CN103359198A - All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method - Google Patents

Abstract

The present invention provides a kind of all-round horizontal attitude stair climbing robot, comprising a lower platform and an upper platform above it, at least two sets of lower platform lifting mechanisms are provided below the lower platform to drive it up and down, and a lower platform is provided below the upper platform. There are at least four sets of upper table lifting mechanisms that drive it up and down, which is characterized in that: the lower table and the upper table are staggered back and forth in the horizontal direction, a supporting rotating plate is provided between the lower table and the upper table, and a linear movement unit is provided at the bottom of the supporting rotating plate , the bottom of the linear moving unit is arranged on the lower table, and a rotating mechanism is arranged on the upper table, and the rotating mechanism is fixedly connected with the supporting rotating plate. The present invention also provides a posture adjustment method, a zero-radius steering method, a stair climbing method and a straight-line walking method of the above-mentioned robot. The invention overcomes the disadvantages of the prior art, is suitable for various ground conditions, can flexibly realize zero-radius turning at any angle, has good maneuverability, simple structure and exquisite design.

Description

Omni-directional horizontal attitude stair-climbing robot and zero-radius turning and stair-climbing method

technical field

The invention relates to a stair-climbing robot with an omnidirectional horizontal posture, a zero-radius turning method for the robot, a posture adjustment method and a stair-climbing method, and belongs to the technical field of walking robots and methods thereof.

Background technique

The existing wheeled robot can produce ups and downs in the process of climbing stairs. In order to overcome the problems referred to above, those skilled in the art have also developed some lifting mechanism (leg) formula robots that are specially used for climbing stairs. Steering function makes its practical use very limited and cannot be popularized on a large scale.

Contents of the invention

The technical problem to be solved by the present invention is to provide a robot and method that can climb stairs and overcome obstacles; maintain a level during the movement of the load; can turn with zero radius and have good steering maneuverability.

In order to solve the above-mentioned technical problems, a technical solution of the present invention is to provide a kind of all-round horizontal attitude stair-climbing robot, which includes a lower platform and an upper platform above it, and at least two groups of lower platforms are provided below the lower platform to drive it up and down. The table lifting mechanism is provided with at least four sets of upper table lifting mechanisms under the upper table to drive it up and down. plate, the bottom of the supporting rotating plate is provided with a linear moving unit, the bottom of the linear moving unit is arranged on the lower table, and a rotating mechanism is arranged on the upper table, and the rotating mechanism is fixedly connected with the supporting rotating plate.

Preferably, the lower platform and the upper platform are staggered back and forth in the horizontal direction by a distance not greater than 1/2 of the length of the upper platform.

Another technical solution of the present invention is to provide a posture adjustment method of the above robot, characterized in that the steps are:

Step 1. Extend the lifting mechanism of the upper table, so that the lifting mechanism of the lower table is in a suspended state, turn the rotating mechanism, and the lower table rotates at a certain angle relative to the upper table;

Step 2. When the robot is in a stable state, extend the lifting mechanism of the lower table or retract the lifting mechanism of the upper table, so that the lifting mechanism of the upper table is in a suspended state, turn the rotating mechanism, and the upper table will rotate relative to the lower table at the same angle as in step 1 Afterwards, the attitude adjustment of the robot is realized.

Another technical solution of the present invention is to provide a zero-radius steering method for the above-mentioned robot, which is characterized in that the steps are: when the above-mentioned robot is in a static state, extend the upper table lifting mechanism so that the lower table lifting mechanism is suspended state; then, through the rotating mechanism, the entire lower platform is rotated by a corresponding angle to realize the steering.

Another technical solution of the present invention is to provide a zero-radius steering method for the above-mentioned robot, which is characterized in that the steps are: when the above-mentioned robot is in a static state, retract the upper table lifting mechanism or extend the lower table lifting mechanism, The lifting mechanism of the upper table is in a suspended state; then, the upper table is turned by a corresponding angle through the rotating mechanism to realize the steering.

