阅读说明：本技术 自动式行走越障顶障机器装置 (Automatic walking obstacle-crossing and obstacle-jacking machine device ) 是由 陈沛霖 于 2020-05-27 设计创作，主要内容包括：本发明提供了一种自动式行走越障顶障机器装置,属于自动行走的机械装置技术领域,包括车板、抬升机构、顶障机构、控制器,车板为框形,设有车轮；抬升机构,用于穿过所述车板的框口,并将所述车板抬升,实现越障；顶障机构,用于推顶车板上方的障碍物,实现车板通过；以及控制器,用于控制车轮、抬升机构以及顶障机构。旨在解决现有技术中的机器装置无法实现通过障碍物实现行走的技术问题。(The invention provides an automatic walking obstacle-crossing and obstacle-jacking machine device, which belongs to the technical field of automatic walking mechanical devices and comprises a vehicle plate, a lifting mechanism, an obstacle-jacking mechanism and a controller, wherein the vehicle plate is in a frame shape and is provided with wheels; the lifting mechanism is used for penetrating through the frame opening of the vehicle plate and lifting the vehicle plate to realize obstacle crossing; the barrier pushing mechanism is used for pushing a barrier above the vehicle plate to realize the passing of the vehicle plate; and the controller is used for controlling the wheels, the lifting mechanism and the barrier jacking mechanism. The technical problem that the machine device in the prior art cannot walk through obstacles is solved.)

1. Automatic formula walking hinders top barrier machine device more, its characterized in that includes:

the vehicle plate is in a frame shape and is provided with wheels;

the lifting mechanism is used for penetrating through the frame opening of the vehicle plate and lifting the vehicle plate to realize obstacle crossing;

the barrier pushing mechanism is used for pushing a barrier above the vehicle plate to realize the passing of the vehicle plate; and

and the controller is used for controlling the wheels, the lifting mechanism and the barrier jacking mechanism.

2. The automated walking over-the-obstacle and top-obstacle machine apparatus of claim 1, wherein the lifting mechanism comprises:

the supporting frames span the front side and the rear side of the vehicle plate; and

the first top pushing fork is arranged on the bearing frame, the bottom end of the first top pushing fork is provided with a universal ball, the first top pushing fork is adjustable in the position in the frame opening, and the first top pushing fork can push the ground in the vertical direction and can rotate on the horizontal plane.

3. The automatic walking obstacle-surmounting and obstacle-surmounting machine device of claim 2, wherein the first ejector fork is connected with a power output end of a first motor and rotates by means of the first motor, the first motor is fixedly arranged at an ejector end of a first air cylinder, the first air cylinder is vertically arranged, the first air cylinder is fixedly arranged on an L-shaped seat, the L-shaped seat is connected with the bearing frame by a screw rod mechanism, the L-shaped seat can reciprocate in a traveling direction of a vehicle board by means of the screw rod mechanism, and the bearing frame can move along a direction perpendicular to the traveling direction of the vehicle board.

4. The automatic walking obstacle-surmounting and obstacle-surmounting machine device of claim 3, wherein the bearing frame is a U-shaped structure crossing over the vehicle plate, two ends of the bearing frame are respectively connected with the front end and the rear end of the vehicle plate in a sliding manner, the bearing frame moves by means of a second air cylinder arranged on the vehicle plate, the screw mechanism comprises a screw rod transversely connected with the bearing frame, a sleeve is connected onto the screw rod in a threaded manner, the L-shaped seat is fixedly connected with the sleeve, the screw rod rotates by means of a second motor, the L-shaped seat is further connected with a cross rod in a sliding manner, the cross rod is fixedly connected with the bearing frame, the cross rod is parallel to the screw rod, and the cross rod is used for limiting the L-shaped seat to rotate around the screw rod.

5. The automated walking obstacle-surmounting and obstacle-surmounting machine device of claim 4, wherein the L-shaped seats, the lead screw and the cross bar are at least two groups, each group comprising at least two first push-top forks.

