limiting groove is formed on the second fixing plate, and a limiting block is provided on the guide, with the limiting block passing through the limiting groove.

[0011] In one possible implementation, the obstacle-crossing guidance device further includes a working mechanism, wherein the number of the guiding mechanisms is set to multiple, the multiple guiding mechanisms are arranged at intervals, and the working mechanism is disposed on the multiple guiding mechanisms.

[0012] In one possible implementation, the working mechanism includes a drive member, a rotating shaft, and a roller brush. The rotating shaft is rotatably connected to a plurality of the guide mechanisms. The roller brush is sleeved on the rotating shaft, and the drive member is disposed on the guide mechanism. The drive member is used to drive the rotating shaft to rotate.

[0013] In one possible implementation, the guide includes a guide portion and a connecting portion, the connecting portion being rotatably connected to the fixing assembly, the rotating shaft being rotatably connected to the connecting portion, the guide portion being detachably connected to the connecting portion, and the guide surface being disposed on the guide portion.

[0014] Secondly, embodiments of this application also provide a robot, the robot including the obstacle-crossing guidance device as described in any of the preceding claims.

[0015] In one possible implementation, the robot further includes a frame and a walking mechanism, with the guiding mechanism disposed on one side of the frame and the walking mechanism disposed on the bottom side of the frame; The walking mechanism includes a power component, a track, and multiple rollers. The multiple rollers are rotatably connected to the frame. The track is driven by the multiple rollers. The power component is fixedly connected to the frame and is used to drive at least one of the rollers to rotate.

[0016] Compared with the prior art, this application has the following beneficial effects: The obstacle-crossing guidance device provided in this application provides a guide member with a guide surface. When the guide member comes into contact with an obstacle, the reaction force of the obstacle on the guide member can push the robot to lift up. This allows the robot to overcome obstacles using its own power and the reaction force of the obstacle on the guide member, thus solving the problem of poor obstacle-crossing performance of the robot. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0019] Figure 1 This is a schematic diagram of the robot provided in an embodiment of this application.

[0020] Figure 2 A side view of the robot provided in an embodiment of this application.

[0021] Figure 3 A partial side view of the obstacle crossing guidance device provided in an embodiment of this application.

[0022] Figure 4 This is a partial top view of the obstacle crossing guidance device provided in an embodiment of this application.

[0023] Figure 5 This is a schematic diagram of the structure of the guide provided in an embodiment of this application.

[0024] Explanation of reference numerals in the attached drawings: 1. Guiding mechanism; 2. Fixing component; 21. First fixing plate; 22. Second fixing plate; 23. Connecting shaft; 24. Limiting groove; 3. Guide component; 31. Guide part; 32. Connecting part; 33. Limiting block; 34. Guide curved surface; 35. Guide wheel; 4. Torsion spring; 5. Working mechanism; 51. Driving component; 52. Rotating shaft; 53. Roller brush; 6. Frame; 7. Walking mechanism; 71. Power component; 72. Track; 73. Roller. Detailed Implementation

[0025] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0026] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features.

[0027] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0028] This application provides an obstacle-crossing guidance device and a robot to solve the problem of poor obstacle-crossing performance of robots. The following description will be provided in conjunction with the accompanying drawings.

[0029] Please see Figure 1 and Figure 2 This application provides an obstacle crossing guidance device, including a guidance mechanism 1. The guidance mechanism 1 includes a fixing component 2 and a guide 3. The guide 3 is rotatably connected to the fixing component 2. The guide 3 is provided with a guide curved surface 34. When the guide 3 comes into contact with an obstacle, the guide curved surface 34 comes into contact with the obstacle so that the reaction force of the obstacle on the guide 3 pushes the robot to lift.

[0030] By setting a guide 3 and a guide surface 34 on the guide 3, when the guide 3 comes into contact with an obstacle, the reaction force of the obstacle on the guide 3 can push the robot to lift up, thereby enabling the robot to overcome obstacles under its own power and the reaction force of the obstacle on the guide 3, thus solving the problem of poor obstacle-crossing performance of the robot.

