CN209051505U - A kind of multifunctional obstacle-surmounting robot system - Google Patents

Abstract

The utility model discloses a multifunctional obstacle-crossing robot system, which comprises a base plate, four climbing legs respectively connected to the four corners of the base plate, and support legs respectively connected to the middle of the four sides of the base plate. The climbing legs composed of worm, crawler, and rotating wheel can achieve normal movement, and combined with the support legs composed of linear cylinders and connecting pieces, it can achieve obstacles and complete other tasks at the same time. The utility model is driven by a combination of a linear cylinder, a swing cylinder and a worm gear, and has the characteristics of compact structure, multi-function, multiple degrees of freedom, and large output force, and can be used for tasks such as obstacle crossing, fire extinguishing, and detonation.

Description

A Multifunctional Obstacle Climbing Robot System

technical field

The utility model belongs to the technical field of robots, and relates to a multifunctional obstacle-surmounting robot system.

Background technique

In the face of complex terrain, the ability to overcome obstacles is one of the necessary abilities of robots. The height of various obstacles, such as stairs, fences, and steps, is a severe test for robots to overcome obstacles. Crawler has the advantage of adapting to various terrains, because it is widely used in robots, Chinese patents 201510564857.0, 201621087423.2, 201621206018.8, 201710858066.8 have successively proposed crawler-type obstacle-surmounting robots, but the height of obstacle-surmounting is limited by the height of the track wheels. Chinese patents 201510084953.5 and 201610888246.6 are designed to have crawler robots at the front and rear respectively, but only have one manipulator, which can only achieve horizontal obstacle crossing, and the obstacle crossing height is affected by the length of the track.

Utility model content

The purpose of the present utility model is to provide a multifunctional obstacle surmounting robot system, which is compact in structure, multifunctional, multi-degree-of-freedom and large in output force, aiming at the above-mentioned defects of the existing technology.

The purpose of the present utility model is achieved through the following technical solutions:

A multifunctional obstacle-surmounting robot system, characterized in that the system comprises a base plate, four climbing legs respectively connected to the four corners of the base plate, and support legs respectively connected to the middle of the four sides of the base plate;

The climbing legs include a swinging cylinder, a connecting piece, a swinging cylinder, a worm wheel, a worm, a crawler track, a rotating wheel, a fixed plate, a swinging cylinder, a worm, a worm wheel, and a rotating wheel. The first worm wheel is coaxially and fixedly connected with the rotating wheel one, the worm screw two is coaxially connected with the rotating wheel two, and the rotating wheel one and the rotating wheel two are connected by a crawler drive. The shafts of the rotating wheel one and the rotating wheel two are also rotatably connected to the two ends of the fixed plate one. The two are coaxially connected, the cylinder body of the swinging cylinder 2 is fixed on the connecting piece 1, the connecting piece 1 is located on the lower surface of the bottom plate, and the cylinder body of the swinging cylinder 1 is connected to the connecting piece 1. The upper surface of the bottom plate is fixedly connected, and the rotating shaft passes through the bottom plate and is fixedly connected to the connecting piece one; one on;

The supporting legs include four swinging cylinders, two connecting pieces, one linear cylinder, one connecting piece, two linear cylinders, four connecting pieces, three linear cylinders, and five connecting pieces. The cylinder body of the fourth swinging cylinder is fixed on the The lower part of the bottom plate, its rotating shaft passes through the bottom plate and is fixedly connected with the connecting piece two, the connecting piece two, the connecting piece three, the connecting piece four and the connecting piece five are rotatably connected in sequence, and the connecting piece The two ends of the linear cylinder 1 are respectively rotatably connected with the connecting piece 2 and the connecting piece 3, and the two ends of the linear cylinder 2 are respectively rotatably connected with the connecting piece 3 and the connecting piece 4. The two ends of the linear cylinder 3 are respectively rotatably connected with the connecting piece 4 and the connecting piece 5. The linear cylinder 1, the linear cylinder 2, and the linear cylinder 3 are used as power elements to drive the connecting piece 2, the connecting piece 3, and the connecting piece 4. The relative rotation between the connecting pieces five can be rotated.

Further, the first swing cylinder, the second swing cylinder, and the fourth swing cylinder can be replaced by electric motors or hydraulic motors, and the first linear cylinder, the second linear cylinder, and the third linear cylinder can be replaced by electric cylinders or hydraulic cylinders.

