CN103895728B - A kind of translation rotating leg formula stair clean robot and upper method downstairs - Google Patents
A kind of translation rotating leg formula stair clean robot and upper method downstairs Download PDFInfo
- Publication number
- CN103895728B CN103895728B CN201410146501.0A CN201410146501A CN103895728B CN 103895728 B CN103895728 B CN 103895728B CN 201410146501 A CN201410146501 A CN 201410146501A CN 103895728 B CN103895728 B CN 103895728B
- Authority
- CN
- China
- Prior art keywords
- fuselage
- pivoted arm
- supporting leg
- robot
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The invention discloses a kind of translation rotating leg formula stair clean robot and upper method downstairs, robot comprises: fuselage, the translation rotating leg mechanism comprising supporting leg and pivoted arm being symmetrically distributed in fuselage both sides, range finding and proximity transducer.In upper method downstairs: time upstairs, prop up fuselage by supporting leg by pivoted arm, translation rotating, to upper class step, continues to rotate pivoted arm to supporting leg and is retracted in fuselage both sides; Time downstairs, drive supporting leg translation rotating to next stage step by fuselage by rotating pivoted arm, fuselage is propped up from when front step, continue to rotate pivoted arm and fall after rise at next stage step to fuselage, and supporting leg is retracted in fuselage both sides.Utilize range finding and proximity transducer to avoid robot to occur stepping on sky and collision situation, guarantee reliable.It is succinctly efficient that robot of the present invention and upper method downstairs have upper action downstairs, and compact conformation, is convenient to clear up back and forth on stair step face, has also taken into account level land cleaning function, extend its field of application.
Description
Technical field
The present invention relates to a kind of translation rotating leg formula stair clean robot and upper method downstairs, to particularly relate 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
The building that various high buildings and large mansions, lecture theater, conference hall, Stadium etc. comprise stair is more and more common, the work that corridor cleans obviously increases, the clean robot overwhelming majority so having come into people's daily life is indoor level land clean robot, is therefore necessary research and development stair clean robot.Successively propose and variously climb building method, mainly comprise: wheeled, crawler type, leg formula, rolling type.Wherein crawler type and rolling type complex structure, is difficult on stair, complete cleaning task, just purely climbs building, limited by practical.The more employing satellite gear of wheeled stair climbing robot or other compound wheel type, huge structure is complicated, and also seldom take into account stair cleaning function, practicality is had a greatly reduced quality.Leg formula stair climbing robot more employing apery walking, mechanism is complicated, and cost is high, is unfavorable for marketing.
In addition a kind of current eight more popular caster structure design corridor cleaning robots of the employing had, upper steady downstairs, limited cleaning can be carried out to stair; Shandong Dezhou College proposes a kind of corridor cleaning robot and utilizes the feature of parallelogram deformation to realize stair activity function.Although reduce to some extent based on these novel structures such as the corridor cleaning robot volume opposing tracks formula of building method of climbing, 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 to clean, be also difficult to accomplish can work in short, narrow space as current indoor clean robot.
If Chinese patent CN200910028019.6 is with the stairs climbing control method of the caterpillar mobile robot of guide arm, with the stair climbing method of the caterpillar mobile robot of guide arm, it is characterized in that: step 1: robot approaching stair, guide arm is rotated down, after contacting with stair step, robot is lifted, and speeling stairway forward, when ultrasonic, the infrared distance sensor on robot records robot and objects in front distance is greater than the width of stair step, think that robot has been climbed to stair top, stop climbing.Step 2: guide arm is rotated down, until guide arm front end and earth surface, produces torque M when being greater than setting value on the S. A. of guide arm, guide arm stops operating, and robot continues upwards to climb, the climbing of guide arm random device people and departing from ground, torque M disappears, and robot stops climbing.Step 3: repeat step 2, the car body that two-dimensional attitude sensor records and horizontal plane angle Φ random device people climb and reduce, and when robot continuation climbing no longer reduces to described angle Φ, stop climbing, guide arm rotates backward, stops operating when being 45 degree with the angle of car body.The robot of said method, owing to adopting track structure, for in rescue to climb building fast 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, robot auxiliary relevant sweep stair, capture the operations such as article makes mechanism huge, and can not work in narrow space, range of applicability reduces; 3 these robots are bulky, cause cost high, are unfavorable for 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 method of above going downstairs, and has compact conformation, above succinctly efficiently, has been convenient to the feature that stair clean downstairs.