[0031] Please see Figure 3 and Figure 4 The fixing component 2 includes a first fixing plate 21, a second fixing plate 22, and a connecting shaft 23. The first fixing plate 21 and the second fixing plate 22 have the same shape and are spaced apart, together defining the installation space. The connecting shaft 23 is fixedly connected to the first fixing plate 21 and the second fixing plate 22. The guide 3 is rotatably connected to the connecting shaft 23 via a bearing. The first fixing plate 21 and the second fixing plate 22 not only support the connecting shaft 23 but also connect it to the robot. The connecting shaft 23 facilitates the rotatable connection between the guide 3 and the fixing component 2, allowing the guide 3 to rotate under the reaction force when it comes into contact with an obstacle, enabling it to rotate to a suitable position and enhancing the effect of the reaction force in lifting the robot.

[0032] Please see Figure 3 and Figure 4 The obstacle-crossing guidance device also includes a torsion spring 4, which is sleeved on the connecting shaft 23. One end of the torsion spring 4 is fixedly connected to the first fixed plate 21, and the other end is fixedly connected to the guide member 3. The torsion spring 4 is configured to provide elastic force against gravity to the guide member 3 and other working devices set on the guide member 3, so as to reduce the collision between the guide member 3 and the ground during the robot's operation.

[0033] Please see Figure 3 and Figure 4Furthermore, a limiting groove 24 is formed on the second fixed plate 22. The limiting groove 24 is a through groove, and a limiting block 33 is provided on the guide member 3. The limiting block 33 passes through the limiting groove 24 so that the groove wall of the limiting groove 24 can restrict the movement of the limiting block 33. The cooperation between the limiting block 33 and the limiting groove 24 can limit the rotation angle of the guide member 3, thereby reducing the failure of the guide mechanism 1 caused by excessive rotation of the guide member 3.

[0034] Please see Figure 3 In some embodiments of this application, the curvature of the guide surface 34 follows a curve. The curvature setting is defined as follows: the center of connecting axis 23 is set as the pole; r is the polar radius of any point on the guide surface 34; A is a constant and greater than 0, the value of A is determined experimentally; e is a natural constant; θ is the polar angle of any point on the guide surface 34; α is the angle between the direction of the radius of curvature at any point on the guide surface 34 and the direction of the polar axis at the corresponding point; α is a constant and must satisfy... μ is the friction coefficient of the guide surface 34. The curvature of the guide surface 34 is adjusted according to the curve... The curvature setting allows the robot to be lifted when the guide 3 comes into contact with an obstacle, as the component of the obstacle's reaction force on the guide 3 can propel the robot to rise. This enables the robot to overcome obstacles using its own power and the reaction force of the obstacle on the guide 3, thus solving the problem of the robot's poor obstacle-crossing performance.

[0035] Please see Figure 1 and Figure 2 In this embodiment, the obstacle-crossing guidance device further includes a working mechanism 5, and the number of guiding mechanisms 1 is set to multiple, with the multiple guiding mechanisms 1 arranged at intervals. The guiding component 3 includes a guiding part 31 and a connecting part 32. The connecting part 32 is rotatably connected to the connecting shaft 23 via a bearing, and the rotating shaft 52 is rotatably connected to the connecting part 32 via a bearing. The guiding part 31 and the connecting part 32 are detachably connected by bolts, and a guiding curved surface 34 is provided on the guiding part 31. By making the guiding part 31 and the connecting part 32 detachably connected by bolts, the operator can replace different guiding parts 31 according to different terrains, thereby meeting the obstacle-crossing requirements of the robot.

[0036] Please see Figure 1 and Figure 2 The working mechanism 5 includes a drive component 51, a rotating shaft 52, and a roller brush 53. The rotating shaft 52 is rotatably connected to multiple guide mechanisms 1 via a rotating shaft. The roller brush 53 is fixedly sleeved on the rotating shaft 52. The drive component 51 is disposed on the guide mechanism 3 and is used to drive the rotating shaft 52 to rotate. In this embodiment, the drive component 51 is a servo motor. By driving the rotating shaft 52 to rotate through the drive component 51, the roller brush 53 can be driven to rotate, thereby enabling ground operations to be performed using the roller brush 53.

[0037] Please see Figure 5 In some embodiments of this application, the guide member 3 is provided with two sets of guide wheels 35. One set of guide wheels 35 is located on one side of the thickness direction of the guide member 3, and the other set of guide wheels 35 is located on the other side of the thickness direction of the guide member 3. Each set of guide wheels 35 includes multiple guide wheels 35, all of which are rotatably connected to the guide member 3. The multiple guide wheels 35 in the same set are arranged sequentially according to the extension direction of the guide surface 34. When the guide member 3 comes into contact with an obstacle, the guide wheels 35 come into contact with the obstacle. By providing guide wheels 35 on the guide member 3, it is beneficial to reduce the resistance when the guide member 3 slides relative to the obstacle, which is beneficial for the robot to overcome the obstacle.

