CN207274808U - Stair climbing robot - Google Patents
Stair climbing robot Download PDFInfo
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- CN207274808U CN207274808U CN201721071961.7U CN201721071961U CN207274808U CN 207274808 U CN207274808 U CN 207274808U CN 201721071961 U CN201721071961 U CN 201721071961U CN 207274808 U CN207274808 U CN 207274808U
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Abstract
The utility model discloses a stair climbing robot, including housing, level walking mechanism, main motion foot mechanism, auxiliary foot mechanism and control unit；Wherein, case top is provided with objective table, for placing the cargo that need to be moved；Level walking mechanism is used for level walking and turn；Main motion foot mechanism is including being rotatably arranged in the main drive of the first main foot and the second main foot and installation of housing both sides inside housings, and auxiliary foot mechanism is including being telescopically disposed in the auxiliary drive of the first auxiliary foot and the second auxiliary foot and installation of housing tail end inside housings.Stair climbing robot provided by the utility model, during speeling stairway, is supported, fuselage steadily rises jointly by main motion foot mechanism and auxiliary foot mechanism；In level walking, by level walking mechanism supports, it is not easy to slide all in horizontal state, contained cargo in transportational process thus, it is possible to realize objective table, overall structure is simple and firm, and bearing capacity is stronger.
Description
Technical field
Field in intelligent robotics is the utility model is related to, more particularly to a kind of stair climbing machine for having the function of to transport cargo
People.
Background technology
Robot be it is a kind of programmable and multi-functional, for materials hauling, part, instrument operation machine, or in order to
Perform different tasks and there is the specialized system that can change and may be programmed action.Intelligent robot is then one and is perceiving, thinking
The machine system of effect aspect comprehensive simulated people is tieed up, shape is not necessarily as people.It is the comprehensive testing ground of artificial intelligence technology, can
Comprehensively to investigate the technology of artificial intelligence every field, their mutual relations are studied.Can also be in hostile environment
Dangerous work is engaged in instead of people, heaven is plunged into the commercial sea, battlefield operation etc. is exhibited one's skill to the full.One intelligent robot should possess tripartite
The ability in face：The ability for perceiving environment, the ability for performing certain task and exerting one's influence to environment and a perception are contacted with action
The ability got up.The fundamental difference of intelligent robot and industrial robot is, intelligent robot have perceptional function and identification,
Judgement and planning function.
At present, it is not equipped with some in the building of elevator, in order to solve the problems, such as that cargo is carried between different floors, warp
Often manual labor can be replaced using some auxiliary devices, stair climbing robot is exactly one of which.In the prior art, stair climbing
Robot is mostly using crawler type, vane type structure, and during stair climbing, its objective table can form an inclined angle
Degree, may cause contained cargo to be slid from objective table, cause damage to cargo, and for those present person, there is also potential danger
Danger.And crawler type or vane type structure no matter are used, unitary construction is all very complicated and heavier mass, and usage time is long,
Certain infringement can be caused to stair body, such as the scuffing on porcelain block surface, rupture etc., and it is required for larger driving power.
Utility model content
In order to overcome current stair climbing robot to form certain angle of inclination, goods in stair climbing process, its objective table
The problem of thing may slide from objective table, a kind of fuselage of the utility model offer steadily rises, contained cargo remains
Horizontal stair climbing robot.
In order to solve the above-mentioned technical problem, the utility model provides a kind of stair climbing robot, including housing, level land row
Walk mechanism, main motion foot mechanism, auxiliary foot mechanism and control unit；
The case top is provided with objective table, and the power module being used for robot power supply is equipped with the housing；
The level walking mechanism is arranged on the bottom of the housing；
The main motion foot mechanism include be rotatably arranged in the housing both sides the first main foot and the second main foot, with
And the main drive installed in the enclosure interior, the first main foot and the second main foot are that class is oval, the main drive
Dynamic device is sequentially connected with the described first main foot, the second main foot, for driving the described first main foot and the second main foot to rotate；
The auxiliary foot mechanism include be telescopically disposed in the housing tail end the first auxiliary foot and the second auxiliary foot,
And the auxiliary drive installed in the enclosure interior, it is the auxiliary drive and first auxiliary foot, second auxiliary
Foot is helped to be sequentially connected, for driving first auxiliary foot and the second auxiliary foot to do stretching motion；
The length of the major semiaxis of the first main foot and the second main foot is auxiliary more than or equal to first auxiliary foot and second
Help the maximum height of foot；
Described control unit is electrically connected with level walking mechanism, main drive and the auxiliary drive, for controlling
Make the working status of the level walking mechanism, main drive and auxiliary drive；
When in level walking state, first auxiliary foot and the second auxiliary foot are shunk so that its bottom is higher than described
The bottom of level walking mechanism, while the first main foot and the second main foot are maintained at horizontal level, and first master at this time
The bottom of foot and the second main foot is not less than the bottom of the level walking mechanism；
When in stair climbing state, the first auxiliary foot and the second auxiliary foot elongation makes its bottom be less than the level land
The bottom of walking mechanism, while drive the described first main foot and the second main foot to rotate.