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 being parallel to stair step plane, be symmetrically distributed in the translation rotating leg structure of fuselage both sides, be arranged side by side two distance measuring sensors sensed forward in fuselage front horizontal, be arranged side by side two proximity transducers detected in fuselage rear vertical downwards, horizontally disposed supporting leg when described translation rotating leg structure comprises initial position, the pivoted arm be hinged with described supporting leg, lay respectively at the first sprocket wheel and second sprocket wheel at pivoted arm two ends on this arm length direction, connect the chain of described first sprocket wheel and described second sprocket wheel, described second sprocket wheel is positioned at described pivoted arm and described supporting leg hinged place, and described second sprocket wheel is connected on described supporting leg, described first sprocket wheel is bolted on the bearing seat that is connected with described fuselage, the pivoted arm drive motor that described pivoted arm and fuselage are arranged is direct-connected, stair clearing apparatus is provided with on below described fuselage.
Preferably, be provided with two travel wheel playing the advance of auxiliary fuselage being symmetrical in fuselage left and right medium line below described fuselage, described two travel wheel are connected with drive motor of advancing; Be provided with the cardan wheel a of supplemental support near described distance measuring sensor position below fuselage; Be provided with the cardan wheel b of auxiliary balance near described proximity transducer position below fuselage.
Preferably, described fuselage is provided with proximity transducer a between two travel wheel and described cardan wheel a.
Preferably, the reference radius r1 of described first sprocket wheel and number of teeth z1 equals reference radius r2 and the number of teeth z2 of the second sprocket wheel, supporting leg described in motion process and the angle theta between described pivoted arm
1all the time the angle theta between described pivoted arm and described fuselage is equaled
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, comprise the following steps:
Step one, upstairs in process, ensure during initial condition that fuselage and supporting leg fall back on step step surface in the lump, two distance measuring sensors are utilized to detect respectively and the distance X1 of upper class step riser and X2, control drive motor of advancing drives the differential advance of two travel wheel, X1 is made to equal X2, then controlling pivoted arm drive motor drives pivoted arm to rotate to the direction of upper class step step surface, the cardan wheel a below fuselage is made to fall within upper class step, now proximity transducer a detects and blocks nearby, suspend pivoted arm to rotate, then two travel wheel controlled below fuselage are advanced, until utilize two proximity transducers to detect be subject to blocking of upper class step step surface, guarantee that the cardan wheel b below fuselage is on upper class step step surface,
Step 2, pivoted arm drive motor continues to drive pivoted arm to rotate, obtain the momentary status that fuselage, pivoted arm and supporting leg are in same level position, ensure that the center of gravity of stair clean robot is between cardan wheel b and travel wheel, then continue to drive pivoted arm to rotate, until supporting leg and pivoted arm fall back on the upper class step step surface at fuselage place, building climbed by the stair completing one-period, can complete and so forth corridor climb building and be aided with stair clean;
Step 3, downstairs in process, ensureing during initial condition that fuselage and supporting leg fall back in the lump marks time in plane, control drive motor of advancing drives the differential advance of two travel wheel, make 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 above the step step surface of fuselage place, now ensure 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, then travel wheel halts, then controlling pivoted arm drive motor drives pivoted arm to rotate to next stage step step surface direction,
Step 4, continue to drive pivoted arm to rotate, obtain the momentary status that fuselage, pivoted arm and supporting leg are in same level position, ensure that the center of gravity of robot is downstairs between cardan wheel b and travel wheel, then continue to drive pivoted arm to rotate, make supporting leg fall back on next stage step step surface, now control pivoted arm drive motor and continue to drive pivoted arm to rotate, fuselage is made to leave fuselage place step step surface, until fuselage, pivoted arm, supporting leg all fall back on next stage step step surface.