6. The automated walking obstacle-surmounting barrier-lifting machine apparatus of claim 5, wherein the barrier-lifting mechanism comprises:

one end of the turnover plate is rotatably connected with the vehicle plate, and the other end of the turnover plate is a free end;

the bottom of the second ejection fork is connected with a third air cylinder, the ejection direction of the third air cylinder is downward, the top of the second ejection fork is connected with a third motor, and the second ejection fork rotates by means of the third motor;

the fourth cylinder is fixed and penetrates through the turnover plate, and the pushing end of the fourth cylinder faces downwards and is connected with the third motor; and

the fifth cylinder is arranged on the turnover plate, the ejection direction is upward, the ejection end is connected with a connecting plate, and the connecting plate is provided with universal wheels.

7. The automatic walking obstacle-surmounting and obstacle-surmounting machine device of claim 6, wherein two opposite vertical rods are arranged on the vehicle plate, the hinged end of the turnover plate is connected between the two vertical rods through a rotating shaft, the rotating shaft is connected with the power output end of a fourth motor, and the turnover plate is rotated by means of the fourth motor.

8. The automated walking obstacle-surmounting and obstacle-surmounting machine device of claim 7, wherein a support plate is further provided on the deck for supporting the free end of the roll-over plate.

9. The automatic walking obstacle-surmounting and obstacle-surmounting machine device of claim 8, wherein the wheels are moved by means of a fifth motor, and the controller is used for controlling the first motor, the second motor, the third motor, the fourth motor, the fifth motor, and the first cylinder, the second cylinder, the third cylinder, the fourth cylinder, and the fifth cylinder.

10. The automatic walking obstacle-surmounting and obstacle-surmounting machine device of claim 9, wherein the middle part of the turnover plate is provided with a flexible section, and the end part of the turnover plate is provided with an inserting rod which can be inserted into the turnover plate and rigidly connects two side plate bodies of the flexible section.

Technical Field

The invention belongs to the technical field of automatic walking mechanical devices, and particularly relates to an automatic walking obstacle-crossing and obstacle-jacking machine device.

Background

A robot is an intelligent automatic device which is continuously updated along with the development of the times, is used for replacing manual labor, particularly a robot, and plays an increasingly important role along with the progress of the times, but a general robot or a robot device can only walk on a flat ground, and once an obstacle is arranged on a road surface, the robot cannot walk, so that a device capable of solving the problems is needed at present.

Disclosure of Invention

The invention aims to provide an automatic walking obstacle-crossing and obstacle-jacking machine device, and aims to solve the technical problem that the machine device in the prior art cannot realize walking through an obstacle.

In order to achieve the purpose, the invention adopts the technical scheme that: provided is an automatic walking obstacle-surmounting and obstacle-jacking machine device, comprising:

the vehicle plate is in a frame shape and is provided with wheels;

the lifting mechanism is used for penetrating through the frame opening of the vehicle plate and lifting the vehicle plate to realize obstacle crossing;

the barrier pushing mechanism is used for pushing a barrier above the vehicle plate to realize the passing of the vehicle plate; and

and the controller is used for controlling the wheels, the lifting mechanism and the barrier jacking mechanism.

As another embodiment of the present application, the lifting mechanism includes:

the supporting frames span the front side and the rear side of the vehicle plate; and

the first top pushing fork is arranged on the bearing frame, the bottom end of the first top pushing fork is provided with a universal ball, the first top pushing fork is adjustable in the position in the frame opening, and the first top pushing fork can push the ground in the vertical direction and can rotate on the horizontal plane.

As another embodiment of this application, the power take off end of first motor is connected to first ejection fork to rotate with the help of first motor, first motor sets firmly in the ejection end of first cylinder, the vertical setting of first cylinder, first cylinder sets firmly on L shape seat, L shape seat passes through screw mechanism and connects the bearing frame, with the help of screw mechanism L shape seat can be at sweep advancing direction reciprocating motion, the bearing frame can be along the perpendicular to the direction that the sweep marched removes.

As another embodiment of this application, the U-shaped structure of bearing frame for striding the sweep, the both ends of bearing frame respectively with the front and back end sliding connection of sweep, the bearing frame is with the help of locating the second cylinder motion on the sweep, screw mechanism includes transverse connection the lead screw of bearing frame, threaded connection has the sleeve on the lead screw, L shape seat links firmly with the sleeve, the lead screw rotates with the help of the second motor, L shape seat sliding connection still has the horizontal pole, the horizontal pole links firmly the bearing frame, the horizontal pole parallels with the lead screw, the horizontal pole is used for the restriction L shape seat rotates around the lead screw.