Preferably, the auxiliary drive include the first transmission shaft, second driving shaft, the first travelling gear,
Second travelling gear, stand-by motor and pinion stand；
One end of first auxiliary foot is fixed in one end of first transmission shaft, and one end of the second driving shaft is consolidated
It is scheduled on one end of second auxiliary foot；Both the other end of first transmission shaft and the other end of the second driving shaft
In, appoint and select one and auxiliary foot motor drive connection, another one is fixed on the pinion stand；
First travelling gear is arranged on first transmission shaft, and second travelling gear is arranged on described second
On transmission shaft.
Preferably, the housing, which is located on the front end face of direction of travel, is provided with one or more than one rolling
Pearl is taken turns.
Preferably, the level walking mechanism includes arranged on the roller of housing bottom and for driving the roller
Roll to carry out the rolling motor of level walking.
Preferably, in the 4th kind of mode in the cards, the level walking mechanism is further included arranged on housing
The universal wheel of bottom, the universal wheel are arranged on the front and rear sides that the roller is located on direction of travel.
Preferably, first auxiliary foot includes first level bar and the first rotating member, the first level bar
One end be free end, its other end is connected with one end of first rotating member, the other end of first rotating member and institute
Auxiliary drive connection is stated, the auxiliary drive drives first rotating member to be rotated on vertical plane and drive speed to search
First level bar moves up and down；
Second auxiliary foot includes the second horizon bar and the second rotating member, and one end of second horizon bar is freely
End, its other end are connected with one end of second rotating member, the other end and the process auxiliary drive of first rotating member
Device connects, and the auxiliary drive drives second rotating member to be rotated on vertical plane and drive second horizon bar
Move up and down；
The first level bar and the second horizon bar are located remotely from each other and are attached at extreme higher position both in uphill process
In the both sides of the edge of the housing bottom, and its bottom is higher than the bottom of the level walking mechanism, is consequently formed described first
The integral telescopic of auxiliary foot and the second auxiliary foot moves.
Preferably, the both sides of the edge of the housing bottom, which are respectively equipped with, can accommodate the first of the first level bar
Groove and the second groove that second horizon bar can be accommodated.
Preferably, described control unit includes main control module, drive module and apart from detection module, the drive
Dynamic model block is electrically connected with the level walking mechanism, main motion foot mechanism and auxiliary foot mechanism, for controlling the level walking
The motion state of mechanism, main motion foot mechanism and auxiliary foot mechanism；
It is described to be located at apart from detection module arranged on the housing on the front end face of direction of travel, for detecting robot and building
The distance between ladder.
Preferably, described control unit further includes the obstacle avoidance module being electrically connected with the main control module, described
Obstacle avoidance module is arranged on the bottom of housing, is sent for detecting barrier, and by obstacle signal to main control module, the master control
Molding block control robot scuttles away barrier.
Preferably, described control unit further include the gyro sensor that is electrically connected with the main control module with
Obliquity sensor, the gyro sensor are arranged in housing with obliquity sensor.
The stair climbing robot that the utility model embodiment is provided, compared with prior art, its advantage is：
(1) functionally, case top is equipped with objective table, can place required freight, realizes robot and removes
The effect of work is transported, especially suitable for the carrying of express company and the occasion cargo of daily use of households, mitigates the hardship manually carried
Labor, in the handling process, the utility model device can remain cargo level and fuselage it is steady, effectively prevent goods
Thing slides in stair carrying.