Preferably, in described step one, the span of X1 and X2 is between the fuselage length of 0.3 times and the fuselage of 0.5 times are grown.
The invention has the advantages that: drive pivoted arm by adopting the pivoted arm drive motor on fuselage, pivoted arm is utilized to drive the supporting leg on support ground to rotate, due to the existence of synchronous sprocket wheel, in motion process, fuselage remains horizontality, and supporting leg does the translation rotating of complete cycle around fuselage.The adjustment of route upstairs can be realized in cardan wheel traveling process below fuselage, also can play the effect of balance fulcrum; Guarantee that robot does not exist by distance measuring sensor and proximity transducer and step on empty situation, be convenient to reconditioner figure state when robot is gone downstairs on preparing, make robot just to stair, what realize high efficient and reliable climbs building.Adopt above-mentioned compact design to design, guarantee flexible operation.
Robot of the present invention and upper method downstairs thereof, can make clearing apparatus similar level land clean robot be arranged in below fuselage, bring compact conformation, the cleaning of the stair step face of being convenient to and corner, also taken into account level land cleaning function, greatly extended 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 a kind of translation rotating leg of the present invention formula stair clean robot and the structural representation of going up robot in the method for going downstairs.
Fig. 2 is the left view of a kind of translation rotating leg of the present invention formula stair clean robot and the structural representation of going up robot in the method for going downstairs.
Fig. 3 is the birds-eye view of a kind of translation rotating leg of the present invention formula stair clean robot and the structural representation of going up robot in the method for going downstairs.
Fig. 4 is that in a kind of translation rotating of the present invention leg 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 relative 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 not with the force balance principle figure that gravity does not fall down.
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 makes not lower turn of fuselage.
Fig. 8 is that in a kind of translation rotating of the present invention leg formula stair clean robot and upper method downstairs, robot to climb in building process supporting leg and upper class step surface apart from schematic diagram time excessive, normal and too small.
Fig. 9 is the plan structure schematic diagram of robot upstairs or downstairs moment in a kind of translation rotating leg of the present invention formula stair clean robot and upper method downstairs.
Figure 10 is the left TV structure schematic diagram of robot upstairs or downstairs moment in a kind of translation rotating of the present invention leg 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 leaving ground moment.
Figure 12 is that a kind of translation rotating leg of the present invention formula stair clean robot and the supporting leg rotary motion of going up robot in the method for going downstairs are in farthest away from structural representation during fuselage.
Figure 13 is a kind of translation rotating leg of the present invention formula stair clean robot and the action schematic diagram going up robot stair activity in the method for going downstairs.
In figure: 1-fuselage, 2-distance measuring sensor, 3-proximity transducer, 4-supporting leg, 5-pivoted arm, 6-first sprocket wheel, 7-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, 16-advance drive motor.
Detailed description of the invention
On a kind of translation rotating leg of the present invention, downstairs robot comprises fuselage 1, translation rotating leg structure, is installed on the distance measuring sensor 2 in fuselage front, is 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 about 1 medium line and is respectively distributed with one, and above-mentioned 3 are symmetrical in fuselage about 1 medium line is respectively distributed with one.In order to realize the corridor cleaning of climbing building process, on below fuselage 1, be provided with stair clearing apparatus 13.Horizontally disposed supporting leg 4 when above-mentioned translation rotating leg structure comprises initial position, the pivoted arm 5, the first sprocket wheel 6 laying respectively at pivoted arm two ends on this arm length direction and the second sprocket wheel 7 that are hinged with supporting leg 4, the chain 8 that is connected the first sprocket wheel 6 and the second sprocket wheel 7, second sprocket wheel 7 is positioned at pivoted arm 5 and supporting leg 4 hinged place, and described second sprocket wheel 7 is connected on supporting leg 4, first sprocket wheel 6 is bolted on the bearing seat that is connected with fuselage 1, and pivoted arm 5 is directly connected with the pivoted arm drive motor 9 that fuselage is arranged.Stair clearing apparatus 13 is provided with, as shown in Figure 1 on below fuselage 1.
