CN103895728A - Horizontal-motion rotating leg type stair cleaning robot and stair go-up-and-down method - Google Patents
Horizontal-motion rotating leg type stair cleaning robot and stair go-up-and-down method Download PDFInfo
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- CN103895728A CN103895728A CN201410146501.0A CN201410146501A CN103895728A CN 103895728 A CN103895728 A CN 103895728A CN 201410146501 A CN201410146501 A CN 201410146501A CN 103895728 A CN103895728 A CN 103895728A
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Abstract
The invention discloses a horizontal-motion rotating leg type stair cleaning robot and a stair go-up-and-down method. The robot comprises a machine body, horizontal-motion rotating leg mechanisms which are symmetrically distributed on the two sides of the machine body and comprise supporting legs and rotating arms, and a distance measuring and approaching sensor. The stair go-up-and-down method includes the steps that when the robot goes up the stairs, the machine body is supported by the supporting legs through the rotating arms and horizontally rotates to the upper step, and the rotating arms continuously rotate till the supporting legs are taken back to the two sides of the machine body; when the robot goes down the stairs, the supporting legs are driven by the machine body to horizontally rotate to the lower step by rotating the rotating arms, the machine body is supported up from the current step, the rotating arms continuously rotate till the machine body falls back to the lower step and the supporting legs are taken back to the two sides of the machine body. The step-missing and colliding conditions are avoided through the distance measuring and approaching sensor, and reliable operation is guaranteed. The horizontal-motion rotating leg type stair cleaning robot and the stair go-up-and-down method have the advantages that the stair go-up-and-down action is simple and efficient, the structure is compact, back-and-forth cleaning on the stepping face of the stairs is facilitated, the function for sweeping the flat ground is also taken into consideration, and the application range of the robot is widened.
Description
Technical field
The present invention relates to a kind of translation rotating leg formula stair clean robot and upper method downstairs, relate in particular on a kind of reliable reasonably translation rotating leg simple and compact for structure, mobile downstairs robot and upper method downstairs thereof, belong to robot field.
Background technology
Various high buildings and large mansions, lecture theater, conference hall, Stadium etc. comprise that the building of stair is more and more common, the clean work of corridor obviously increases, the clean robot overwhelming majority who has so come into people's daily life is indoor level land clean robot, is therefore necessary to research and develop stair clean robot.Successively propose the various building methods of climbing, mainly comprised: wheeled, crawler type, leg formula, rolling type.Wherein crawler type and rolling type complex structure, is difficult on stair, complete cleaning task, is pure Pa building, limited by practical.The more employing satellite gear of wheeled stair climbing robot or other compound wheel type, huge structure complexity, also seldom takes into account stair cleaning function, and practicality is had a greatly reduced quality.The more employing apery of leg formula stair climbing robot walking, mechanism's complexity, cost is high, is unfavorable for to marketing.
In addition a kind of current eight more popular caster structure design corridor cleaning robots of employing that have, upper steady downstairs, can carry out limited cleaning to stair; Shandong Dezhou College proposes the feature that a kind of corridor cleaning robot utilizes parallelogram deformation and realizes stair activity function.Although reduce to some extent based on structures such as these novel relative crawler types of corridor cleaning robot volume of climbing building method, but still there is volume and the larger problem of floor area, cause robot inconvenience to turn flexibly and walk back and forth in stair step and clean, be also difficult to accomplish can work in short, narrow space as current indoor cleaning machine people.
If Chinese patent CN200910028019.6 is with the stairs climbing control method of caterpillar mobile robot of leading arm, with the stair climbing method of caterpillar mobile robot of leading arm, it is characterized in that: step 1: robot approaching stair, leading arm is rotated down, after contacting with stair step, robot is lifted, and speeling stairway forward, in the time that ultrasonic, infrared distance sensor on robot record robot and objects in front distance and are greater than the width of stair step, think that robot climbed to stair top, stop climbing.Step 2: lead arm and be rotated down, contact with ground until lead arm front end, in the time producing torque M on the S. A. of leading arm and be greater than setting value, lead arm and stop operating, robot continues upwards climbing, leads arm random device people's climbing and departs from ground, torque M disappears, and robot stops climbing.Step 3: repeating step 2, the car body that two-dimensional attitude sensor records and horizontal plane angle Φ random device people climb and reduce, and robot continues to climb while no longer reducing to described angle Φ, stops climbing, leading arm and rotate backward, is 45 to stop operating while spending with the angle of car body.The robot of said method, owing to adopting track structure, for in rescue to climb fast building effective, but huge volume cleans for stair and is not suitable for, be embodied in: 1, robot cannot complete the cleaning task back and forth on stairway step step surface, causes Practical Performance limited, can only climb building; 2, the additional related of robot is swept the operation such as stair, crawl article and is made mechanism huge, can not work in narrow space, and range of applicability reduces; 3 these robots are bulky, cause cost high, are unfavorable for to marketing.