(2) in configuration aspects, level walking, by level walking mechanism supports and the steady of fuselage is kept, while also may be used
Travelled forward or cornering maneuver with band mobile robot；During stair climbing robot speeling stairway, when the first main foot and
When second main foot starts to rotate, the first auxiliary foot and the second auxiliary foot also begin to do stretching routine, in the first main foot,
Two main feet, the first auxiliary foot and the second auxiliary foot contact ground after, ground is left by level walking mechanism, thus by the first main foot,
Second main foot, the first auxiliary foot and the second auxiliary foot support whole robot and keep the steady of fuselage, and by the first master
Foot and the second main foot and the frictional force zone of action mobile robot on ground travel forward.Thereby guarantee that no matter during stair climbing
Or during level walking, for its objective table all in horizontal state, overall structure is simple and firmly, bearing capacity compared with
By force.
(3) further, also there is good adaptability in complicated road conditions, can independently be avoided using obstacle avoidance module
Barrier, voluntarily plans optimal path.
Brief description of the drawings
, below will be to attached needed in embodiment in order to illustrate more clearly of the technical solution of the utility model
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the utility model, for
For those of ordinary skill in the art, without creative efforts, other can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the utility model stair climbing robot stair climbing state lower structure schematic diagram.
Fig. 2 is the utility model stair climbing robot level walking state lower structure schematic diagram.
Fig. 3 is the utility model stair climbing robot auxiliary foot structural scheme of mechanism.
Fig. 4 is the partial schematic sectional view of the utility model stair climbing robot.
Fig. 5 is schematic rear view under the utility model stair climbing robot auxiliary foot mechanism contraction state.
Fig. 6 is schematic rear view under the utility model stair climbing robot auxiliary foot mechanism extended configuration.
Fig. 7 does schematic rear view during stretching motion for the utility model stair climbing robot auxiliary foot mechanism.
Fig. 8 is the control principle drawing of the utility model stair climbing robot preferred embodiment.
Fig. 9 climbs building view one for the utility model stair climbing robot.
Figure 10 climbs building view two for the utility model stair climbing robot.
Figure 11 climbs building view three for the utility model stair climbing robot.
Figure 12 climbs building view four for the utility model stair climbing robot.
In figure：1. housing, 2. first main feet, 3. second main feet, 4. first auxiliary foots, 401. first rotating members, 402.
One horizon bar, 5. second auxiliary foots, 501. second rotating members, 502. second horizon bars, 6. level walking mechanisms, 601. rollers,
602. universal wheels, 7. balls, 8. first transmission shafts, 9. second driving shafts, 10. first travelling gears, 11. second travelling gears,
12. pinion stand, 13. main motors, 14. stand-by motors, 15. roller motors, 16. apart from detection module, 17. obstacle avoidance modules, 18. masters
Control module, 19. power modules, 20. drive modules, 21. gyro sensors and obliquity sensor.
Embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without creative efforts
All other embodiments obtained, shall fall within the protection scope of the present invention.
In addition, term " first ", " second " etc. only with describe purpose, and it is not intended that instruction or imply relatively important
Property., it is necessary to which explanation, unless otherwise clearly defined and limited, term " connection " should in the description of the utility model
The understanding of broad sense is done, for example, it may be being fixedly connected or being detachably connected or integrally connected；Can mechanically connect,
Can also be electrically connected；It can be directly connected, can also be indirectly connected by intermediary.For the ordinary skill of this area
For personnel, concrete meaning of the above-mentioned term in the utility model can be understood with concrete condition.
Referring to shown in Fig. 1 to Figure 12, the preferred embodiment in the utility model provides a kind of stair climbing robot, including：
Housing 1, level walking mechanism 6, main motion foot mechanism, auxiliary foot mechanism and control unit (not shown).Wherein main foot fortune
Motivation structure includes the first main foot 2, the second main foot 3 and main drive, and auxiliary foot mechanism includes the first auxiliary foot 4 and the second auxiliary
Foot 5.The top of housing 1 is equipped with objective table, available for freight needed for placement, the shape of the first main 2 and second main foot 3 of foot
It is class ellipse, is respectively rotatably arranged on the two sides of housing 1, under the driving of main drive, the first main foot 2
360 ° rotation movement can be done with the second main foot 3 centered on the major axis of plane and the intersection point of short axle where class ellipse.Main driving
Device includes two main motors 13, is sequentially connected respectively with the first main 2 and second main foot 3 of foot, and main motor 13, which rotates, lower drives the
One main 2 and second main foot 3 of foot rotates.