In order to ensure that supporting leg 4 can carry out integral cycle rotating relative to fuselage 1, as shown in Figure 3, translation rotating leg symmetrical configuration is distributed in fuselage both sides.Also be provided with two travel wheel 10 playing the advance of auxiliary fuselage being symmetrical in fuselage about 1 medium line in addition below fuselage 1, and two travel wheel 10 are connected with drive motor 16 of advancing.In order to realize the robust motion that robot is advanced, fuselage 1 is provided with and plays the cardan wheel a11 of supplemental support effect in the moment of upper class step for land in fuselage 1 upstairs process, cardan wheel a11 is positioned at the close distance in front side detecting sensor 2 position below fuselage 1; Fuselage 1 is also provided with the cardan wheel b12 for playing auxiliary balance effect upstairs when supporting leg 4, pivoted arm 5 and fuselage 1 are in same level line in fuselage or downstairs process, cardan wheel b12 to be positioned at below fuselage 1 rear side near proximity transducer 3.
Upstairs in process in order to judge that front-wheel completes follow-up pivoted arm spinning movement then with or without resting on upper class step surface, or judge whether pivoted arm falls back to when front step step surface, namely fuselage both sides are retracted in, fuselage is provided with proximity transducer a15 between two travel wheel 10 and cardan wheel a11, and being detected by proximity transducer a15 has unobstructed realization nearby.
In order to ensure supporting leg 4 fuselage 1 translation rotating relatively, the reference radius r1 of the first sprocket wheel 6 and number of teeth z1 equals reference radius r2 and the number of teeth z2 of the second sprocket wheel 7, guarantees the angle theta between supporting leg 4 and pivoted arm 5 in motion process
1all the time the angle theta between pivoted arm 5 and fuselage 1 is equaled
2.As shown in Figure 4, in figure, ABCD is the fuselage of robot, and O1O2 is pivoted arm, and HIJK is supporting leg.Fuselage 1 can rotate arm 5 O1 rotate; Supporting leg 4 is connected with the second sprocket wheel 7 being arranged on O2 place, and supporting leg 4 can be rotated the O2 rotation of arm 5; 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, when pivoted arm drive motor 9 drives fuselage 1 to turn over θ
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, thus ensures θ
1all the time θ is equaled
2, therefore, supporting leg 4 can be made to be parallel all the time relative to the motion of fuselage 1.During actual upper action downstairs, be that fuselage 1 is motionless, and rotate pivoted arm 5, namely the first sprocket wheel 6 does not rotate, rotation be pivoted arm 5, but this do not change the first sprocket wheel 6 and pivoted arm 5 relatively rotate relation, therefore above-mentioned principle is when pivoted arm 5 rotates, and is still achieved, i.e. θ
1all the time θ is equaled
2, supporting leg 4 and fuselage 1 keeping parallelism relation.
As shown in Figure 5, supporting leg 4 relative to fuselage 1 from a1 to a2, to a3 ..., because the rotation relative to self does not occur supporting leg 4, kinematically be called " translation ", but supporting leg 4 is rotate relative to the path of motion of fuselage 1, forms a circle, as the long and short dash line Circular test in figure, therefore, in upper process of going downstairs, the relative fuselage of supporting leg does " translation rotating ".Supporting leg 4 the O1 point of fuselage 1 relatively can make clickwise, also can make left-hand revolution.In order to complete complete upstairs or downstairs, supporting leg needs to carry out integral cycle rotating.
As shown in Figure 6, when fuselage 1 is propped up with pivoted arm 5 one-tenth α angle, fuselage 1 and pivoted arm 5 can not around O
2point falls down.Because if fall down, the constraint that this is parallel must be broken, and fuselage 1 and supporting leg 4, can only keeping parallelisms under the constraint of sprocket wheel as can be seen from Figure 4, therefore fuselage 1 will keep parallel with supporting leg 4 aloft.Equilibrium of forces is interpreted as: by fuselage ABCD, sprocket wheel 1, regard an entirety as with pivoted arm, i.e. part drawn by the solid line of Fig. 6.This part has the trend of falling down under the synthesis gravity G1 effect of fuselage and pivoted arm, if not constraint, will fall down immediately.But retrained by chain 8 between the first sprocket wheel 6 and the second sprocket wheel 7, because the second sprocket wheel 7 is connected on the supporting leg 4 in stair step face, the second sprocket wheel 7 does not rotate, tightening force F1 can be provided, balance each other with gravity G1, fuselage 1 is not fallen down, the ef section of chain is by tightening force this moment, and e ' f' relaxes.