Summary of the invention
Problem to be solved by this invention is to provide a kind of translation rotating leg stair clean robot and upper method downstairs, has compact conformation, upper succinct efficient downstairs, has been convenient to the feature of stair cleaning.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of translation rotating leg formula stair clean robot, its innovative point is to comprise: the fuselage that is parallel to stair step plane, be symmetrically distributed in the translation rotating leg structure of fuselage both sides, be arranged side by side in two distance measuring sensors of the horizontal forward sensing in fuselage front, be arranged side by side two proximity transducers that detect vertically downward in fuselage rear, horizontally disposed supporting leg when described translation rotating leg structure comprises initial position, pivoted arm with described supporting leg hinge, lay respectively at the first sprocket wheel and second sprocket wheel at pivoted arm two ends in this arm length direction, connect the chain of described the first sprocket wheel and described the second sprocket wheel, described the second sprocket wheel is positioned at described pivoted arm and described supporting leg hinged place, and described the second sprocket wheel is connected on described supporting leg, described the first sprocket wheel is bolted on the bearing seat being connected with described fuselage, the pivoted arm drive motor arranging on described pivoted arm and fuselage is direct-connected, described fuselage is provided with stair clearing apparatus on below.
Preferably, described fuselage below is provided with two travel wheel that auxiliary fuselage advances that rise that are symmetrical in fuselage left and right medium line, and described two travel wheel are connected with the drive motor of advancing; Fuselage below is provided with the cardan wheel a of supplemental support near described distance measuring sensor position; Fuselage below is provided with the cardan wheel b of auxiliary balance near described proximity transducer position.
Preferably, on described fuselage, between two travel wheel and described cardan wheel a, be provided with proximity transducer a.
Preferably, the reference radius r1 of described the first sprocket wheel and number of teeth z1 equal reference radius r2 and the number of teeth z2 of the second sprocket wheel, the angle theta between supporting leg described in motion process and described pivoted arm
1all the time equal the angle theta between described pivoted arm and described fuselage
2.
A upper method downstairs for translation rotating leg formula stair clean robot, is applied on a kind of translation rotating leg and goes downstairs in robot, comprises the following steps:
Preferably, in described step 1, the span of X1 and X2 is between the fuselage fuselage long and 0.5 times of 0.3 times is grown.
The invention has the advantages that: by adopting the pivoted arm drive motor on fuselage to drive pivoted arm, utilize pivoted arm to drive the supporting leg on support ground to rotate, due to the existence of synchronous sprocket wheel, motion process middle machine body remains horizontality, and supporting leg does the translation rotating of complete cycle around fuselage.In the cardan wheel traveling process of fuselage below, can realize the adjustment of route upstairs, also can play the effect of balance fulcrum; Guarantee by distance measuring sensor and proximity transducer that robot does not exist and step on empty situation, be convenient to robot reconditioner figure state downstairs time on preparing, make robot just to stair, realize high efficient and reliable Pa building.Adopt above-mentioned compact design design, guarantee flexible operation.
Robot of the present invention and upper method downstairs thereof, can make the similar level land of clearing apparatus clean robot be arranged in fuselage below, brings compact conformation, the cleaning of the stair step face of being convenient to and corner, also taken into account level land cleaning function, greatly expanded its field of application, be conducive to marketing.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
Fig. 1 is the front view of the structural representation of robot in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs.
Fig. 2 is the left view of the structural representation of robot in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs.
Fig. 3 is the birds-eye view of the structural representation of robot in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs.
Fig. 4 is that in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs, robot fuselage remains parallel structural representation with supporting leg.
Fig. 5 is the structural representation that in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs, robot supporting leg does the motion of complete cycle translation rotating with respect to fuselage.
Fig. 6 is that in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs, robot fuselage is propped up and the force balance principle figure that do not fall down with gravity.