As another embodiment of the application, the L-shaped seats, the lead screws and the cross bars are at least two groups, and each group comprises at least two first push-top forks.

As another embodiment of the present application, the barrier lifting mechanism includes:

one end of the turnover plate is rotatably connected with the vehicle plate, and the other end of the turnover plate is a free end;

the bottom of the second ejection fork is connected with a third air cylinder, the ejection direction of the third air cylinder is downward, the top of the second ejection fork is connected with a third motor, and the second ejection fork rotates by means of the third motor;

the fourth cylinder is fixed and penetrates through the turnover plate, and the pushing end of the fourth cylinder faces downwards and is connected with the third motor; and

the fifth cylinder is arranged on the turnover plate, the ejection direction is upward, the ejection end is connected with a connecting plate, and the connecting plate is provided with universal wheels.

As another embodiment of this application be equipped with the pole setting of two relative establishments on the sweep, the hinged end of returning face plate is connected between two pole settings through the pivot, the power take off end of pivot and fourth motor is connected, the returning face plate rotates with the help of the fourth motor.

As another embodiment of the application, a bearing plate is further arranged on the vehicle plate and used for bearing the free end of the turnover plate.

As another embodiment of the present application, the wheel is moved by means of a fifth motor, and the controller is configured to control the first motor, the second motor, the third motor, the fourth motor, the fifth motor, and the first cylinder, the second cylinder, the third cylinder, the fourth cylinder, and the fifth cylinder.

As another embodiment of this application, the middle part of returning face plate is equipped with the flexible section, the tip of returning face plate is equipped with and can inserts in the returning face plate and will rigid connection's inserted bar is realized to the both sides plate body of flexible section.

The automatic walking obstacle-surmounting and obstacle-jacking machine device has the beneficial effects that: the device can realize the crossing of the obstacle by using the lifting mechanism, can push the obstacle above the device by using the obstacle pushing device, realizes the obstacle clearing work, and can smoothly realize the walking operation.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an automatic walking obstacle-surmounting and obstacle-surmounting machine device provided by an embodiment of the invention.

In the figure, the device comprises a vehicle plate 1, a vehicle plate 2, wheels 3, a controller 4, a supporting frame 5, a first pushing fork 6, a universal ball 7, L-shaped seats 8, a screw rod 9, a sleeve 10, a cross rod 11, a turnover plate 12, a second pushing fork 13, a connecting plate 14, a universal wheel 15, a vertical rod 16, a supporting plate 17, a flexible section 18, an inserting rod 21, a first motor 22, a second motor 23, a third motor 24, a fourth motor 31, a first air cylinder 32, a second air cylinder 33, a third air cylinder 34, a fourth air cylinder 35 and a fifth air cylinder.

Detailed Description

The following describes the automatic walking obstacle-surmounting and obstacle-surmounting machine device provided by the invention with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1, the present invention provides an automatic walking obstacle-surmounting and obstacle-jacking machine device, which includes:

the vehicle plate 1 is in a frame shape and is provided with wheels 2;

the lifting mechanism is used for penetrating through a frame opening of the vehicle plate 1 and lifting the vehicle plate 1 to realize obstacle crossing;

the barrier pushing mechanism is used for pushing a barrier above the vehicle plate 1 to enable the vehicle plate 1 to pass through; and

and the controller 3 is used for controlling the wheels 2, the lifting mechanism and the barrier jacking mechanism.

In this embodiment, sweep 1 walks with the help of wheel 2, and at the in-process of walking, when meetting ground and having barrier or unevenness, the lifting of sweep 1 is realized with the help of lifting mechanism, realizes surmounting the obstacle, through a barrier mechanism of top when there is the barrier in sweep 1 top, realizes pushing away the top of the barrier in sweep 1 top, realizes passing through of sweep 1, controls each mechanism through controller 3 simultaneously.