Composition graphs 6 and Fig. 7, will make the oriented pivoted arm 5 of fuselage 1 rotate and the trend of lower turn under the effect of tensile force f 1 and fuselage gravity.In action of the present invention realizes, in order to make fuselage 1 prop up, needing to apply torsion to pivoted arm 5, pivoted arm 5 is rotated relative to fuselage.For ease of analyzing, pivoted arm 5 being considered as static, being force analysis object with the fuselage 1 in Fig. 7 drawn by solid line and the first sprocket wheel 6, being equivalent to apply the anti-clockwise torque Ts shown in Fig. 5 to fuselage 1.This moment of torsion need overcome the moment of fuselage 1 gravity G2 and tensile force f 1 generation, 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, would not F1 be produced.After fuselage is propped up, if remove Ts, then fuselage can lower immediately, still keeps parallel with supporting leg in the process lowered.In the upper process downstairs of therefore the method, driving source Ts must exist all the time, produces when it is energized is driven pivoted arm by pivoted arm drive motor 9.When 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 of TS be not 0, so fuselage will get off gradually.If can self-locking, or torque T s be enough, the aerial statue that fuselage will remain on when power-off as Fig. 6.
As shown in Fig. 8 a|, in process upstairs, if the distance X of supporting leg 4 front end and upper class stair riser is too large, then after fuselage 1 is propped up, at pivoted arm 5 close to time vertical, 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, ensures the situation as 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 end and upper class stair riser is too short, then after fuselage 1 has just started to prop up, front fuselage have collide with mutually with upper class stair riser may, though this situation does not cause unsuccessful upstairs, but after colliding with, because the continuation of pivoted arm rotates, power of colliding with is strengthened, causes front fuselage to wear and tear, or supporting leg 4 and stair step face produce slip abrasion, should avoid as far as possible.
To the requirement of the distance X of supporting leg 4 front end and upper class stair riser, X should be met
mIN< X < X
mAX, wherein X
mAXwith X
mINdetermined by the size of robot specific design.About X
mAX, because supporting leg designs gently, relative fuselage weight is little, considers fuselage weight G2 so main.After X is greater than the half of fuselage length L, G2 has been in outside the fulcrum of supporting leg, starts there is the possibility leaned forward.If supporting leg and pivoted arm weight are taken into account, X value obviously can be put larger, 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 illustrates:
wherein H is standard stair riser height.Get during design
(put before this satisfied, L
ashould be as far as possible little, to reduce robot size), fuselage can be ensured higher than upper class stair step face after propping up, so X
mIN≈ 0.255L
a.General L
abe slightly less than fuselage length L, in order to certain nargin, desirable X
mIN=0.3L.Select the scope of X between 0.3L < X < 0.5L so final.Fuselage length is normally constant, but different stair height has certain difference, and under calibrated altitude, the wide security of this X, can ensure downstairs.If stair riser is higher, may collide with, but still can be upstairs.
As shown in Figure 9, Figure 10, this robot prepare upper downstairs time, ensure during initial condition that fuselage and supporting leg fall back on step step surface in the lump, robot first must adjust attitude, and robot fuselage just to be marked time riser to stairway step.When preparing upstairs, utilize two distance measuring sensors 2 to detect respectively and the distance X1 of upper class step riser and X2, the drive motor 16 that controls to advance drives the differential advance of two travel wheel 10, and adjustment makes X1 equal X2.When preparing downstairs, robot fuselage just to be marked time edge to stairway step, the i.e. edge that crosses near the riser of fuselage place step step surface and fuselage place step of two proximity transducers, two distance measuring sensors are positioned at above the step step surface of fuselage place, namely ensure that fuselage proximity transducer is front, the posterior mode of distance measuring sensor, robot is seted out to next stage step step surface, two proximity transducers 3 are utilized to detect unobstructed nearby, control travel wheel temporarily to halt, the action carrying out pivoted arm rotation can be prepared.