Further, the bottom plate, the first connecting piece, the first fixing plate, the second connecting piece, the third connecting piece, the fourth connecting piece and the fifth connecting piece are all made of aluminum alloy.

Further, the first connector is L-shaped, and the third connector is V-shaped.

Further, the third connecting piece and the fourth connecting piece are hollow pieces.

The beneficial effects of the present utility model are:

1. The climbing leg of the present invention has horizontal and vertical multi-direction and multi-degrees of freedom, and can simultaneously realize the movement of joints in multiple directions;

2. The utility model is driven by a worm gear and has the characteristics of large output force and self-locking;

3. The climbing leg of the present invention can realize normal movement, and in combination with the supporting leg, it can accomplish other tasks while surmounting obstacles.

Description of drawings

1 is a schematic diagram of the overall mechanical structure of the multifunctional obstacle-crossing robot system of the present invention;

2 is a schematic diagram of the mechanical structure of a single climbing leg of the multifunctional obstacle-surmounting robot system of the present invention;

3 is a schematic diagram of the mechanical structure of the overall support leg of the multifunctional obstacle-crossing robot system of the present invention;

4 is a schematic diagram of the mechanical structure of a single support leg of the multifunctional obstacle-crossing robot system of the present invention;

5 is a schematic diagram of the obstacle-surmounting movement process of the multifunctional obstacle-surmounting robot system of the present invention;

In the picture: support leg 1 1, climbing leg 1 2, support leg 2 3, base plate 4, climbing leg 2 5, support leg 3 6, climbing leg 3 7, swing cylinder 1 8, support leg 4 9, climbing Climbing leg four 10, connecting piece one 11, swing cylinder two 12, worm gear one 13, worm one 14, crawler 15, rotating wheel one 16, fixed plate one 17, swing cylinder three 18, worm two 19, worm gear two 20, rotating Wheel two 21, swing cylinder four 22, connector two 23, linear cylinder one 24, connector three 25, linear cylinder two 26, connector four 27, linear cylinder three 28, connector five 29, step 30.

Detailed ways

The present utility model will be described in detail below according to the accompanying drawings and preferred embodiments, and the purpose and effects of the present utility model will become clearer. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not intended to limit the present invention.

As shown in FIGS. 1-4 , the multifunctional obstacle-surmounting robot system of the present invention includes a base plate 4 , a climbing leg 1 2 , a climbing leg 2 5 , and a climbing leg 3 respectively connected to the four corners of the base plate 4 . 7. Climbing legs four 10 and supporting legs one 1, two supporting legs 3, three supporting legs 6, and four supporting legs 9 respectively connected to the middle of the four sides of the bottom plate 4;

The structure of the four supporting legs is the same, and the structure of the four climbing legs is the same;

The following takes the climbing leg 3 7 as an example to illustrate the connection of the climbing leg 1 2 , the climbing leg 2 5 , the climbing leg 3 7 , and the climbing leg 4 10 .

Climbing leg three 7 includes swinging cylinder one 8, connecting piece one 11, swinging cylinder two 12, worm wheel one 13, worm one 14, crawler track 15, rotating wheel one 16, fixed plate one 17, swing cylinder three 18, worm two 19 , Worm wheel two 20, rotating wheel two 21, worm wheel one 13 is coaxially and fixedly connected with rotating wheel one 16, worm two 19 is coaxially connected with rotating wheel two 21, and rotating wheel one 16 and rotating wheel two 21 are connected by crawler 15 transmission , the shafts of rotating wheel one 16 and rotating wheel two 21 are also rotatably connected to both ends of fixed plate one 17, worm wheel one 13 meshes with worm one 14, worm one 14 is coaxially connected with swing cylinder two 12, swing cylinder two The cylinder body of 12 is fixed on the connecting piece 11, the connecting piece 11 is located on the lower surface of the bottom plate 4, the cylinder body of the swing cylinder 8 is fixedly connected with the upper surface of the bottom plate 4, and the rotating shaft passes through the bottom plate 4 and the connecting piece 11. Fixed connection; the third swing cylinder 18 is coaxially connected with the second worm 19, and its cylinder body is fixed on the fixed plate one 17;

Swing cylinder one 8 drives connecting piece one 11, swing cylinder two 12, worm gear one 13, worm screw one 14, crawler track 15, rotating wheel one 16, fixed plate one 17, swing cylinder three 18, worm two 19, worm gear two 20, rotating The second wheel 21 rotates horizontally or vertically. The second swinging cylinder 12 drives the track 15, the first rotating wheel 16, the first fixed plate 17, the third swinging cylinder 18, the second worm 19, the second worm wheel 20, and the second rotating wheel 21 through the first worm wheel 13 and the second worm 14. The third swing cylinder 18 drives the track 15 , the first rotating wheel 16 and the second rotating wheel 21 to rotate through the second worm 19 and the second worm wheel 20 .