Fig. 7 is the equilibrium principle figure that in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs, robot dynamic torque does not turn down fuselage.
Fig. 8 is that in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs, robot is climbed the schematic diagram when excessive, normal and too small of supporting leg and upper class step surface in building process.
Fig. 9 is the robot plan structure schematic diagram of moment upstairs or downstairs in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs.
Figure 10 is the robot left TV structure schematic diagram of moment upstairs or downstairs in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs
Figure 11 be in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs robot upstairs supporting leg pack up the structural representation of built on stilts moment.
Figure 12 is the structural representation that the supporting leg of robot in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs rotatablely moves in the time disembarking farthest body.
Figure 13 is the action schematic diagram of robot stair activity in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs.
In figure: 1-fuselage, 2-distance measuring sensor, 3-proximity transducer, 4-supporting leg, 5-pivoted arm, 6-the first sprocket wheel, 7-the second sprocket wheel, 8-chain, 9-pivoted arm drive motor, 10-travel wheel, 11-cardan wheel a, 12-cardan wheel b, 13-stair clearing apparatus, 15-proximity transducer a, the 16-drive motor of advancing.
The specific embodiment
On a kind of translation rotating leg of the present invention downstairs robot comprise fuselage 1, translation rotating leg structure, be installed on fuselage front distance measuring sensor 2, be installed on the proximity transducer 3 at fuselage rear, as shown in Figure 1, Figure 2 and Figure 3.Above-mentioned distance measuring sensor 2 is symmetrical in fuselage 1 left and right medium line and is respectively distributed with one, and above-mentioned 3 are symmetrical in fuselage 1 left and right medium line is respectively distributed with one.The corridor of climbing building process in order to realize cleans, and fuselage is provided with stair clearing apparatus 13 on 1 below.Horizontally disposed supporting leg 4, the pivoted arm 5 being hinged with supporting leg 4, the first sprocket wheel 6 that lays respectively at pivoted arm two ends in this arm length direction and the second sprocket wheel 7 when above-mentioned translation rotating leg structure comprises initial position, be connected the chain 8 of the first sprocket wheel 6 and the second sprocket wheel 7, the second sprocket wheel 7 is positioned at pivoted arm 5 and supporting leg 4 hinged places, and described the second sprocket wheel 7 is connected on supporting leg 4, the first sprocket wheel 6 is bolted on the bearing seat being connected with fuselage 1, and pivoted arm 5 is directly connected with the pivoted arm drive motor 9 arranging on fuselage.Fuselage is provided with stair clearing apparatus 13 on 1 below, as shown in Figure 1.
In order to guarantee that supporting leg 4 can carry out integral cycle rotating with respect to fuselage 1, as shown in Figure 3, translation rotating leg symmetrical configuration is distributed in fuselage both sides.Fuselage 1 below is also provided with two travel wheel 10 that auxiliary fuselage advances that rise that are symmetrical in fuselage 1 left and right medium line in addition, and two travel wheel 10 are connected with the drive motor 16 of advancing.The robust motion of advancing in order to realize robot, on fuselage 1, be provided with for fuselage 1 upstairs in process land play the cardan wheel a11 of supplemental support effect in the moment of upper class step, cardan wheel a11 is positioned at fuselage 1 front side, below near apart from detecting sensor 2 positions; On fuselage 1, be also provided with for fuselage upstairs or downstairs in process supporting leg 4, pivoted arm 5 and fuselage 1 in the time of same level line, play the cardan wheel b12 of auxiliary balance effect, cardan wheel b12 is positioned at fuselage 1 below rear side near proximity transducer 3.
In process, on upper class step surface, then complete follow-up pivoted arm spinning movement in order to judge that front-wheel has or not to rest upstairs, or judge whether pivoted arm falls back in the time of front step step surface, be retracted in fuselage both sides, on fuselage, between two travel wheel 10 and cardan wheel a11, be provided with proximity transducer a15, detect and have unobstructed realization nearby by proximity transducer a15.
