CN216940663U - All-terrain self-adaptive wheel-walking robot - Google Patents
All-terrain self-adaptive wheel-walking robot Download PDFInfo
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- CN216940663U CN216940663U CN202122934682.1U CN202122934682U CN216940663U CN 216940663 U CN216940663 U CN 216940663U CN 202122934682 U CN202122934682 U CN 202122934682U CN 216940663 U CN216940663 U CN 216940663U
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- 230000002457 bidirectional effect Effects 0.000 claims abstract description 10
- 230000035939 shock Effects 0.000 claims description 13
- 239000006096 absorbing agent Substances 0.000 claims description 12
- 230000003014 reinforcing effect Effects 0.000 claims description 9
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 230000009194 climbing Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 description 6
- 230000009193 crawling Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The utility model discloses an all-terrain self-adaptive wheel-walking robot, which relates to the field of wheel-walking robots and comprises a robot body, wherein the bottoms of two ends of the robot body are rotatably connected with connecting frames, one end of each connecting frame is connected with a group of dampers, the other end of each group of dampers is connected with a power wheel, and two ends of the interior of the robot body are respectively provided with a group of multi-stage cylinders. According to the robot, the triangular plate is connected in the robot body through the multistage cylinder, the two sides of the triangular plate are connected with the crawler frame sleeved with the crawler wheel through the bidirectional cylinder, when the robot encounters a muddy road or an ice and snow road, the multistage cylinder can push the crawler wheel to descend through the triangular plate, so that the crawler wheel supports the ground, then the bidirectional cylinder can push the crawler wheel to move, the crawler frame is sleeved with the power wheel, so that patterns of the power wheel are meshed with the inner side of the crawler wheel, the crawler wheel can be driven to rotate through the power wheel, and the robot can conveniently move on the muddy ground or the wet and slippery ground.
Description
Technical Field
The utility model relates to the field of wheel-walking robots, in particular to an all-terrain self-adaptive wheel-walking robot.
Background
The wheel-step robot is a leading-edge field of robot research in recent years, has wheel-type structure and leg capacity, and is fast in movement and high in efficiency; the leg capability enables the robot to adapt to uneven ground and finish actions such as jumping steps, and the like, thereby achieving the leading level of the industry.
The existing all-terrain self-adaptive wheel-walking robot generally drives a device to move through a foldable wheel type power mechanism and a walking foot type power mechanism, and simultaneously switches a traveling mode by observing the surrounding environment of the robot.
However, both the wheel type power mechanism and the step type power mechanism are easy to slip when moving on a wet and slippery road surface, thereby reducing the traveling efficiency, and the traveling mode is inconvenient to be changed according to the road surface if the robot is not in the visual field.
SUMMERY OF THE UTILITY MODEL
Accordingly, an object of the present invention is to provide an all terrain adaptive wheel-walking robot, which solves the problems that a wheel-type power mechanism or a foot-type power mechanism is easy to slip when moving on a slippery road surface, the traveling efficiency is reduced, and it is inconvenient to change the traveling mode according to the road surface if the robot is not in the field of vision.
In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a full topography self-adaptation wheel step formula robot, includes the robot, robot both sides both ends bottom all rotates and is connected with the link, and every link one end all is connected with a set of bumper shock absorber, every group the bumper shock absorber other end all is connected with the power wheel, a set of multistage cylinder is all installed respectively at the inside both ends of robot, and the multistage cylinder output of every group all is connected with the set-square, every two-way cylinder is all installed to set-square three angle department, and every set-square both sides all be connected with through two-way cylinder with power wheel complex track frame, every track frame all wraps up outward with power wheel complex track wheel, a set of foot of crawling is all installed at robot bottom both ends, the camera of a plurality of orientation below to one side is installed all around to the robot side.
Through adopting above-mentioned technical scheme, the bumper shock absorber can reduce the vibrations that transmit on the robot, and the power wheel can drive the device and remove, and the lift of the steerable set-square of multistage cylinder, the two-way cylinder of set-square accessible promote the track frame and sheathe the power wheel, and the action on wet and slippery road surface can be convenient for to crawler wheel cooperation power wheel, and the foot of crawling is convenient for adapt to unevenness's road surface, and the camera is convenient for shoot the device road surface condition all around.
The robot is further provided with a group of rotating motors with output ends connected with the connecting frame, wherein the rotating motors are arranged in the robot body.
Through adopting above-mentioned technical scheme, rotate the lift of motor accessible link control power wheel.
The utility model is further arranged that both sides of the connecting frame are rotatably connected with reinforcing pistons, and the other ends of the reinforcing pistons are rotatably connected with the power wheel.