The following takes the supporting leg 49 as an example to describe the connection of the supporting leg 1 1 , the supporting leg 2 3 , the supporting leg 3 6 , and the supporting leg 4 9 .

The supporting legs four 9 include the swinging cylinder four 22, the connecting part two 23, the linear cylinder one 24, the connecting part three 25, the linear cylinder two 26, the connecting part four 27, the straight cylinder three 28, the connecting part five 29, and the swing cylinder four 22. The cylinder block is fixed on the lower part of the bottom plate 4, and its rotating shaft passes through the bottom plate 4 and is fixedly connected with the connecting piece 23, the connecting piece 23, the connecting piece 3 25, the connecting piece 4 27, and the connecting piece 5 29 are rotatably connected in turn. The two ends of the first 24 are respectively rotatably connected with the connecting piece 23 and the connecting piece 3 25, the two ends of the linear cylinder 2 26 are respectively rotatably connected with the connecting piece 3 25 and the connecting piece 4 27, and the two ends of the linear cylinder 3 28 are respectively rotatably connected. It is rotatably connected with the connecting piece 4 27 and the connecting piece 5 29. The linear cylinder 1 24, the linear cylinder 2 26 and the linear cylinder 3 28 are used as the power elements to drive the connecting piece 2 23, the connecting piece 3 25, the connecting piece 4 27, and the connecting piece 5. 29 Relative rotation between rotatable connections.

Preferably, the first swing cylinder 8, the second swing cylinder 12, and the fourth swing cylinder 22 can be replaced by electric motors or hydraulic motors, and the first linear cylinder 24, the second linear cylinder 26, and the third linear cylinder 28 can be replaced by electric cylinders or hydraulic cylinders.

In order to reduce the overall weight of the system, the bottom plate 4, the connecting piece 11, the fixing plate 1 17, the connecting piece 23, the connecting piece 3 25, the connecting piece 4 27 and the connecting piece 5 29 are all made of aluminum alloy; the connecting piece 3 25 . The connecting piece four 27 is a hollow piece.

For convenience and flexibility of movement, preferably, the first connector 11 is L-shaped, and the third connector 25 is V-shaped.

The motion state of the multi-functional obstacle-surmounting robot system of the present invention is as follows: take the climbing leg 3 7 as an example to illustrate the movement process, the swing cylinder 3 18 drives the rotating wheel 21, the crawler belt 15, the rotating wheel 1 through the worm 2 19 and the worm wheel 20 16 moves laterally with climbing leg two 5, and climbing leg one 2 and climbing leg four 10 move together. When longitudinal movement is required, the climbing leg 3 7 is driven by the swinging cylinder 1 8 to rotate 90 degrees, the climbing leg 4 10 is driven by the corresponding oscillating cylinder to rotate 90 degrees, the climbing leg 3 7 and the climbing leg 4 10 move together, The climbing leg 1 2 and the climbing leg 2 5 are also driven by the corresponding swing cylinder to rotate 90 degrees to move together.

As shown in FIG. 5 , when it is necessary to cross the obstacle laterally, such as when passing the steps 30 , the climbing leg 25 and the climbing leg 3 7 swing a certain angle and move forward to connect with the obstacle, while supporting the third leg 6 and the obstacle. Support, climbing leg two 5, climbing leg three 7 to achieve climbing and forward movement at the same time. Taking the climbing leg 37 as an example, the swinging cylinder 318 drives the second worm 19, the second worm gear 20, the second rotating wheel 21, the track 15, the first rotating wheel 16, and the first fixed plate 17 to move forward, and the swinging cylinder 2 12 drives the worm gear. One 13, worm one 14, crawler 15, rotating wheel one 16, fixed plate one 17, swing cylinder three 18, worm two 19, worm wheel two 20, rotating wheel two 21 The swing cooperates with the support leg three 6 to achieve climbing, Then the whole robot system moves forward, supporting leg 1, climbing leg 1 2, and climbing leg 4 10 coordinate with each other to achieve swing support, and finally achieve lateral obstacle crossing, while supporting leg 2 3 and supporting leg 4 9 are in the movement process It can be used to complete other tasks in the vertical obstacle course. Support legs 2 3 and 4 9 are used to assist climbing, and support legs 1 and 3 are used to complete other tasks.