All must ensure that trailing wheel can not fall from current marking time upstairs or in way of going downstairs.When robot prepares downstairs, utilize proximity transducer 3 to sense control downwards, attitude can be adjusted, just to edge of marking time by control simultaneously.Specifically: control drive motor 16 of advancing and drive the differential advance of two travel wheel 10, sensing is unobstructed from blocking downwards to make two, left and right proximity transducer 3, cardan wheel b12 is described close to marking time edge, and just to 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 is when upstairs, action starts, pivoted arm 5 rotates a moment making the firm land of fuselage 1 at upper class step, pivoted arm 1 need be controlled and rotate time-out, make supporting leg 4 wouldn't leave current stair step face, to controller signals when finding that destage rank, fuselage 1 bottom step surface is enough near by the proximity transducer a15 in Figure 11, control realization pivoted arm 5 suspends.When fuselage 1 land are at upper class step, if the non-land of cardan wheel b12 are to upper class step step surface, can constantly drive driving wheel 10 that robot is towed forward, block until sensor 3 has detected, show cardan wheel b12 land at upper class step step surface, can rotary support leg 4 again, supporting leg 4 is lifted and leaves current stair step face.
On this concrete clean robot, action downstairs comprises the following step: as shown in Figure 13 a ~ Figure 13 e,
Step one, upstairs in process, ensure during initial condition that fuselage 1 and supporting leg 4 fall back on step step surface in the lump, ensure that fuselage distance measuring sensor is front, the posterior mode of proximity transducer, robot is made to prepare to set out to upper class step step surface, utilize two distance measuring sensors 2 respectively to the distance X1 of front detection and upper class step riser and X2, control drive motor 16 of advancing drives the differential advance of two travel wheel 10, X1 is made to equal X2, then controlling pivoted arm drive motor 9 drives pivoted arm 5 to rotate to the direction of upper class step step surface, the cardan wheel a10 below fuselage 1 is made to fall within upper class step, now proximity transducer a15 detects and blocks nearby, suspend pivoted arm 5 to rotate, then two travel wheel 10 controlled below fuselage 1 are advanced, until utilize two proximity transducers 3 to detect be subject to blocking of upper class step step surface, guarantee that the cardan wheel b12 below fuselage is on upper class step step surface.
Step 2, continue to drive pivoted arm 5 to rotate, obtain the momentary status that fuselage 1, pivoted arm 5 and supporting leg 4 are in same level position, the robot of design carries out suitable counterweight, ensure that the center of gravity of robot is between cardan wheel b12 and cardan wheel a11, as Figure 12, can ensure that robot can not toward tipping backwards; Then continue driving first sprocket wheel 6 to rotate, until supporting leg 4 and pivoted arm 5 fall back on the upper class step step surface at fuselage 1 place, building climbed by the stair completing one-period, can complete climbing building and be aided with stair and cleaning of corridor and so forth.
Step 3, downstairs in process, ensureing during initial condition that fuselage 1 and supporting leg 4 fall back in the lump marks time in plane, robot fuselage just to be marked time edge to stairway step, the i.e. edge that crosses near the riser of fuselage place step step surface and fuselage place step of two proximity transducers, two distance measuring sensors are positioned at above the step step surface of fuselage place, now ensure that fuselage proximity transducer is front, the posterior mode of distance measuring sensor, robot is seted out to next stage step step surface, two proximity transducers 3 are utilized to detect unobstructed nearby, travel wheel halts, then controlling pivoted arm drive motor 9 drives pivoted arm to rotate to next stage step step surface direction.
Step 4, continue driving first sprocket wheel 6 to rotate, obtain the momentary status that fuselage 1, pivoted arm 5 and supporting leg 4 are in same level position, the robot of design carries out suitable counterweight, ensure that the center of gravity of robot is between cardan wheel b12 and cardan wheel a11, as Figure 12, can ensure that robot can not toward tipping backwards.Then continue to drive pivoted arm 5 to rotate, supporting leg 4 is made to fall back on next stage step step surface, now, controlling pivoted arm drive motor continuation rotation makes fuselage 1 leave fuselage place step step surface, until fuselage 1, pivoted arm 5, supporting leg 4 all fall back on next stage step step surface.