Another technical solution of the present invention provides a method for climbing stairs of the above-mentioned robot, characterized in that the steps are:

Step 1, adjust the posture of the robot as claimed in claim 1, so that the upper and lower platforms of the robot are in a parallel state, and the axis of the linear moving unit of the robot is facing the platform;

Step 2. The lower table lifting mechanism is retracted and the upper table lifting mechanism is stretched out to the appropriate position. The linear movement unit drives the lower table to advance in a straight line for a certain distance. The first set of lifting mechanisms on the lower table stretches out against the ground, and the two sets of upper table lifting mechanisms at the front end are retracted to an appropriate position. The linear movement unit drives the upper table to advance for a certain distance, and the two sets of upper table lifting mechanisms on the front end rest on the steps. ;

Step 3. The lifting mechanism of the upper table is stretched out to an appropriate position, and the linear movement unit drives the lower table to advance in a straight line for a certain distance. Stretch out against the ground, the two sets of upper table lifting mechanisms at the front end are retracted to an appropriate position, and the linear movement unit drives the upper table to advance for a certain distance, and the two sets of upper table lifting mechanisms at the front end rest on the next step;

Step 4. The lifting mechanism of the upper table is stretched out to an appropriate position, and the linear movement unit drives the lower table to advance in a straight line for a certain distance. The lifting mechanism stretches out against the ground of the first step mentioned in step 2, and the two sets of upper table lifting mechanisms at the front end are retracted to an appropriate position, and the linear movement unit drives the upper table to advance for a certain distance, The lifting mechanism rests on the next step, and the two groups of upper platform lifting mechanisms at the rear end are against the ground of the first step described in step 2;

Step 5. Repeat steps 2 to 4 until the robot has climbed all the steps.

Preferably, the advancing stroke of the upper table and the lower table is no more than 1/2 of the length of the upper table and the lower table.

Another technical solution of the present invention is to provide a straight-line walking method for the above-mentioned robotic robot, characterized in that the steps are:

Step 1. When the above-mentioned robot is in a stable state, the lifting mechanism of the upper table is stretched out, and the lifting mechanism of the lower table is in a suspended state;

Step 2. The lower table moves straight forward for a certain stroke through the linear moving unit;

Step 3. The lifting mechanism of the lower table is stretched out until its bottom is flush with the bottom of the lifting mechanism of the upper table; until its bottom is flush with the bottom of the lower platform lifting mechanism;

Step 4. The lifting mechanism of the lower table is put away, and the lifting mechanism of the lower table is in a suspended state;

Step 5. Return to step 2 and repeat steps 2 to 4 until the robot moves to the set position.

The invention realizes the robot's forward and backward walking or the movement of going up and down the stairs through the alternate lifting of the upper and lower platform lifting mechanisms and the movement of the linear moving unit; and realizes the steering function of the robot through the rotation cooperation of the upper and lower platform lifting and rotating mechanisms. When the robot walks or climbs stairs, the upper and lower tables are driven by the linear movement unit, and its stroke is not more than 1/2 of the length of the table, so as to ensure that the center of gravity of the robot always falls within the support range of the lifting mechanism.

The invention overcomes the disadvantages of the prior art, is suitable for various ground conditions, can flexibly realize zero-radius turning at any angle, has good maneuverability, simple structure and exquisite design.

Description of drawings

Fig. 1 is the mechanism schematic diagram (side view) of a kind of all-round horizontal posture climbing robot provided by the present invention;

Fig. 2 is a schematic diagram (front view) of a robot mechanism for climbing stairs in an all-round horizontal posture;

Fig. 3 is the steering schematic diagram (top view) of the climbing robot with omni-directional horizontal attitude;

Fig. 4 is a schematic diagram of walking of the climbing robot with a full range of horizontal postures;

Figure 5A1 to Figure 5A14 are the schematic diagrams of the climbing robot with omni-directional horizontal attitude.

Detailed ways

In order to make the present invention more comprehensible, preferred embodiments are described in detail below with accompanying drawings.