As an embodiment of the automatic walking obstacle-surmounting and obstacle-jacking machine device provided by the invention, the lifting mechanism comprises:

the supporting frames 4 span the front side and the rear side of the vehicle plate 1; and

first push away a fork 5, establish on bearing frame 4, the bottom of first push away a fork 5 is equipped with universal ball 6, first push away a fork 5 is in the intraoral position of frame is adjustable, first push away a fork 5 can push away ground and can rotate on the horizontal plane in vertical direction.

In the embodiment, when the ground meets an obstacle, the position of the first push-top fork 5 is adjusted, after the adjustment is completed, the first push-top fork 5 is pushed in the vertical direction, then the front wheel 2 is lifted and continues to travel, so that the front wheel 2 firstly crosses the obstacle and then descends, the front wheel firstly lands, when the first push-top fork 5 reaches the position of the obstacle, the first push-top fork 5 is lifted in the vertical direction, and with the continuous travel, the first push-top fork 5 also crosses the obstacle, when the rear wheel 2 reaches the position of the obstacle, the position of the first push-top fork 5 is adjusted, so that the rear wheel 2 is lifted up as well and continues to advance, so that the rear wheel 2 crosses the obstacle, which is the whole operation process, and when the universal ball 6 touches the ground, the position of the first push-top fork 5 can be adjusted on the horizontal plane, for example, if the ground is uneven, the position can be adjusted by rotating the first ejector fork 5, and the balanced position can be obtained again.

As an embodiment of the automatic walking obstacle-crossing and obstacle-jacking machine device provided by the invention, the first ejector fork 5 is connected with a power output end of a first motor 21 and is rotated by the first motor 21, the first motor 21 is fixedly arranged at an ejector end of a first air cylinder 31, the first air cylinder 31 is vertically arranged, the first air cylinder 31 is fixedly arranged on an L-shaped seat 7, the L-shaped seat 7 is connected with the bearing frame 4 through a screw rod mechanism, the L-shaped seat 7 can reciprocate in the advancing direction of the vehicle plate 1 by the screw rod mechanism, and the bearing frame 4 can move along the direction perpendicular to the advancing direction of the vehicle plate 1.

In the present embodiment, the first ejector fork 5 is rotated on the horizontal plane by the first motor 21 to adjust the positions of the two universal balls 6, and the vertical lifting is performed by the ejection of the first cylinder 31.

The first push-top fork 5 moves along the advancing direction of the vehicle plate 1 through a screw rod mechanism, and moves perpendicular to the advancing direction through the movement of the bearing frame 4, so that the universal ball 6 can reach any position of a frame opening, and the tilting of the front side wheel 2 or the tilting of the rear side wheel 2 can be realized during pushing.

As an embodiment of the automatic walking obstacle-crossing and obstacle-jacking machine device provided by the invention, the bearing frame 4 is a U-shaped structure crossing the vehicle plate 1, two ends of the bearing frame 4 are respectively connected with the front end and the rear end of the vehicle plate 1 in a sliding manner, the bearing frame 4 moves by means of a second air cylinder 32 arranged on the vehicle plate 1, the screw mechanism comprises a screw 8 transversely connected with the bearing frame 4, a sleeve 9 is connected onto the screw 8 in a threaded manner, the L-shaped seat 7 is fixedly connected with the sleeve 9, the screw 8 rotates by means of a second motor 22, the L-shaped seat 7 is further connected with a cross bar 3510 in a sliding manner, the cross bar 10 is fixedly connected with the bearing frame 4, the cross bar 10 is parallel to the screw 8, and the cross bar 10 is used for limiting the L-shaped seat 7 to rotate around the screw 8.

The present embodiment specifically provides the structure of the supporting frame 4, the moving form of the supporting frame 4 by means of the second cylinder 32, and the means for moving the L-shaped seat 7 by the screw mechanism, which are controlled by the controller 3.

As an embodiment of the automatic walking obstacle-crossing and obstacle-jacking machine device provided by the invention, the L-shaped seat 7, the lead screw 8 and the cross bar 10 are at least two groups, and each group comprises at least two first push-jacking forks 5.

When the front wheels 2 need to cross the obstacle, the first push-top fork 5 of the front group pushes the front wheels 2 to be lifted, and when the rear wheels 2 need to cross the obstacle, the first push-top fork 5 of the rear group pushes the rear wheels 2 to be lifted, so that a group of mechanisms is not needed to move forwards and backwards to a large extent.