In order to guarantee relative fuselage 1 translation rotating of supporting leg 4, the reference radius r1 of the first sprocket wheel 6 and number of teeth z1 equal reference radius r2 and the number of teeth z2 of the second sprocket wheel 7, guarantee the angle theta between supporting leg 4 and pivoted arm 5 in motion process
1all the time equal the angle theta between pivoted arm 5 and fuselage 1
2.As shown in Figure 4, the fuselage that in figure, ABCD is robot, O1O2 is pivoted arm, HIJK is supporting leg.Can the rotate O1 rotation of arm 5 of fuselage 1; Supporting leg 4 is connected with the second sprocket wheel 7 that is arranged on O2 place, and can the rotate O2 of arm 5 of supporting leg 4 is rotated; The first sprocket wheel 6 and the second sprocket wheel 7 are by chain 8 transferring power and motion.Concrete action is as follows, is static depending on pivoted arm, turns over θ when pivoted arm drive motor 9 drives fuselage 1
1, fuselage 1 forwards the position shown in dotted line to, and now the first sprocket wheel 6 drives the second sprocket wheel 7 and supporting leg 4 to turn over θ by chain 8
2, supporting leg 4 forwards dotted line position to, now due to the first sprocket wheel 6 and the identical reference radius of the second sprocket wheel 7 and the number of teeth, thereby guarantees θ
1all the time equal θ
2, therefore, can make supporting leg 4 is parallel with respect to the motion of fuselage 1 all the time.Actual upper while downstairs moving, be that fuselage 1 is motionless, and rotate pivoted arm 5, the first sprocket wheel 6 does not rotate, rotation be pivoted arm 5, but this does not change the relation that relatively rotates of the first sprocket wheel 6 and pivoted arm 5, therefore above-mentioned principle, in the time that pivoted arm 5 rotates, is still achieved, i.e. θ
1all the time equal θ
2, supporting leg 4 and fuselage 1 keeping parallelism relation.
As shown in Figure 5, supporting leg 4 with respect to fuselage 1 from a1 to a2, to a3 ..., because the rotation with respect to self does not occur supporting leg 4, in kinematics, be called " translation ", but supporting leg 4 is rotation with respect to the path of motion of fuselage 1, forms a circle, as the long and short dash line circle track in figure, therefore in upper process of going downstairs, the relative fuselage of supporting leg does " translation rotating ".The supporting leg 4 relatively O1 point of fuselage 1 is made clickwise, also can make left-hand revolution.For complete complete upstairs or downstairs, supporting leg need to carry out integral cycle rotating.
As shown in Figure 6, in the time that fuselage 1 is propped up with 5 one-tenth α angles of pivoted arm, fuselage 1 can be around O with pivoted arm 5
2point falls down.Because if fall down, must break this parallel constraint, and as can be seen from Figure 4 fuselage 1 with supporting leg 4 under the constraint of sprocket wheel, can only keeping parallelism, therefore that fuselage 1 will aloft keep will be parallel with supporting leg 4.Equilibrium of forces is interpreted as: by fuselage ABCD, sprocket wheel 1, regard an entirety as, i.e. the drawn part of the solid line of Fig. 6 with pivoted arm.This part has the trend of falling down under the synthetic gravity G1 of fuselage and pivoted arm effect, if not constraint will be fallen down immediately.But between the first sprocket wheel 6 and the second sprocket wheel 7, retrained by chain 8, because the second sprocket wheel 7 is connected on the supporting leg 4 of stair step face, the second sprocket wheel 7 does not rotate, tightening force F1 can be provided, and G1 balances each other with gravity, and fuselage 1 is not fallen down, the ef section of chain is subject to tightening force this moment, and e ' f' is lax.
In conjunction with Fig. 6 and Fig. 7, under the effect of tensile force f 1 and fuselage gravity, will the oriented pivoted arm 5 of fuselage 1 be rotated and under the trend that turns.In action of the present invention realizes, for fuselage 1 is propped up, apply torsion need to pivoted arm 5, pivoted arm 5 is rotated relative to fuselage.For ease of analyzing, pivoted arm 5 is considered as static, take the drawn fuselage 1 of solid line in Fig. 7 and the first sprocket wheel 6 as force analysis object, be equivalent to apply the conter clockwise torque T s shown in Fig. 5 to fuselage 1.This moment of torsion need overcome the moment that fuselage 1 gravity G2 and tensile force f 1 produce, and tensile force f 1 is also because gravity causes, so torque T S is finally equivalent to overcome total force.In fact, if do not produce driving source Ts, fuselage is propped up, just can not produced F1.After fuselage is propped up, if remove Ts, fuselage can lower immediately, still keeps parallel with supporting leg in the process lowering.Therefore in the upper process downstairs of the method, driving source Ts must exist all the time, and it produces while switching on driving pivoted arm by pivoted arm drive motor 9.In the time of power-off, if pivoted arm drive motor 9 can not self-locking to the running part of pivoted arm 5, fuselage also can get off, but because TS is not 0, so fuselage will get off gradually.If can self-locking, or torque T s be enough, and fuselage will remain on the aerial statue as Fig. 6 when the power-off.