With reference to Fig. 1 and Fig. 2, a kind of all-round horizontal posture stair-climbing robot provided by the present invention comprises a lower platform 5 and an upper platform 3 above it, and two groups or four groups are arranged below the lower platform 5 to drive it up and down. The lower table lifting mechanism 2 is provided with four sets of upper table lifting mechanisms 1 that drive it to lift below the upper table 3, the lower table 5 and the upper table 3 are staggered back and forth in the horizontal direction, and the lower table 5 and the upper table 3 are arranged between the lower table 5 and the upper table 3. There is a supporting rotating plate 4, the bottom of the supporting rotating plate 4 is provided with a linear moving unit 6, the bottom of the linear moving unit 6 is arranged on the lower table 5, and the upper table 3 is provided with a rotating mechanism 7, the rotating mechanism 7 is connected with the supporting rotating plate 4 Fixed connection. The profiles of the lower table 5 and the upper table 3 are square to ensure the all-round characteristics of the robot.

The main function of the robot provided by the present invention is the function of climbing over obstacles and climbing stairs. The up and down movement of the robot is realized through the alternate lifting of the lower table lifting mechanism 2 and the upper table lifting mechanism 1; the linear movement unit 6 is driven to realize the movement of the robot in the front and rear directions. ; Through the rotation function of the rotation mechanism 7, the rotation of the driving direction of the linear mobile unit is realized, thereby realizing the steering function of the robot.

In conjunction with Fig. 3, a kind of all-round horizontal posture stair-climbing robot provided by the present invention has two kinds of turning methods, wherein the steps of one turning method are:

After the robot is in a static state, it stretches out the upper table lifting mechanism 1, so that the lower table lifting mechanism 2 is in a suspended state; then, the lower table 5 is rotated at a corresponding angle by the rotating mechanism 7 to realize turning.

The steps of another steering method are as follows: when the robot is in a static state, put away the upper table lifting mechanism 1 or extend the lower table lifting mechanism 2, so that the upper table lifting mechanism 1 is in a suspended state; The table top 3 is rotated at a corresponding angle as a whole to realize turning.

When it is necessary to turn to 90°, 180°, 270°, or 360°, since the lower table 5 and the upper table 3 are regular quadrilaterals, it is only necessary to rotate the lower table 5 to the corresponding position; if it is not the above angle, the lower table 5 is rotated The corresponding angle corresponds to the relative angle of rotation of the upper table 3 to realize steering and adjustment at any angle.

The posture adjustment method of a kind of robot provided by the present invention, its steps are:

Step 1. Extend the upper table lifting mechanism 1, so that the lower table lifting mechanism 2 is in a suspended state, turn the rotating mechanism 7, and the lower table 5 rotates at a certain angle relative to the upper table 3;

Step 2. When the robot is in a stable state, extend the lower table lifting mechanism 2 or retract the upper table lifting mechanism 1, so that the upper table lifting mechanism 1 is in a suspended state, turn the rotating mechanism 7, and the upper table 3 rotates relative to the lower table 5 Adjust the attitude of the robot after the same angle as in step 1.

In conjunction with Fig. 4, the linear walking method of a kind of robot provided by the present invention, its steps are:

Step 1. When the robot is in a stable state, the upper table lifting mechanism 1 is stretched out, and the lower table lifting mechanism 2 is in a suspended state;

Step 2, the lower table 5 advances in a straight line through the linear moving unit 6 for a stroke;

Step 3. The lower table lifting mechanism 2 stretches out until its bottom is flush with the bottom of the upper table lifting mechanism 1; the upper table lifting mechanism 1 is retracted, and the upper table lifting mechanism 1 is in a suspended state; The table lifting mechanism 1 stretches out until its bottom is flush with the bottom of the lower table lifting mechanism 2;

Step 4, the lower table lifting mechanism 2 is put away, and the lower table lifting mechanism 2 is in a suspended state;

Step 5. Return to step 2 and repeat steps 2 to 4 until the robot moves to the set position.