Through adopting above-mentioned technical scheme, consolidate the piston and can consolidate being connected of link and power wheel, prevent the bumper shock absorber fracture.
The utility model is further arranged in such a way that a chamfer angle is arranged on one side of the inner side wall of the crawler wheel, which is close to the power wheel.
Through adopting above-mentioned technical scheme, the chamfer angle of athey wheel is convenient for the athey wheel to the power wheel under.
The utility model is further arranged in that a circuit board is arranged in the cavity inside the robot body, and the top of the robot body is detachably connected with a top plate matched with the cavity.
By adopting the technical scheme, the circuit board can control the electric appliance to work and can process images, and the detachable top plate is convenient for repairing the circuit board.
In summary, the utility model mainly has the following beneficial effects:
1. according to the robot, the triangular plate is connected in the robot body through the multistage cylinder, the two sides of the triangular plate are connected with the crawler frame sleeved with the crawler wheel through the bidirectional cylinder, when a muddy road or an ice and snow road is met, the multistage cylinder can push the crawler wheel to descend through the triangular plate, so that the crawler wheel supports the ground, then the bidirectional cylinder can push the crawler wheel to move, the crawler frame is sleeved with the power wheel, patterns of the power wheel are meshed with the inner side of the crawler wheel, the crawler wheel can be driven to rotate through the power wheel, and the robot can conveniently move on the muddy ground or the wet and slippery ground;
2. according to the utility model, the plurality of cameras which are obliquely downward are arranged on the periphery of the side surface of the robot body, so that the system can combine the images of the ground around the robot body transmitted by the cameras and display the images on the display screen of the controller, and an operator can conveniently switch the walking mode according to the requirement.
Drawings
FIG. 1 is a schematic diagram of a first perspective of the present invention;
FIG. 2 is a schematic diagram of a second perspective of the present invention;
fig. 3 is a cross-sectional view of the present invention.
In the figure: 1. a robot body; 2. climbing feet; 3. a connecting frame; 4. a shock absorber; 5. a power wheel; 6. rotating the motor; 7. a reinforcing piston; 8. a multi-stage cylinder; 9. a set square; 10. a bidirectional cylinder; 11. a track frame; 12. a crawler wheel; 13. a camera; 14. a circuit board; 15. a top plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The following describes an embodiment of the present invention based on its overall structure.
An all-terrain self-adaptive wheel-walking robot is disclosed, as shown in fig. 1-3, and comprises a robot body 1, wherein the bottoms of two ends of the robot body 1 are rotatably connected with connecting frames 3, one end of each connecting frame 3 is connected with a group of shock absorbers 4, the shock transmitted to the robot body 1 can be reduced, the other end of each group of shock absorbers 4 is connected with a power wheel 5, the robot body can be driven to move, two ends of the interior of the robot body 1 are respectively provided with a group of multi-stage cylinders 8, the lifting of a triangular plate 9 can be controlled, the output end of each group of multi-stage cylinders 8 is connected with a triangular plate 9, three corners of each triangular plate 9 are respectively provided with a bidirectional cylinder 10, two sides of each triangular plate 9 are respectively connected with a crawler frame 11 matched with the power wheel 5 through the bidirectional cylinders 10, the triangular plate 9 can push the crawler frame 11 to be sleeved with the power wheel 5 through the bidirectional cylinders 10, and each crawler frame 11 is externally provided with a crawler wheel 12 matched with the power wheel 5, the crawler wheel 12 is matched with the power wheel 5, so that the crawler wheel can move on a wet and slippery road surface conveniently, a set of crawling feet 2 are mounted at two ends of the bottom of the robot body 1, the crawler wheel is convenient to adapt to the uneven road surface, a plurality of cameras 13 facing to the lower side in an inclined mode are mounted on the periphery of the side edge of the robot body 1, and the periphery of the road surface of the device is convenient to shoot.
Referring to fig. 1-3, a set of rotating motor 6 with an output end connected to the connecting frame 3 is installed inside the robot body 1, and the lifting of the power wheel 5 can be controlled by the connecting frame 3.
Referring to fig. 1 and 2, the reinforcing piston 7 is rotatably connected to both sides of the connecting frame 3, and the other end of the reinforcing piston 7 is rotatably connected to the power wheel 5, so that the reinforcing piston 7 can reinforce the connection between the connecting frame 3 and the power wheel 5 to prevent the shock absorber 4 from being broken.
Referring to fig. 3, a chamfer angle is arranged on one side of the inner side wall of the track wheel 12 close to the power wheel 5, so that the track wheel 12 can be conveniently inserted into the inner wheel of the power wheel 5.