As shown in Fig. 8 a|, in process upstairs, if the distance X of supporting leg 4 front ends and upper class stair riser is too large, after fuselage 1 is propped up, approach when vertical at pivoted arm 5, have and dump forward, cardan wheel a11 not land, in the danger of upper class step step surface, causes unsuccessful upstairs.Therefore, distance X must limit maxim, guarantees as the situation of Fig. 8 b, makes the cardan wheel a11 energy land of fuselage on the step surface of upper class step.As shown in Figure 8 c, if the distance X of supporting leg 4 front ends and upper class stair riser is too short, after fuselage 1 has just started to prop up, front fuselage have with upper class stair riser collide with mutually may, though that this situation does not cause is unsuccessful upstairs, but after colliding with, due to the continuation rotation of pivoted arm, the power that makes to collide with strengthens, and causes front fuselage wearing and tearing, or supporting leg 4 produces slip abrasion with stair step face, should avoid as far as possible.
The requirement of the distance X to supporting leg 4 front ends and upper class stair riser, should meet X
mIN< X < X
mAX, wherein X
mAXwith X
mINsize by robot specific design determines.About X
mAX, because supporting leg designs gently, fuselage weight is little relatively, so mainly consider fuselage weight G2.When X is greater than after the half of fuselage length L, G2 is the outside of the fulcrum in supporting leg, starts to have the possibility leaning forward.If supporting leg and pivoted arm weight are taken into account, X value obviously can be put greatlyr, considers certain nargin, gets X
mAX=0.5L.About X
mIN, as shown in Figure 6, front fuselage radius of rotation L
aactual is exactly arm length, the geometric relationship according to this figure signal:
wherein H is standard stair riser height.When design, get
(put before this L satisfied
ashould be as far as possible little, to reduce robot size), can guarantee fuselage prop up after higher than upper class stair step face, so X
mIN≈ 0.255L
a.General L
abe slightly less than fuselage length L, for certain nargin, desirable X
mIN=0.3L.So finally select the scope of X between 0.3L < X < 0.5L.Fuselage length is normally constant, but different stair height has certain difference, and under calibrated altitude, the scope safety of this X, can guarantee downstairs.If stair riser is higher, may collide with, but still can be upstairs.
As shown in Figure 9, Figure 10, this robot is prepared upper downstairs time, guarantees that fuselage and supporting leg fall back on step step surface in the lump when initial condition, and robot must first be adjusted attitude, makes robot fuselage just to the stairway step riser of marking time.While preparing upstairs, utilize two distance measuring sensors 2 to detect respectively and distance X 1 and the X2 of upper class step riser, control the drive motor 16 of advancing and drive two travel wheel 10 is differential and advance, adjust and make X1 equal X2.While preparing downstairs, make robot fuselage just to the stairway step edge of marking time, the edge that two proximity transducers cross near the riser of fuselage place step step surface and fuselage place step, two distance measuring sensors are positioned at step step surface top, fuselage place, guarantee that fuselage proximity transducer is front, the posterior mode of distance measuring sensor, robot is seted out to next stage step step surface, utilize two proximity transducers 3 to detect unobstructed nearby, control travel wheel and temporarily halt, can prepare to carry out the action of pivoted arm rotation.
In way, all must guarantee that trailing wheel can not fall from current marking time upstairs or downstairs.When robot is prepared downstairs, utilize the downward sensing control of proximity transducer 3, can adjust attitude by control, just to the edge of marking time simultaneously.Specifically: control the drive motor 16 of advancing and drive two travel wheel 10 is differential and advance, make two the downward sensings of proximity transducer 3 in left and right unobstructed from blocking, illustrate that cardan wheel b12 has approached the edge of marking time, and just to the edge of marking time, as Fig. 9 and Figure 10, robot halts.Then start to rotate pivoted arm 5, until supporting leg 4 supports on next stage step.Robot moves upstairs while beginning, pivoted arm 5 rotation makes the firm land of fuselage 1 a moment at upper class step, needing to control pivoted arm 1 rotation suspends, make supporting leg 4 wouldn't leave current stair step face, while finding that by proximity transducer a15 in Figure 11 fuselage 1 destage rank, bottom step surface is enough near, to controller signals, control realizes pivoted arm 5 and suspends.When fuselage 1 land are during at upper class step, if cardan wheel b12 not land arrives upper class step step surface, can constantly drive driving wheel 10 that robot is towed forward, until having detected, sensor 3 blocks, show cardan wheel b12 land at upper class step step surface, rotary support leg 4 again, lifts supporting leg 4 and leaves current stair step face.
On this concrete clean robot, downstairs action comprises the following step: as shown in Figure 13 a～Figure 13 e,
For those skilled in the art, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (6)
1. a translation rotating leg formula stair clean robot, it is characterized in that comprising: the fuselage that is parallel to stair step plane, be symmetrically distributed in the translation rotating leg structure of fuselage both sides, be arranged side by side in two distance measuring sensors of the horizontal forward sensing in fuselage front, be arranged side by side two proximity transducers that detect vertically downward in fuselage rear, horizontally disposed supporting leg when described translation rotating leg structure comprises initial position, pivoted arm with described supporting leg hinge, lay respectively at the first sprocket wheel and second sprocket wheel at pivoted arm two ends in this arm length direction, connect the chain of described the first sprocket wheel and described the second sprocket wheel, described the second sprocket wheel is positioned at described pivoted arm and described supporting leg hinged place, and described the second sprocket wheel is connected on described supporting leg, described the first sprocket wheel is bolted on the bearing seat being connected with described fuselage, the pivoted arm drive motor arranging on described pivoted arm and fuselage is direct-connected, described fuselage is provided with stair clearing apparatus on below.
2. a kind of translation rotating leg formula stair clean robot as claimed in claim 1, is characterized in that: described fuselage below is provided with two travel wheel that auxiliary fuselage advances that rise that are symmetrical in fuselage left and right medium line, and described two travel wheel are connected with the drive motor of advancing; Fuselage below is provided with the cardan wheel a of supplemental support near described distance measuring sensor position; Fuselage below is provided with the cardan wheel b of auxiliary balance near described proximity transducer position.
3. a kind of translation rotating leg formula stair clean robot as described in claim 1 and 2, is characterized in that: on described fuselage, between two travel wheel and described cardan wheel a, be provided with proximity transducer a.
4. a kind of translation rotating leg formula stair clean robot as claimed in claim 1, it is characterized in that: the reference radius r1 of described the first sprocket wheel and number of teeth z1 equal reference radius r2 and the number of teeth z2 of the second sprocket wheel, the angle theta between supporting leg described in motion process and described pivoted arm
1all the time equal the angle theta between described pivoted arm and described fuselage
2.
5. a upper method downstairs for translation rotating leg formula stair clean robot, application rights requires on a kind of translation rotating leg described in 1 and 2 robot downstairs, it is characterized in that comprising the following steps:
Step 1, upstairs in process, when initial condition, guarantee that fuselage and supporting leg fall back on step step surface in the lump, utilize two distance measuring sensors to detect respectively and distance X 1 and the X2 of upper class step riser, the control drive motor of advancing drives that two travel wheel are differential advances, make X1 equal X2, then control pivoted arm drive motor and drive the direction rotation of pivoted arm to upper class step step surface, the cardan wheel a of fuselage below is fallen within on upper class step, now proximity transducer a detects nearby and blocks, suspend pivoted arm rotation, then controlling two travel wheel of fuselage below advances, be subject to blocking of upper class step step surface until utilize two proximity transducers to detect, guarantee that the cardan wheel b of fuselage below is on upper class step step surface,
Step 2, pivoted arm drive motor continues to drive pivoted arm rotation, obtain fuselage, pivoted arm and the momentary status of supporting leg in same level position, guarantee that the center of gravity of stair clean robot is between cardan wheel b and travel wheel, then continue to drive pivoted arm rotation, until supporting leg and pivoted arm fall back on the upper class step step surface at fuselage place, the stair that complete one-period are climbed building, can complete and so forth corridor Pa building and be aided with stair clean;
Step 3, downstairs in process, when initial condition, guaranteeing that fuselage and supporting leg fall back in the lump marks time in plane, the control drive motor of advancing drives that two travel wheel are differential advances, the edge that two proximity transducers are crossed near the riser of fuselage place step step surface and fuselage place step, two distance measuring sensors are positioned at step step surface top, fuselage place, now guarantee that fuselage proximity transducer is front, the posterior mode of distance measuring sensor, robot is seted out to next stage step step surface, if two proximity transducers detect unobstructed nearby, travel wheel halts, then controlling pivoted arm drive motor drives pivoted arm to next stage step step surface direction rotation,
Step 4, continue to drive pivoted arm rotation, obtain fuselage, pivoted arm and the momentary status of supporting leg in same level position, guarantee that the center of gravity of robot is downstairs between cardan wheel b and travel wheel, then continue to drive pivoted arm rotation, supporting leg is fallen back on next stage step step surface, now control pivoted arm drive motor and continue to drive pivoted arm rotation, make fuselage leave fuselage place step step surface, until fuselage, pivoted arm, supporting leg all fall back on next stage step step surface.