The utility model realizes the pose control of the multi-functional obstacle-surmounting robot by controlling each cylinder, and can realize precise trajectory control, and has the incomparable advantages of other cylinder-driven multi-functional obstacle-surmounting robots.

Those skilled in the art can understand that the above are only preferred examples of the utility model and are not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing examples, for those skilled in the art, the The technical solutions described in the foregoing examples can still be modified, or some technical features thereof can be equivalently replaced. All modifications and equivalent replacements made within the spirit and principles of the utility model shall be included in the protection scope of the utility model.

Claims (5)

1. a multifunctional obstacle-crossing robot system, is characterized in that, this system comprises base plate (4), four climbing legs that are connected at the four corners of described base plate (4) respectively and be connected to described base plate (4) respectively. 4) The support legs in the middle of the four sides; The climbing leg includes a swinging cylinder (8), a connecting piece (11), a swinging cylinder two (12), a worm gear (13), a worm (14), a crawler track (15), and a rotating wheel (16). ), fixed plate one (17), swing cylinder three (18), worm two (19), worm wheel two (20), rotating wheel two (21), the worm wheel one (13) and the rotating wheel one (16) Coaxial fixed connection, the second worm (19) is coaxially connected to the second rotating wheel (21), and the first rotating wheel (16) and the second rotating wheel (21) pass through the crawler belt ( 15) Transmission connection, the shafts of the first rotating wheel (16) and the second rotating wheel (21) are also rotatably connected to the two ends of the fixed plate one (17), the worm wheel one (13) Engaged with the first worm (14), the first worm (14) is coaxially connected with the second swing cylinder (12), and the cylinder body of the second swing cylinder (12) is fixed on the second swing cylinder (12). On the connecting piece one (11), the connecting piece one (11) is located on the lower surface of the bottom plate (4), and the cylinder body of the swing cylinder one (8) is connected to the bottom plate (4). The upper surface is fixedly connected, and the rotating shaft passes through the bottom plate (4) and is fixedly connected with the connecting piece one (11); the swing cylinder three (18) is coaxially connected with the worm screw two (19), and its cylinder The body is fixed on the fixed plate one (17); The support legs include four swinging cylinders (22), two connecting pieces (23), one linear cylinder (24), three connecting pieces (25), two linear cylinders (26), four connecting pieces (27), and one linear cylinder. Three (28), connecting piece five (29), the cylinder body of the swing cylinder four (22) is fixed on the lower part of the bottom plate (4), and its rotating shaft passes through the bottom plate (4) and the The connecting piece two (23) is fixedly connected, the connecting piece two (23), the connecting piece three (25), the connecting piece four (27), and the connecting piece five (29) are rotatably connected in turn, and the straight line The two ends of the first cylinder (24) are respectively rotatably connected with the connecting piece two (23) and the connecting piece three (25), and the two ends of the linear cylinder two (26) are respectively connected with the connecting piece three (25). (25) The connecting piece four (27) is rotatably connected, the two ends of the linear cylinder three (28) are respectively rotatably connected with the connecting piece four (27) and the connecting piece five (29), the linear cylinder One (24), two (26) linear cylinders, three (28) linear cylinders are used as power components to drive the second (23), three (25), four (27), and five (29) connectors. Relative rotation between rotational connections. 2. The multifunctional obstacle-surmounting robot system according to claim 1, wherein the first swinging cylinder (8), the second swinging cylinder (12), and the fourth swinging cylinder (22) can be replaced with electric motors or hydraulic The motor, linear cylinder one (24), linear cylinder two (26), and linear cylinder three (28) can be replaced with electric cylinders or hydraulic cylinders. 3. The multifunctional obstacle-surmounting robot system according to claim 1, wherein the bottom plate (4), the first connecting piece (11), the first fixing plate (17), the second connecting piece (23), the connecting piece The third piece (25), the fourth connecting piece (27), and the fifth connecting piece (29) are all made of aluminum alloy. 4 . The multifunctional obstacle-surmounting robot system according to claim 1 , wherein the first connector ( 11 ) is L-shaped, and the third connector ( 25 ) is V-shaped. 5 . 5 . The multifunctional obstacle-surmounting robot system according to claim 1 , wherein the third connecting piece ( 25 ) and the fourth connecting piece ( 27 ) are hollow pieces. 6 .