With reference to figure 5 to Fig. 7, it is opposite with walking side that the first auxiliary foot 4 and the second auxiliary foot 5 are telescopically disposed in housing 1
On upward breech face, shown in Fig. 5, under the driving of auxiliary drive, the first auxiliary foot 4 and the second auxiliary foot 5 both
Separate, do the contractile motion close to housing bottom, when contractile motion is completed, the angle α that both is formed on perpendicular is most
Greatly, equally, as shown in fig. 6, under the driving of auxiliary drive, both the first auxiliary foot 4 and the second auxiliary foot 5 can also close
Hold together, do the stretching routine away from housing bottom, the angle that final both is formed on perpendicular is 0 °, at this time the first auxiliary
4 and first auxiliary foot 5 of foot also form the height of maximum.Shown in Fig. 7, the first auxiliary foot 4 and the second auxiliary foot 5 are just located
In contractile motion or stretching routine, shown in complex chart 5 to Fig. 7, under the driving of auxiliary drive, its first auxiliary foot
4 and second auxiliary foot 5 do away from 1 bottom of housing or close to 1 bottom of housing stretching motion.First auxiliary foot 4 and second is auxiliary
Help foot 5 neither to influence to travel forward, and can play the role of aiding in the first main 2 and second main foot 3 of foot to support robot.
With reference to figure 5.When in level walking state, i.e. the first auxiliary foot 4 and 5 contractile motion of the second auxiliary foot are completed
When, the bottom of its 4 and second auxiliary foot 5 of the first auxiliary foot is higher than the bottom of level walking mechanism 6 relative to ground, by level land row
Walk the contact of mechanism 6 ground and support robot, and walking movement forward or cornering maneuver can be completed, at the same time, the
The bottom of one main 4 and second main foot 5 of foot is equally higher than the bottom of level walking mechanism 6 relative to ground, it is impossible to hinders level land row
Mechanism 6 is walked to move.
With reference to figure 6 and Fig. 7, when stair climbing robot is in stair climbing state, the first main 2 and second main foot 3 of foot starts
Rotate around center, the first auxiliary foot 4 and the second auxiliary foot 5 also begin to do stretching routine, and level walking machine 6 is remotely
Face, ground is contacted by the first main foot 2, the second main foot 3, the first auxiliary foot 4 and the second auxiliary foot 5, i.e., at this time the first main foot 2,
The bottom of second main foot 3, the first auxiliary foot 4 and the second auxiliary foot 5 is relative to 6 bottom of ground level walking mechanism, so that by
5 four one main foot 2, the second main foot 3, the first auxiliary foot 4 and the second auxiliary foot points support stair climbing robot jointly.Work as arrival
After certain altitude, ground is mainly contacted by the first main 2 and second main foot 3 of foot, before the friction with ground drives stair climbing robot
Into as shown in fig. 6, when stair climbing robot rises to peak, the first main main 3 length direction of foot of foot 2 and second is vertical
Direction, the first auxiliary foot 4 and the second auxiliary foot 5 also reach maximum height, the length of the major semiaxis of the first main 2 and second main foot 3 of foot
For degree more than or equal to the maximum height of the first auxiliary foot 4 and the first auxiliary foot 5, this is in order to avoid robot fuselage turns forward
Tiltedly, the movement of next step is influenced.
With reference to figure 3, auxiliary drive includes the first transmission shaft 8, second driving shaft 9, the first travelling gear 10, second
Travelling gear 11, stand-by motor 14 and pinion stand 12.First transmission shaft 8 is used as driving shaft, and second driving shaft 9 is driven shaft, the
One end of one transmission shaft 8 is fixed on one end of the first auxiliary foot 4, and the other end is sequentially connected with stand-by motor 14；Second driving shaft 9
One end be fixed on one end of second auxiliary foot 5, the other end is fixed on one end of pinion stand 12；The other end of pinion stand
It is fixedly mounted on by nut bolt on housing, it is easy to disassemble；First travelling gear 10 is arranged on the first transmission shaft 8, and second
Travelling gear 11 is arranged on second driving shaft 9, and under the driving of stand-by motor 14, driving shaft rotates, and drives the first auxiliary foot 4
Rotated with the first travelling gear 10, the first travelling gear 10 and the second travelling gear 11 are engaged transmission so as to pass through driven shaft
The second auxiliary foot 5 is driven to rotate so that the first auxiliary foot 4 and the second auxiliary foot 5 can do stretching motion.