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 being parallel to stair step plane, be symmetrically distributed in the translation rotating leg structure of fuselage both sides, be arranged side by side two distance measuring sensors sensed forward in fuselage front horizontal, be arranged side by side two proximity transducers detected in fuselage rear vertical downwards, horizontally disposed supporting leg when described translation rotating leg structure comprises initial position, the pivoted arm be hinged with described supporting leg, lay respectively at the first sprocket wheel and second sprocket wheel at pivoted arm two ends on this arm length direction, connect the chain of described first sprocket wheel and described second sprocket wheel, described second sprocket wheel is positioned at described pivoted arm and described supporting leg hinged place, and described second sprocket wheel is connected on described supporting leg, described first sprocket wheel is bolted on the bearing seat that is connected with described fuselage, the pivoted arm drive motor that described pivoted arm and fuselage are arranged is direct-connected, stair clearing apparatus is provided with on below described fuselage.
2. a kind of translation rotating leg formula stair clean robot as claimed in claim 1, is characterized in that: be provided with two travel wheel playing the advance of auxiliary fuselage being symmetrical in fuselage left and right medium line below described fuselage, described two travel wheel are connected with drive motor of advancing; Be provided with the cardan wheel a of supplemental support near described distance measuring sensor position below fuselage; Be provided with the cardan wheel b of auxiliary balance near described proximity transducer position below fuselage.
3. a kind of translation rotating leg formula stair clean robot as claimed in claim 2, is characterized in that: described fuselage is provided with proximity transducer a between two travel wheel and described cardan wheel 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 first sprocket wheel and number of teeth z1 equals reference radius r2 and the number of teeth z2 of the second sprocket wheel, and supporting leg described in motion process and the angle theta between described pivoted arm 1 equal the angle theta 2 between described pivoted arm and described fuselage all the time.
5. a upper method downstairs for translation rotating leg formula stair clean robot, application rights requires a kind of translation rotating leg described in 1 or 2 is gone downstairs robot, it is characterized in that comprising the following steps:
Step one, upstairs in process, ensure during initial condition that fuselage and supporting leg fall back on step step surface in the lump, two distance measuring sensors are utilized to detect respectively and the distance X1 of upper class step riser and X2, control drive motor of advancing drives the differential advance of two travel wheel, X1 is made to equal X2, then controlling pivoted arm drive motor drives pivoted arm to rotate to the direction of upper class step step surface, the cardan wheel a below fuselage is made to fall within upper class step, now proximity transducer a detects and blocks nearby, suspend pivoted arm to rotate, then two travel wheel controlled below fuselage are advanced, until utilize two proximity transducers to detect be subject to blocking of upper class step step surface, guarantee that the cardan wheel b below fuselage is on upper class step step surface,
Step 2, pivoted arm drive motor continues to drive pivoted arm to rotate, obtain the momentary status that fuselage, pivoted arm and supporting leg are in same level position, ensure that the center of gravity of stair clean robot is between cardan wheel b and travel wheel, then continue to drive pivoted arm to rotate, until supporting leg and pivoted arm fall back on the upper class step step surface at fuselage place, building climbed by the stair completing one-period, can complete and so forth corridor climb building and be aided with stair clean;
Step 3, downstairs in process, ensureing during initial condition that fuselage and supporting leg fall back in the lump marks time in plane, control drive motor of advancing drives the differential advance of two travel wheel, make 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 above the step step surface of fuselage place, now ensure 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, then travel wheel halts, then controlling pivoted arm drive motor drives pivoted arm to rotate to next stage step step surface direction,