Referring to fig. 3, a circuit board 14 is installed in the cavity inside the robot body 1 to control the electric appliance to work and process images, and a top plate 15 matched with the cavity is detachably connected to the top of the robot body 1 to facilitate the repair of the circuit board 14.
The working principle of the utility model is as follows: when the robot is used, the controller is controlled to move by the controller, the camera 13 transmits ground images around the device to a display screen of the controller after being processed by the circuit board 14, an operator can switch a walking mode as required, when the robot meets harder flat ground, the rotating motor 6 is started, the connecting frame 3 drives the power wheel 5 to rotate downwards to contact the ground and support the robot body 1, the power wheel 5 can drive the device to move by rotating with self power, the shock absorber 4 can reduce the vibration transmitted to the robot body 1 by the power wheel 5, the reinforcing piston 7 can reinforce the connection between the connecting frame 3 and the power wheel 5 to prevent the shock absorber 4 from being broken, when the robot meets uneven road surfaces, the climbing foot 2 pushes the foot to descend to support the ground by the self-provided air cylinder, the rotating motor 6 drives the power wheel 5 to rotate to ascend, the device can be driven to move by the climbing foot 2, when the robot meets wet road surfaces, the power wheel 5 descends to support the ground, then the climbing foot 2 contracts through a self-contained air cylinder, then the multistage air cylinder 8 pushes the crawler wheel 12 to descend to support the ground, finally the bidirectional air cylinder 10 pushes the crawler frame 11 to move outwards, so that the crawler frame 11 is sleeved on an inner wheel of the power wheel 5, and simultaneously, the patterns of the power wheel 5 are meshed with the inner side of the crawler wheel 12, so that the crawler wheel 12 can be driven to rotate through the power wheel 5, the walking on a wet and slippery road surface is convenient, the walking machine can adapt to different terrains, and when the circuit board 14 is damaged, the top plate 15 can be detached, and the circuit board 14 can be repaired.
Although embodiments of the present invention have been shown and described, the present embodiments are merely illustrative of the present invention and are not intended to limit the present invention, and the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples, and those skilled in the art can make modifications, substitutions, variations, etc. of the embodiments as required without departing from the principle and spirit of the present invention, but within the scope of the claims of the present invention.
Claims (5)
1. The utility model provides an all terrain self-adaptation wheel step formula robot, includes robot body (1), its characterized in that: the bottoms of two ends of the robot body (1) are rotatably connected with connecting frames (3), one end of each connecting frame (3) is connected with a group of shock absorbers (4), the other end of each group of shock absorbers (4) is connected with a power wheel (5), two ends of the interior of the robot body (1) are respectively provided with a group of multistage cylinders (8), the output end of each group of multi-stage cylinders (8) is connected with a triangular plate (9), three corners of each triangular plate (9) are provided with two-way cylinders (10), two sides of each set square (9) are connected with a crawler frame (11) matched with the power wheel (5) through a bidirectional cylinder (10), each crawler frame (11) is wrapped with a crawler wheel (12) matched with the power wheel (5), a group of climbing feet (2) are arranged at both ends of the bottom of the robot body (1), and a plurality of cameras (13) which are obliquely oriented downwards are arranged on the periphery of the side edge of the robot body (1).
2. The all-terrain adaptive wheel-walking robot of claim 1, wherein: the robot is characterized in that a set of rotating motor (6) with an output end connected with the connecting frame (3) is arranged inside the robot body (1).
3. The all-terrain adaptive wheel-walking robot of claim 1, wherein: both sides of the connecting frame (3) are rotatably connected with reinforcing pistons (7), and the other ends of the reinforcing pistons (7) are rotatably connected with the power wheels (5).
4. The all-terrain adaptive wheel-walking robot of claim 1, wherein: one side of the inner side wall of the crawler wheel (12) close to the power wheel (5) is provided with a chamfer angle.
5. The all-terrain adaptive wheel-walking robot of claim 1, wherein: a circuit board (14) is installed in the cavity inside the robot body (1), and a top plate (15) matched with the cavity is detachably connected to the top of the robot body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122934682.1U CN216940663U (en) | 2021-11-26 | 2021-11-26 | All-terrain self-adaptive wheel-walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122934682.1U CN216940663U (en) | 2021-11-26 | 2021-11-26 | All-terrain self-adaptive wheel-walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216940663U true CN216940663U (en) | 2022-07-12 |
Family
ID=82305313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122934682.1U Expired - Fee Related CN216940663U (en) | 2021-11-26 | 2021-11-26 | All-terrain self-adaptive wheel-walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216940663U (en) |
-
2021
- 2021-11-26 CN CN202122934682.1U patent/CN216940663U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220712 |