And be used as in another equivalent integers, second driving shaft 9 can also be driving shaft, and the first transmission shaft 8 is driven
Axis.One end of first transmission shaft 8 is fixed on one end of the first auxiliary foot 4, and the other end is with being fixed on one end of pinion stand 12；The
One end of second auxiliary foot 5 is fixed in one end of two transmission shafts 9, and the other end is sequentially connected with stand-by motor 14；Pinion stand
The other end be fixedly mounted on by nut bolt on housing, it is easy to disassemble；First travelling gear 10 is arranged on the first transmission shaft 8
On, the second travelling gear 11 is arranged on second driving shaft 9, and under the driving of stand-by motor 14, driving shaft rotates, and drives second
5 and second travelling gear 11 of auxiliary foot rotates, and the second travelling gear 11 and the first travelling gear 10 are engaged transmission so as to logical
Crossing driven shaft drives the first auxiliary foot 4 to rotate so that the first auxiliary foot 4 and the second auxiliary foot 5 do stretching motion.
In the present embodiment, with reference to figure 1 and Fig. 2, housing 1 is additionally provided with three ball wheels in the plane of direction of travel front end
8, the removable connection with plane can be realized by modes such as screw thread, bolt, clampings.During stair climbing, taken turns using ball 8
Close to the diving plane of ladder, can reach the purpose that auxiliary building climbing ladder robot smoothly rises, avoid housing forward end face with
Stepped vertical face directly produces friction, damages housing.
With reference to figure 2 and Fig. 4, level walking mechanism 6 includes arranged on the roller 601 of 1 bottom of housing and for driving the rolling
Wheel rolls the rolling motor 15 for carrying out level walking.As shown in the figure, 601 quantity of roller is 2, set and 1 bottom of housing respectively
The left and right sides, its bottom is less than the bottom of housing 1, for walking in the horizontal plane, by controlling two 601 rotating speeds of roller,
The turn of robot can be achieved, meanwhile, the front and back position in 1 bottom of housing is additionally provided with universal wheel 602, its bottom and roller
601 is concordant, and under level walking and inactive state, stair climbing robot is supported jointly by roller 601 and universal wheel 602, and
Keep balance.In addition, universal wheel 602 also can auxiliary wheel 601 in level walking and turn, make its action more smooth.
With reference to figure 3, the first auxiliary foot 4 includes 402 and first rotating member 401 of first level bar, and the one of first level bar 402
Hold and be used as free end, one end of its other end and the first rotating member 401 is done by rotatable axis connection in the first auxiliary foot 4
During stretching motion, first level bar 402 can do rolling movement on the ground, reduce by the first auxiliary foot 4 and the friction on ground is made
Into infringement, the other end of the first rotating member 401 is connected with auxiliary drive, under auxiliary drive driving, first turn
Moving part 401 can rotate on vertical plane and drive first level bar 402 to move up and down；Likewise, the second auxiliary foot 5 includes
Second horizon bar 502 and the second rotating member 501, one end of the second horizon bar 502 are rotated as free end, its other end and second
One end of part 501 is by rotatable axis connection, and when the second auxiliary foot 5 does stretching motion, the second horizon bar 502 can be on ground
Do rolling movement on face, reduce the first auxiliary foot 5 and infringement caused by the friction on ground, the other end of the second rotating member 501 with
Auxiliary drive connects, and under auxiliary drive driving, the second rotating member 501 can rotate on vertical plane and drive the
Two horizon bars 502 move up and down.
With reference to figure 3 and Fig. 5, the first auxiliary foot 4 and the second auxiliary foot 5 are when overall shrinkage is moved, 402 He of first level bar
Second horizon bar 502 is located remotely from each other both in uphill process and the both sides of the edge of 1 bottom of housing is attached at extreme higher position,
In order not to influence level walking mechanism kinematic, its bottom necessarily be greater than the bottom of level walking mechanism 6；Two in 1 bottom of housing
Lateral edges are respectively equipped with the first groove and the second groove, when the first auxiliary foot 4 and the second auxiliary foot 5 complete contractile motion, the
One horizon bar 402 and the second horizon bar 502, which are placed, to be respectively placed in the first groove and the second groove, makes its structure more excellent
Change, seem on the whole more beautiful.
With reference to figure 3 and Fig. 6, when the first auxiliary foot 4 and the second auxiliary foot 5 do overall stretching routine, 402 He of first level bar
Second horizon bar 502 is close to each other during decline, this state is by the first main foot 2, the second main foot 3,4 and of the first auxiliary foot
Second auxiliary foot 5 supports whole robot jointly, so 402 and second horizon bar 502 of first level bar is in extreme lower position,
Its bottom is less than the bottom of level walking mechanism 6, and both 402 and second horizon bar 502 of first level bar was in extreme lower position, by it
Bottom contacts ground, and the bottom of level walking mechanism 6 is away from ground.