Combining Figures 5A1 to 5A14, a climbing method for the above-mentioned robot is characterized in that the steps are:

Step 1. Adjust the posture of the robot so that the upper platform 3 and the lower platform 5 of the robot are in a parallel state, and the axis of the linear moving unit 6 of the robot is facing the platform;

Step 2. The lower table lifting mechanism 2 is put away and the upper table lifting mechanism 1 is stretched out to an appropriate position. The linear movement unit 6 drives the lower table 5 to advance in a straight line for a certain distance, and a group of lower table lifting mechanisms 2 at the front end rest on the steps. A group of lower table lifting mechanisms 2 located at the rear end stretch out against the ground, two groups of upper table lifting mechanisms 1 located at the front end are retracted to an appropriate position, and the linear movement unit 6 drives the upper table 3 to advance for a certain stroke, and the two groups located at the front end The upper table lifting mechanism 1 of the group rests on the steps;

Step 3. The upper table lifting mechanism 1 stretches out to an appropriate position, and the linear movement unit 6 drives the lower table 5 to advance in a straight line for a certain distance. The lower table lifting mechanism 2 stretches out against the ground, and the two sets of upper table lifting mechanisms 1 located at the front end are retracted to an appropriate position, and the upper table 3 is driven by the linear movement unit 6 to advance for a certain distance. rest on the next step;

Step 4. The upper table lifting mechanism 1 stretches out to an appropriate position, and the linear movement unit 6 drives the lower table 5 to advance in a straight line. A group of lower table lifting mechanisms 2 located at the front end rest on the next step. A group of lower platform lifting mechanisms 2 protrude against the ground of the first step mentioned in step 2, two groups of upper platform lifting mechanisms 1 located at the front end are retracted to an appropriate position, and the linear movement unit 6 drives the upper platform 3 to advance a certain distance , the two groups of upper table lifting mechanisms 1 located at the front end rest on the next step, and the two groups of upper table lifting mechanisms 1 located at the rear end are against the ground of the first step described in step 2;

Step 5. Repeat steps 2 to 4 until the robot has climbed all the steps.

When climbing stairs and overcoming obstacles, the lower platform 5 is driven by the linear movement unit 6 and the upper platform 3 is staggered by 1/2 stroke, so that when the upper and lower platforms move relative to each other, the upper platform 3 is always kept within the support section of the lower platform 5, thereby The center of gravity of the robot will not be unstable.

Claims (8)

1. comprehensive horizontal attitude stair climbing robot, the upper table surface (3) that comprises following table (5) and the side of being located thereon, be provided with at least two group following table lifting mechanisms (2) that drive its lifting in the below of following table (5), be provided with at least four group upper table surface lifting mechanisms (1) that drive its lifting in the below of upper table surface (3), it is characterized in that: following table (5) staggers in the horizontal direction with upper table surface (3), between following table (5) and upper table surface (3), be provided with support rotating plate (4), support rotating plate (4) bottom is provided with traveling priority unit (6), the bottom of traveling priority unit (6) is located on the following table (5), be provided with rotating mechanism (7) at upper table surface (3), rotating mechanism (7) is captiveed joint with support rotating plate (4).

2. a kind of comprehensive horizontal attitude stair climbing robot as claimed in claim 1 is characterized in that: described following table (5) staggers in the horizontal direction with described upper table surface (3) and is not more than the distance of 1/2 upper table surface (3) length.

3. the attitude adjusting method of robot as claimed in claim 1 is characterized in that, step is:

Step 1, stretch out upper table surface lifting mechanism (1), thereby so that following table lifting mechanism (2) is in vacant state, rotate rotating mechanism (7), following table (5) turns an angle with respect to upper table surface (3);

Step 2, after robot is in stabilized conditions, stretch out following table lifting mechanism (2) or pack up upper table surface lifting mechanism (1), so that upper table surface lifting mechanism (1) is in vacant state, rotate rotating mechanism (7), upper table surface (3) with respect to following table (5) rotate with step 1 in the adjustment of realization robot pose after the identical angle.