6. the upper method downstairs of a kind of translation rotating leg formula stair clean robot as claimed in claim 5, is characterized in that: in described step 1, the span of X1 and X2 is between the fuselage fuselage long and 0.5 times of 0.3 times is grown.
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| CN104494727A (en) * | 2014-12-22 | 2015-04-08 | 中国矿业大学 | Step climbing mechanism |
| CN104828172A (en) * | 2015-04-29 | 2015-08-12 | 东华大学 | Stair height and depth detection device and stair height and depth detection method used for stair-climbing robot |
| CN104931013A (en) * | 2015-04-20 | 2015-09-23 | 东华大学 | Antennal type detecting device and method for detecting heights and depths of stairs |
| CN105182836A (en) * | 2015-05-05 | 2015-12-23 | 东华大学 | Intelligent sensing and executing leg mechanism for stair climbing robot |
| CN105689179A (en) * | 2015-08-20 | 2016-06-22 | 中科新松有限公司 | Ship body surface multi-gun coating operation robot |
| CN105996910A (en) * | 2016-05-19 | 2016-10-12 | 上海电机学院 | Domestic stair automatic cleaning robot |
| CN108639179A (en) * | 2018-06-21 | 2018-10-12 | 天津师范大学 | A kind of upper device downstairs and method of going downstairs thereon based on electric telescopic rod |
| CN109353399A (en) * | 2018-10-15 | 2019-02-19 | 潘秀兰 | Electric cart for going-up stairs and its control method |
| CN114794991A (en) * | 2022-06-02 | 2022-07-29 | 南通大学 | Stair cleaning robot non-turning stair descending control method |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104494727A (en) * | 2014-12-22 | 2015-04-08 | 中国矿业大学 | Step climbing mechanism |
| CN104931013A (en) * | 2015-04-20 | 2015-09-23 | 东华大学 | Antennal type detecting device and method for detecting heights and depths of stairs |
| CN104828172A (en) * | 2015-04-29 | 2015-08-12 | 东华大学 | Stair height and depth detection device and stair height and depth detection method used for stair-climbing robot |
| CN105182836A (en) * | 2015-05-05 | 2015-12-23 | 东华大学 | Intelligent sensing and executing leg mechanism for stair climbing robot |
| CN105182836B (en) * | 2015-05-05 | 2017-10-24 | 东华大学 | Intellisense and the leg mechanism of execution for stair climbing robot |
| CN105689179A (en) * | 2015-08-20 | 2016-06-22 | 中科新松有限公司 | Ship body surface multi-gun coating operation robot |
| CN105996910A (en) * | 2016-05-19 | 2016-10-12 | 上海电机学院 | Domestic stair automatic cleaning robot |
| CN105996910B (en) * | 2016-05-19 | 2018-06-29 | 上海电机学院 | Domestic stair automatic cleaning machine people |
| CN108639179A (en) * | 2018-06-21 | 2018-10-12 | 天津师范大学 | A kind of upper device downstairs and method of going downstairs thereon based on electric telescopic rod |
| CN109353399A (en) * | 2018-10-15 | 2019-02-19 | 潘秀兰 | Electric cart for going-up stairs and its control method |
| CN114794991A (en) * | 2022-06-02 | 2022-07-29 | 南通大学 | Stair cleaning robot non-turning stair descending control method |
| CN114794991B (en) * | 2022-06-02 | 2024-01-16 | 南通大学 | Control method for stair cleaning robot to go downstairs without turning around |
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