Fig. 8 is the control unit schematic diagram of the utility model, as shown in the figure, in the present embodiment, the utility model is climbed
The control unit of stair robot include power module 19, main control module 18, drive module 20, apart from detection module 16, keep away
Barrier module 17, gyro sensor and obliquity sensor 21, power module 19 are electrically connected with main control module 18, wherein master control
Molding block 18 received in signal and processing apart from detection module 16, obstacle avoidance module 17, gyroscope and obliquity sensor 21
Signal, corresponding control instruction is sent according to handling result to drive module 20.Housing 1 is arranged on apart from detection module 16 to be located at
On the front end face of direction of travel, for detecting the distance between robot and stair, transmission range signal to main control module 18,
Main control module 18 be made whether carry out speeling stairway decision, when detect need carry out speeling stairway action when, master control
Molding block 18 starts signal its robot is made corresponding action to drive module 20.Drive module 20 and level walking machine
Roller motor 15, the main motor 13 of main motion foot mechanism and the stand-by motor 14 of auxiliary foot mechanism in structure 6 are electrically connected, for controlling
Make the motion state of the level walking mechanism, main motion foot mechanism and auxiliary foot mechanism.
Gyro sensor and obliquity sensor 21 are the instruments of common measurement angular speed and acceleration, to acceleration and
Angular speed carries out double integral, you can the angle for solving the distance of robot movement and turning over, tries to achieve the position of mobile robot
Coordinate, the two is typically all that complementation uses, and the signal of gyro sensor and obliquity sensor 21 is used for adjusting the position of center of gravity
Put, so that the stair climbing robot keeps balance under different conditions.The obstacle avoidance module 17 of 1 bottom of housing is arranged on, can be with
Ultrasonic wave module, for detect walking front whether barrier, its signal is sent in main control module 18 and is handled, is made
The decision of cut-through thing.For whole control system using power module 19 as power supply energy, which can include
Storage battery, alternatively, it is also possible to replace power module 19 using wireless power, power is provided using wireless power technology for robot
The energy.
In this implementation, with reference to Fig. 9 to Figure 12, one section step process of stair climbing robot climbing is broadly divided into four parts：
(1) robot begins preparing for the stage.
As shown in figure 9, when stair climbing robot is walked to ladder, apart from the detection of detection module 16 and the vertical plane of ladder
When reaching certain distance, main control module 18 sends signal, driving of the first main 2 and second main foot 3 of foot in main drive
Under, begin preparing for doing the rotary motion around center, at the same time, the first auxiliary foot 4 and the second auxiliary foot 5 are also filled in process auxiliary drive
Under the driving put, it is ready for making stretching routine.
(2) robot ascent stage.
As shown in Figure 10, the first main foot 2, the second main foot 3, the first auxiliary foot 4 and the second auxiliary foot 5 start to contact ground,
Level walking mechanism 6 is supported whole away from ground by the first main foot 2, the second main foot 3, the first auxiliary foot 4 and the second auxiliary foot 5
A robot, when the first main foot 2, the second main foot 3 rotate to certain angle, robot the first main foot 2, the second main foot 3 with
The frictional force on ground drives the trend for having and taking exercises forward, and the ball wheel 7 of 1 front end of housing encounters the vertical plane of ladder, ball wheel 7
Rolling movement is done with stepped vertical face, auxiliary robot rises overally.
(3) robot rises to the peak stage.
As shown in figure 11, when robot reaches peak, the first main main 3 length direction of foot of foot 2 and second is Vertical Square
To the first auxiliary foot 4 and the second auxiliary foot 5 also reach maximum height, and the bottom of level walking mechanism 6 is higher than next section ladder
Horizontal plane, at this time, also under the drive of the first main 2 and second main foot 3 of foot, robot integrally travels forward.
(4) robot resets into beginning state phase.
As shown in figure 12, robot integrally continues to travel forward, positioned at 1 bottom front of housing universal wheel 602 first
The horizontal plane of next section ladder is touched, then roller 601 also touches a level for saving ladder in level walking mechanism 6
Face, under the driving of roller motor, band mobile robot integrally travels forward.At this time, the first main foot 2, the second main foot 3, first are auxiliary
4 and second auxiliary foot 5 of foot is helped to initially move off ground, the first main foot 2, the second main foot 3 are slowly rotated and be in a horizontal position, the first auxiliary
4 and second auxiliary foot 5 of foot also carries out contractile motion, and last 401 and second horizon bar 501 of first level bar is positioned over housing bottom
In the corresponding groove in both sides of the edge, with beginning preparing for that stage condition is identical, the movement of a cycle is completed.
The movement of summary four-stage, stair climbing robot are so completed by circulating the movement of this four-stage
The climbing of the another section ladder of one section, reaches the final purpose of robot stair climbing.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It can still modify the technical solution described in foregoing embodiments, or which part technical characteristic is carried out etc.
With replacement；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the utility model technology
The spirit and scope of scheme.
Claims (10)
- A kind of 1. stair climbing robot, it is characterised in that including：Housing, level walking mechanism, main motion foot mechanism, auxiliary foot Mechanism and control unit；The case top is provided with objective table, and the power module being used for robot power supply is equipped with the housing；The level walking mechanism is arranged on the bottom of the housing；The main motion foot mechanism includes being rotatably arranged in the first main foot and the second main foot, Yi Jian of the housing both sides Mounted in the main drive of the enclosure interior, the first main foot and the second main foot are class ellipse, the main driving dress Put and be sequentially connected with the described first main foot, the second main foot, for driving the described first main foot and the second main foot to rotate；The auxiliary foot mechanism include be telescopically disposed in the housing tail end the first auxiliary foot and the second auxiliary foot and Installed in the auxiliary drive of the enclosure interior, the auxiliary drive and first auxiliary foot, the second auxiliary foot It is sequentially connected, for driving first auxiliary foot and the second auxiliary foot to do stretching motion；The length of the major semiaxis of the first main foot and the second main foot is greater than or equal to first auxiliary foot and the second auxiliary foot Maximum height；Described control unit is electrically connected with level walking mechanism, main drive and the auxiliary drive, for controlling State the working status of level walking mechanism, main drive and auxiliary drive；When in level walking state, first auxiliary foot and the second auxiliary foot are shunk so that its bottom is higher than the level land The bottom of walking mechanism, while the first main foot and the second main foot are maintained at horizontal level, and at this time the described first main foot and The bottom of second main foot is not less than the bottom of the level walking mechanism；When in stair climbing state, the first auxiliary foot and the second auxiliary foot elongation makes its bottom be less than the level walking The bottom of mechanism, while drive the described first main foot and the second main foot to rotate.
- 2. stair climbing robot according to claim 1, it is characterised in that the auxiliary drive includes the first transmission Axis, second driving shaft, the first travelling gear, the second travelling gear, stand-by motor and pinion stand；One end of first auxiliary foot is fixed in one end of first transmission shaft, and one end of the second driving shaft is fixed on One end of second auxiliary foot；In both the other end of first transmission shaft and the other end of the second driving shaft, appoint Select one to be sequentially connected with the auxiliary foot motor, another one is fixed on the pinion stand；First travelling gear is arranged on first transmission shaft, and second travelling gear is arranged on second transmission On axis.
- 3. stair climbing robot according to claim 1, it is characterised in that the housing is located at the front end face of direction of travel On be provided with one or more than one ball wheel.
- 4. stair climbing robot according to claim 1, it is characterised in that the level walking mechanism includes being arranged on housing The roller of bottom and for driving the roller to roll to carry out the rolling motor of level walking.
- 5. stair climbing robot according to claim 4, it is characterised in that the level walking mechanism is further included arranged on shell The universal wheel of body bottom, the universal wheel are arranged on the front and rear sides that the roller is located on direction of travel.
- 6. stair climbing robot according to claim 1, it is characterised in thatFirst auxiliary foot includes first level bar and the first rotating member, and one end of the first level bar is free end, its The other end is connected with one end of first rotating member, and the other end and the auxiliary drive of first rotating member connect Connect, the auxiliary drive drives first rotating member to be rotated on vertical plane and drive the first level bar to lift Movement；Second auxiliary foot includes the second horizon bar and the second rotating member, and one end of second horizon bar is free end, its Other end is connected with one end of second rotating member, and the other end and the auxiliary drive of first rotating member connect Connect, the auxiliary drive drives second rotating member to be rotated on vertical plane and drive second horizon bar to lift Movement；The first level bar and the second horizon bar are located remotely from each other both in uphill process and institute are attached at extreme higher position The both sides of the edge of housing bottom are stated, and its bottom is higher than the bottom of the level walking mechanism, is consequently formed first auxiliary The integral telescopic of foot and the second auxiliary foot moves.
- 7. stair climbing robot according to claim 6, it is characterised in that the both sides of the edge of the housing bottom are set respectively There are the first groove that can accommodate the first level bar and the second groove that second horizon bar can be accommodated.
- 8. stair climbing robot according to claim 1, it is characterised in that described control unit include main control module, Drive module and apart from detection module, the drive module and the level walking mechanism, main motion foot mechanism and auxiliary foot machine Structure is electrically connected, for controlling the level walking mechanism, main motion foot mechanism and the motion state of auxiliary foot mechanism；It is described to be located at apart from detection module arranged on the housing on the front end face of direction of travel, for detect robot and stair it Between distance.
- 9. stair climbing robot according to claim 8, it is characterised in that described control unit further includes and the master control The obstacle avoidance module that molding block is electrically connected, the obstacle avoidance module are arranged on the bottom of housing, believe for detecting barrier, and by barrier Number send to main control module, the main control module control robot scuttles away barrier.
- 10. stair climbing robot according to claim 8, it is characterised in that described control unit further includes and the master The gyro sensor and obliquity sensor that control module is electrically connected, the gyro sensor are arranged on housing with obliquity sensor It is interior.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721071961.7U CN207274808U (en) | 2017-08-24 | 2017-08-24 | Stair climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721071961.7U CN207274808U (en) | 2017-08-24 | 2017-08-24 | Stair climbing robot |
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| CN207274808U true CN207274808U (en) | 2018-04-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107521576A (en) * | 2017-08-24 | 2017-12-29 | 广州南洋理工职业学院 | One kind can ground running and stair climbing robot |
| CN108748148A (en) * | 2018-06-04 | 2018-11-06 | 常州信息职业技术学院 | A kind of intelligence climbing robot intelligent electric control system and its control method |
| CN109367638A (en) * | 2018-10-30 | 2019-02-22 | 贵州航天天马机电科技有限公司 | In one kind go downstairs handling device |
| CN111387882A (en) * | 2020-04-15 | 2020-07-10 | 马俊 | Floor sweeping robot with stair climbing function, connecting structure and electromagnet |
| CN113044132A (en) * | 2021-03-25 | 2021-06-29 | 华南理工大学广州学院 | Multi-foot rotating balance robot and control method |
| CN115140480A (en) * | 2022-08-05 | 2022-10-04 | 杭州智灵捷机器人有限公司 | Prevent robot for storage that emptys |
| KR20220162310A (en) * | 2021-06-01 | 2022-12-08 | 주식회사 힐스로보틱스 | Autonomous driving apparatus for parcle delivery |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107521576A (en) * | 2017-08-24 | 2017-12-29 | 广州南洋理工职业学院 | One kind can ground running and stair climbing robot |
| CN107521576B (en) * | 2017-08-24 | 2023-09-05 | 广州南洋理工职业学院 | Robot capable of walking on ground and climbing stairs |
| CN108748148A (en) * | 2018-06-04 | 2018-11-06 | 常州信息职业技术学院 | A kind of intelligence climbing robot intelligent electric control system and its control method |
| CN108748148B (en) * | 2018-06-04 | 2021-03-16 | 常州信息职业技术学院 | Intelligent electrical control system for intelligent climbing robot and control method thereof |
| CN109367638A (en) * | 2018-10-30 | 2019-02-22 | 贵州航天天马机电科技有限公司 | In one kind go downstairs handling device |
| CN111387882A (en) * | 2020-04-15 | 2020-07-10 | 马俊 | Floor sweeping robot with stair climbing function, connecting structure and electromagnet |
| CN111387882B (en) * | 2020-04-15 | 2021-10-29 | 蔚蓝计划(北京)科技有限公司 | Floor sweeping robot with stair climbing function, connecting structure and electromagnet |
| CN113044132A (en) * | 2021-03-25 | 2021-06-29 | 华南理工大学广州学院 | Multi-foot rotating balance robot and control method |
| KR20220162310A (en) * | 2021-06-01 | 2022-12-08 | 주식회사 힐스로보틱스 | Autonomous driving apparatus for parcle delivery |
| KR102602508B1 (en) * | 2021-06-01 | 2023-11-15 | 주식회사 힐스로보틱스 | Autonomous driving apparatus for parcle delivery |
| CN115140480A (en) * | 2022-08-05 | 2022-10-04 | 杭州智灵捷机器人有限公司 | Prevent robot for storage that emptys |
| CN115140480B (en) * | 2022-08-05 | 2023-07-04 | 井松机器人(杭州)有限公司 | Anti-toppling robot for storage |
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