4. no-radius forward method of robot as claimed in claim 1, it is characterized in that, step is: after robot as claimed in claim 1 remains static, stretch out upper table surface lifting mechanism (1), so that following table lifting mechanism (2) is in vacant state; Then, make following table (5) unitary rotation respective angles by rotating mechanism (7), realize turning to.

5. no-radius forward method of robot as claimed in claim 1, it is characterized in that, step is: after robot as claimed in claim 1 remains static, pack up upper table surface lifting mechanism (1) or stretch out following table lifting mechanism (2), so that upper table surface lifting mechanism (1) is in vacant state; Then, make upper table surface (3) unitary rotation respective angles by rotating mechanism (7), realize turning to.

6. the building method of climbing of robot as claimed in claim 1 is characterized in that, step is:

Step 1, adjust the as claimed in claim 1 attitude of robot, make the upper table surface (3) of robot be in parallel state with following table (5), and with the axis of the traveling priority unit (6) of robot over against tower;

Step 2, following table lifting mechanism (2) is packed up and upper table surface lifting mechanism (1) extend out to the appropriate location, drive following table (5) straight ahead LAP by traveling priority unit (6), the one group of following table lifting mechanism (2) that is positioned at front end rests on the step, the one group of following table lifting mechanism (2) that is positioned at the rear end stretches out and props up ground, the two groups of upper table surface lifting mechanisms (1) that are positioned at front end are packed up to the appropriate location, drive upper table surfaces (3) LAP that advances by traveling priority unit (6), the two groups of upper table surface lifting mechanisms (1) that are positioned at front end rest on the step;

Step 3, upper table surface lifting mechanism (1) extend out to the appropriate location, drive following table (5) straight ahead LAP by traveling priority unit (6), the one group of following table lifting mechanism (2) that is positioned at front end rests on the next stage step, the one group of following table lifting mechanism (2) that is positioned at the rear end stretches out and props up ground, the two groups of upper table surface lifting mechanisms (1) that are positioned at front end are packed up to the appropriate location, drive upper table surfaces (3) LAP that advances by traveling priority unit (6), the two groups of upper table surface lifting mechanisms (1) that are positioned at front end rest on the next stage step;

Step 4, upper table surface lifting mechanism (1) extend out to the appropriate location, drive following table (5) straight ahead LAP by traveling priority unit (6), the one group of following table lifting mechanism (2) that is positioned at front end rests on the next stage step again, the one group of following table lifting mechanism (2) that is positioned at the rear end stretches out the ground that props up the step of one-level described in the step 2, the two groups of upper table surface lifting mechanisms (1) that are positioned at front end are packed up to the appropriate location, drive upper table surfaces (3) LAP that advances by traveling priority unit (6), the two groups of upper table surface lifting mechanisms (1) that are positioned at front end rest on the next stage step again, and the two groups of upper table surface lifting mechanisms (1) that are positioned at the rear end prop up the ground of the step of one-level described in the step 2;

Step 5, repeating step 2 are to step 4 until robot has been climbed all steps.

7. the building method of climbing of a kind of robot as claimed in claim 6 is characterized in that, the stroke that described upper table surface (3) and described following table (5) advance is not more than 1/2 of upper table surface (3) and following table (5) length.

8. the straight line moving method of robot as claimed in claim 1 is characterized in that, step is:

Step 1, after robot as claimed in claim 1 is in stabilized conditions, upper table surface lifting mechanism (1) stretches out, following table lifting mechanism (2) is in vacant state;

Step 2, following table (5) are by traveling priority unit (6) straight ahead LAP;

Step 3, following table lifting mechanism (2) stretch out until its bottom flushes with upper table surface lifting mechanism (1) bottom; Upper table surface lifting mechanism (1) is packed up, and upper table surface lifting mechanism (1) is in vacant state; Behind upper table surface (3) the straight ahead LAP, upper table surface lifting mechanism (1) stretches out until its bottom flushes with following table lifting mechanism (2) bottom;

Step 4, following table lifting mechanism (2) are packed up, and following table lifting mechanism (2) is in vacant state;

Step 5, return step 2 repeated execution of steps 2 to step 4, until the robot motion is to desired location.

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