[0038] Please see Figure 1 and Figure 2 This application also provides a robot, which includes the obstacle-crossing guidance device, frame 6, and walking mechanism 7 as described above. The guidance mechanism 1 is fixedly connected to one side of the frame 6 along its length, and the walking mechanism 7 is disposed on the bottom side of the frame 6. The walking mechanism 7 includes a power component 71, a track 72, and multiple rollers 73. The multiple rollers 73 are rotatably connected to the frame 6 via pins. The track 72 is driven by the multiple rollers 73. The power component 71 is fixedly connected to the frame 6 and is used to drive at least one roller 73 to rotate. In this embodiment, the power component 71 is a servo motor. By driving the rollers 73 to rotate with the power component 71, and driving the track 72 through the rollers 73, the robot's movement is achieved.

[0039] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0040] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. An obstacle-crossing guidance device, characterized in that, It includes a guiding mechanism (1), which includes a fixing component (2) and a guide (3), the guide (3) being rotatably connected to the fixing component (2), and the guide (3) having a guiding curved surface (34). When the guide (3) comes into contact with the obstacle, the guide surface (34) comes into contact with the obstacle so that the reaction force of the obstacle on the guide (3) pushes the robot to rise.

2. The obstacle-crossing guidance device according to claim 1, characterized in that, The guide (3) is provided with a plurality of guide wheels (35), and the plurality of guide wheels (35) are rotatably connected to the guide (3). The plurality of guide wheels (35) are arranged sequentially according to the elongation direction of the guide surface (34). When the guide (3) abuts against the obstacle, the guide wheels (35) abut against the obstacle.

3. The obstacle-crossing guidance device according to claim 1, characterized in that, The fixing component (2) includes a first fixing plate (21), a second fixing plate (22) and a connecting shaft (23). The first fixing plate (21) and the second fixing plate (22) are spaced apart. The connecting shaft (23) is fixedly connected to the first fixing plate (21) and the second fixing plate (22). The guide (3) is rotatably connected to the connecting shaft (23).

4. The obstacle-crossing guidance device according to claim 3, characterized in that, The obstacle crossing guidance device also includes a torsion spring (4), which is sleeved on the connecting shaft (23). One end of the torsion spring (4) is fixedly connected to the first fixing plate (21), and the other end is fixedly connected to the guide (3).

5. The obstacle-crossing guidance device according to claim 3, characterized in that, A limiting groove (24) is provided on the second fixing plate (22), and a limiting block (33) is provided on the guide (3), with the limiting block (33) passing through the limiting groove (24).

6. The obstacle-crossing guidance device according to claim 1, characterized in that, The obstacle crossing guidance device also includes a working mechanism (5), and the number of the guiding mechanisms (1) is set to multiple, with the multiple guiding mechanisms (1) arranged at intervals, and the working mechanism (5) is arranged on the multiple guiding mechanisms (1).

7. The obstacle-crossing guidance device according to claim 6, characterized in that, The working mechanism (5) includes a drive component (51), a rotating shaft (52), and a roller brush (53). The rotating shaft (52) is rotatably connected to multiple guide mechanisms (1). The roller brush (53) is sleeved on the rotating shaft (52). The drive component (51) is disposed on the guide (3). The drive component (51) is used to drive the rotating shaft (52) to rotate.

8. The obstacle-crossing guidance device according to claim 7, characterized in that, The guide (3) includes a guide part (31) and a connecting part (32). The connecting part (32) is rotatably connected to the fixing component (2). The rotating shaft (52) is rotatably connected to the connecting part (32). The guide part (31) is detachably connected to the connecting part (32). The guide surface (34) is disposed on the guide part (31).

9. A robot, characterized in that, The robot includes the obstacle crossing guidance device as described in any one of claims 1-8.

10. The robot according to claim 9, characterized in that, The robot also includes a frame (6) and a walking mechanism (7), the guiding mechanism (1) is disposed on one side of the frame (6), and the walking mechanism (7) is disposed on the bottom side of the frame (6); The walking mechanism (7) includes a power component (71), a track (72) and multiple rollers (73). The multiple rollers (73) are rotatably connected to the frame (6). The track (72) is driven to the multiple rollers (73). The power component (71) is fixedly connected to the frame (6). The power component (71) is used to drive at least one of the rollers (73) to rotate.

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