As an embodiment of the automatic walking obstacle-surmounting and obstacle-jacking machine device provided by the invention, the obstacle-surmounting mechanism comprises:

one end of the turnover plate 11 is rotatably connected with the vehicle plate 1, and the other end is a free end;

the bottom of the second pushing fork 12 is connected with a third air cylinder 33, the pushing direction of the third air cylinder 33 is downward, the top of the second pushing fork 12 is connected with a third motor 23, and the second pushing fork 12 rotates by means of the third motor 23;

the fourth air cylinder 34 is fixed and penetrates through the turnover plate 11, and the pushing end of the fourth air cylinder 34 is downward and is connected with the third motor 23; and

the fifth cylinder 35 is arranged on the turnover plate 11, the pushing direction is upward, the pushing end is connected with the connecting plate 13, and the connecting plate 13 is provided with a universal wheel 14.

In the present embodiment, the roll-over plate 11 has two positions, first, as shown in fig. 1, the free end is in the frame opening, at this time, when an obstacle is located above the vehicle body 1, the third cylinder 33 pushes the roll-over plate to lift the roll-over plate 11, and at the same time, the fourth cylinder 34 and the fifth cylinder 35 can also push the roll-over plate, so that the connection plate 13 drives the universal wheels 14 to continuously lift or lower, and finally the universal wheels 14 contact the obstacle, and the universal wheels 14 move along with the movement of the vehicle body 1, so as to push the obstacle away.

The other state is that the rotating shaft rotates 180 degrees, the free end of the turnover plate 11 is turned to the outer side of the vehicle plate 1, the universal wheel 14 is grounded, and the pushing end of the third cylinder 33 is located at the highest position, so that the pushing end of the third cylinder 33 is used for pushing the barrier, and the height adjustment is realized through the pushing of each cylinder. Meanwhile, in the second state, the third motor 23 can rotate to realize the rotation of the second pushing fork 12, so that the barrier can be moved.

As an embodiment of the automatic walking obstacle-surmounting and obstacle-surmounting machine device provided by the invention, two upright posts 15 which are oppositely arranged are arranged on the vehicle plate 1, the hinged end of the turnover plate 11 is connected between the two upright posts 15 through a rotating shaft, the rotating shaft is connected with the power output end of a fourth motor 24, and the turnover plate 11 is rotated by means of the fourth motor 24.

The present embodiment provides a hinged type of the turnover plate 11, and the turnover of the turnover plate 11 is realized by driving the fourth motor 24 and making the rotating shaft rotate, and the position of the turnover plate is determined by the position of the obstacle.

In an embodiment of the automatic walking obstacle-surmounting and obstacle-surmounting machine device provided by the invention, a supporting plate 16 is further arranged on the vehicle plate 1, and the supporting plate 16 is used for supporting the free end of the turnover plate 11.

In an embodiment of the automatic walking obstacle crossing and lifting machine provided by the invention, the wheel 2 is moved by a fifth motor, and the controller 3 is used for controlling the first motor 21, the second motor 22, the third motor 23, the fourth motor 24, the fifth motor, the first cylinder 31, the second cylinder 32, the third cylinder 33, the fourth cylinder 34 and the fifth cylinder 35.

In the present embodiment, the controller 3 is used to control the actions of each motor and each cylinder, so as to achieve smooth obstacle surmounting and obstacle jacking, and the controller 3 can obtain signals through a remote controller, and can manually operate the remote controller by hand.

As another embodiment of this application, the middle part of returning face plate 11 is equipped with flexible section 17, the tip of returning face plate 11 is equipped with and can inserts in returning face plate 11 and will rigid connection's inserted bar 18 is realized to the both sides plate body of flexible section 17.

In this embodiment, after the position of the turnover plate 11 is fixed, that is, the turnover plate is located at the outer side or the inner side, the inserted link 18 can be pulled out at this time, the flexible connection form does not excessively restrict the lifting of the free end, and when the position needs to be changed, the inserted link 18 is inserted to increase the strength and complete the turnover, so that the turnover is not bent due to the existence of the flexible section 17 in the turnover process.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.