Step 4, continue to drive pivoted arm to rotate, obtain the momentary status that fuselage, pivoted arm and supporting leg are in same level position, ensure that the center of gravity of robot is downstairs between cardan wheel b and travel wheel, then continue to drive pivoted arm to rotate, make supporting leg fall back on next stage step step surface, now control pivoted arm drive motor and continue to drive pivoted arm to rotate, fuselage is made to 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 one, and the span of X1 and X2 is between the fuselage length of 0.3 times and the fuselage of 0.5 times are grown.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410146501.0A CN103895728B (en) | 2014-04-11 | 2014-04-11 | A kind of translation rotating leg formula stair clean robot and upper method downstairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410146501.0A CN103895728B (en) | 2014-04-11 | 2014-04-11 | A kind of translation rotating leg formula stair clean robot and upper method downstairs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103895728A CN103895728A (en) | 2014-07-02 |
| CN103895728B true CN103895728B (en) | 2016-03-23 |
Family
ID=50987397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410146501.0A Expired - Fee Related CN103895728B (en) | 2014-04-11 | 2014-04-11 | A kind of translation rotating leg formula stair clean robot and upper method downstairs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103895728B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104494727B (en) * | 2014-12-22 | 2016-08-17 | 杨洪安 | Ladder barrier getting over 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 |
| 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 |
| 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 |
| CN109353399B (en) * | 2018-10-15 | 2021-06-25 | 潘秀兰 | Electric stair climbing vehicle and control method thereof |
| CN114794991B (en) * | 2022-06-02 | 2024-01-16 | 南通大学 | Control method for stair cleaning robot to go downstairs without turning around |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61257375A (en) * | 1985-05-07 | 1986-11-14 | Mitsubishi Heavy Ind Ltd | Control method of leg type moving machine |
| JPS6243370A (en) * | 1985-08-22 | 1987-02-25 | Mitsubishi Heavy Ind Ltd | Control method for leg wheel type moving robot |
| JPS62205863A (en) * | 1986-03-07 | 1987-09-10 | Meidensha Electric Mfg Co Ltd | Running device |
| JP2647541B2 (en) * | 1990-08-13 | 1997-08-27 | 三菱重工業株式会社 | Crawling movement control method for legged mobile robot |
| CN201683852U (en) * | 2010-06-08 | 2010-12-29 | 德州学院 | Corridor cleaning robot |
| CN202320576U (en) * | 2011-11-18 | 2012-07-11 | 淮海工学院 | Stair climbing robot |
-
2014
- 2014-04-11 CN CN201410146501.0A patent/CN103895728B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN103895728A (en) | 2014-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103895728B (en) | A kind of translation rotating leg formula stair clean robot and upper method downstairs | |
| CN103909992B (en) | A kind of corridor cleaning robot | |
| US20060185911A1 (en) | Stair climbing platform apparatus and method | |
| CN204016663U (en) | Automatic wheelchair | |
| CN104881027B (en) | Wheel-track combined Intelligent Mobile Robot active obstacle system and control method | |
| CN110261849B (en) | Tunnel lining structure detection device | |
| CN203920967U (en) | A kind of corridor cleaning robot | |
| CN105645226B (en) | Household corridor sunpender staircase | |
| CN108556938B (en) | All-terrain robot | |
| US8162083B2 (en) | Crawler device and automatic attitude control of the same | |
| JPS60176871A (en) | Travel gear for robot | |
| CN207466820U (en) | Intelligent mobile robot | |
| CN108517777B (en) | A kind of passing method suitable for minor radius T beam bridge formation machine | |
| CN108214447A (en) | Intelligent robot mobile platform | |
| CN208593448U (en) | Full ground anthropomorphic robot | |
| KR100871447B1 (en) | Moving apparatus with caterpillar of transformable type | |
| CN108556939A (en) | A kind of full landform movement sniffing robot | |
| CN106137585A (en) | The electric wheelchair that a kind of energy up/down steps stair travel pacifically | |
| CN206187142U (en) | Carrying device based on focus adjustment mechanism | |
| CN110304162A (en) | The stump-jump mechanism and its method of digging machine | |
| CN101803980B (en) | Barrier free wheelchair | |
| WO2023226857A1 (en) | Stair cleaning robot based on retractable rotating arms | |
| CN108528562A (en) | A kind of robot climbing base apparatus | |
| CN106393058B (en) | The mating Stair climbing device of sweeping robot | |
| CN208760749U (en) | A kind of wheel-track combined walking robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160323 Termination date: 20190411 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |