CN104176144A - Stair climbing robot - Google Patents
Stair climbing robot Download PDFInfo
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- CN104176144A CN104176144A CN201410307305.7A CN201410307305A CN104176144A CN 104176144 A CN104176144 A CN 104176144A CN 201410307305 A CN201410307305 A CN 201410307305A CN 104176144 A CN104176144 A CN 104176144A
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- climbing robot
- arm
- outward turning
- pivot arm
- rotating shaft
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Abstract
The invention provides a stair climbing robot. The stair climbing robot comprises a base body, wherein two sections of rotary shafts symmetrically extend to two sides from the base body; a pair of external rotation arms and a pair of internal rotation arms are further symmetrically arranged on the two sides of the base body and are pivoted on the rotary shafts through metal disks fixedly connected to the end parts of the external rotation arms and the internal rotation arms respectively; supporting parts are arranged at the end parts, far away from the rotary shafts, of the external rotation arms and the internal rotation arms respectively; rotary magnetic field generation devices capable of generating rotary magnetic fields which rotate around the axes of the rotary shafts are symmetrically arranged on the two sides in the base body, and the magnetic force lines of the rotary magnetic field generation devices penetrate through the metal disks. The stair climbing robot can automatically climb stairs and is simple in structure and unlikely to damage.
Description
Technical field
The present invention relates to automated machine apparatus field, especially, relate to a kind of steps climbing robot.
Background technology
For automatic stari creeping ladder mechanical equipment, exist the structure design compared with multiple types, but the automatic stair-climbing mechanism existing at present, its action component is realized rigid connection by transmission device and motor, therefore, action component, in the time of cat ladder, causes blocking when motionless if cat ladder angle is not good, and motor is as easy as rolling off a log burns; Therefore, must avoid the jammed phenomenon of this action component, thereby cause whole physical construction to be designed to be very complicated, greatly increase the cost of stair-climbing mechanism, and also easily occur structural damage.
Summary of the invention
For the problems referred to above, the object of the present invention is to provide a kind of steps climbing robot, not only cat ladder automatically of this steps climbing robot, and simple in structure, not fragile.
The technical solution adopted for the present invention to solve the technical problems is: this steps climbing robot comprises matrix; Described matrix is poised for battle one section of rotating shaft of extension to both sides; Described matrix both sides are also symmetrical arranged a pair of outward turning pivoted arm and a pair of interior pivot arm; Described outward turning pivoted arm, interior pivot arm are pivoted to described rotating shaft by being cemented in the salver of their ends respectively; Described outward turning pivoted arm, interior pivot arm are respectively equipped with support portion away from the end of described rotating shaft; Bilateral symmetry in described matrix is provided with and can produces around described shaft axis rotation, and magnetic line of force is through the generation device of rotating magnetic field of described salver.
As preferably, described outward turning pivoted arm, interior pivot arm are arched arm, and in the time that they are sagging, arc forwards; This more easily stands firm the arched arm getting rid of from the top down to high-order step, and the arched arm that is supported in low order step is more easily to skidding backward, and described rotating shaft is formed to a torque, thereby has more easily been got rid of.
As preferably, the contact site of described support portion and step is provided with elastic body, to improve the anti-pumping performance of whole robot, promotes the cat ladder ascending ability of robot.
As preferably, described generation device of rotating magnetic field comprises and is parallel to described rotating shaft, and circumferential array turns axial electromagnet array in described, and makes electromagnet in described electromagnet array by the Marquee circuit module of fixing hour hands rotation conducting.
As preferably, described salver is aluminium dish, and its quality is light, and inertia is little, and electromagnetic induction performance is good.
Beneficial effect of the present invention is: this steps climbing robot is in the time of cat ladder, described generation device of rotating magnetic field produces rotating field, because this rotating field is through described salver, according to electromagnetic induction principle, the continuous alternation of magnetic flow of each point on salver, thus on each point on salver surface, induce exchange current, this vortex flow alternating magnetic field of inducting again, thereby make salver follow rotating field rotation, this principle is equal to aluminium disc type electric energy meter; Therefore, described outward turning pivoted arm and interior pivot arm will, by this rotating field continuous drive, get rid of to high-order step with backward-upwards-forward-downward track from low order step; In this process, as, in the time that interior pivot arm gets rid of the table top to high-order step, drag described matrix and lean forward, now, the step surface at interior pivot arm and rear forms acute angle, and the step surface at outward turning pivoted arm and rear forms obtuse angle, thereby interior pivot arm is supported on step surface, and outward turning pivoted arm is got rid of without resistance, get rid of to higher order step more, then, outward turning pivoted arm is as support, and interior pivot arm has been got rid of again, so circulation, completes unit for operation on ladder; Due in this robot without rigid engagement mechanism, be therefore difficult to damage, and simple in structure, cost is lower.
Brief description of the drawings
Fig. 1 is the schematic side view of this steps climbing robot embodiment mono-.
Fig. 2 is the front elevational schematic of this steps climbing robot embodiment mono-.
Fig. 3 is the schematic side view of this steps climbing robot embodiment bis-.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described:
Embodiment mono-:
In the embodiment mono-shown in Fig. 1, Fig. 2, this steps climbing robot comprises matrix 1; Described matrix 1 is poised for battle one section of rotating shaft 4 of extension to both sides; Described matrix 1 both sides are also symmetrical arranged a pair of outward turning pivoted arm 2 and a pair of interior pivot arm 3; Described outward turning pivoted arm 2, interior pivot arm 3 are pivoted to described rotating shaft 4 by the salver 22,32 that is cemented in their ends respectively; Described outward turning pivoted arm 2, interior pivot arm 3 are respectively equipped with support portion 21,31 away from the end of described rotating shaft 4; Bilateral symmetry in described matrix 1 is provided with and can produces around described rotating shaft 4 axis rotations, and magnetic line of force is through the generation device of rotating magnetic field 5 of described salver 22,32; Described generation device of rotating magnetic field 5 comprises and is parallel to described rotating shaft 4, and circumferential array turns axial electromagnet array in described, and make electromagnet in described electromagnet array by the Marquee circuit module (not shown) of fixing hour hands rotation conducting.
Above-mentioned steps climbing robot, described salver 22,32 is aluminium dish, and its quality is light, and inertia is little, and electromagnetic induction performance is good.
In addition, can elastic body be set in the contact site of described support portion 21,31 and step, to improve the anti-pumping performance of whole robot, promote the cat ladder ascending ability of robot; As, parcel elastic rubbery body.
Embodiment bis-:
Figure 3 shows that the embodiment bis-of this steps climbing robot, the difference of itself and embodiment mono-is: described outward turning pivoted arm 2, interior pivot arm 3 are arched arm, and in the time that they are sagging, arc forwards; This makes to get rid of from the top down the arched arm to high-order step, and the interior pivot arm 3 under state, more easily stands firm as shown in Figure 3; Because if the interior pivot arm 3 under state shown in Fig. 3 is straight-arms, when it does not have in the situation of enough propulsive efforts, while being thrown to high-order ledge surface, may cause to front slide whole robot paralysis to fall; Can be compared to human body in the time doing carp jump on water, as complete straight and upright both legs in the process of jumping up, shank is not bending backward, will stand up just very difficult;
And now, and the arched arm that is supported in low order step is more easily to skidding backward, and described rotating shaft 4 is formed to a torque, thereby has more easily been got rid of.
Above-mentioned steps climbing robot is in the time of cat ladder, described generation device of rotating magnetic field 5 produces rotating field, because this rotating field is through described salver 22,32, according to electromagnetic induction principle, the continuous alternation of magnetic flow of each point on salver 22,32, thus on each point on salver surface, induce exchange current, this vortex flow alternating magnetic field of inducting again, thereby make salver follow rotating field rotation, this principle is equal to aluminium disc type electric energy meter; Therefore, described outward turning pivoted arm 2 and interior pivot arm 3 will, by this rotating field continuous drive, get rid of to high-order step with backward-upwards-forward-downward track from low order step; In this process, as, in the time that interior pivot arm 3 gets rid of the table top to high-order step, drag described matrix and lean forward, now, interior pivot arm 3 forms acute angle with the step surface at rear, and outward turning pivoted arm 2 forms obtuse angle with the step surface at rear, thereby interior pivot arm 3 is supported on step surface, and outward turning pivoted arm 2 is got rid of without resistance, get rid of to higher order step more, then, outward turning pivoted arm 2 is as supporting, and interior pivot arm 3 has been got rid of again, so circulation, completes unit for operation on ladder; Due in this robot without rigid engagement mechanism, be therefore difficult to damage, and simple in structure, cost is lower.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (5)
1. a steps climbing robot, comprises matrix (1); Described matrix (1) is poised for battle one section of rotating shaft of extension (4) to both sides; It is characterized in that: described matrix (1) both sides are also symmetrical arranged a pair of outward turning pivoted arm (2) and a pair of interior pivot arm (3); Described outward turning pivoted arm (2), interior pivot arm (3) are pivoted to described rotating shaft (4) by the salver (22,32) that is cemented in their ends respectively; Described outward turning pivoted arm (2), interior pivot arm (3) are respectively equipped with support portion (21,31) away from the end of described rotating shaft; Bilateral symmetry in described matrix (1) is provided with and can produces around described shaft axis rotation, and magnetic line of force is through the generation device of rotating magnetic field (5) of described salver.
2. steps climbing robot according to claim 1, is characterized in that: described outward turning pivoted arm (2), interior pivot arm (3) are arched arm, and in the time that they are sagging, arc forwards.
3. steps climbing robot according to claim 1 and 2, is characterized in that: described support portion (21,31) are provided with elastic body with the contact site of step.
4. steps climbing robot according to claim 1, it is characterized in that: described generation device of rotating magnetic field (5) comprises and is parallel to described rotating shaft (4), and circumferential array turns axial electromagnet array in described, and make electromagnet in described electromagnet array by the Marquee circuit module of fixing hour hands rotation conducting.
5. steps climbing robot according to claim 1, is characterized in that: described salver (22,32) is aluminium dish.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410307305.7A CN104176144A (en) | 2014-06-30 | 2014-06-30 | Stair climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410307305.7A CN104176144A (en) | 2014-06-30 | 2014-06-30 | Stair climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104176144A true CN104176144A (en) | 2014-12-03 |
Family
ID=51957569
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410307305.7A Pending CN104176144A (en) | 2014-06-30 | 2014-06-30 | Stair climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104176144A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113247137A (en) * | 2021-06-16 | 2021-08-13 | 无锡锡东电力电气安装工程有限公司 | Pole cat ladder robot of crawling |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102560959A (en) * | 2010-12-23 | 2012-07-11 | 彭昌吻 | Magnetic force washing method and washing machine thereof |
| CN202557647U (en) * | 2012-05-03 | 2012-11-28 | 上海理工大学 | Mechanical stairs climbing device |
| CN202863521U (en) * | 2012-09-29 | 2013-04-10 | 钟木生 | Electric ladder stand cart |
| CN203920964U (en) * | 2014-06-30 | 2014-11-05 | 苏州格雷特机器人有限公司 | A kind of steps climbing robot |
-
2014
- 2014-06-30 CN CN201410307305.7A patent/CN104176144A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102560959A (en) * | 2010-12-23 | 2012-07-11 | 彭昌吻 | Magnetic force washing method and washing machine thereof |
| CN202557647U (en) * | 2012-05-03 | 2012-11-28 | 上海理工大学 | Mechanical stairs climbing device |
| CN202863521U (en) * | 2012-09-29 | 2013-04-10 | 钟木生 | Electric ladder stand cart |
| CN203920964U (en) * | 2014-06-30 | 2014-11-05 | 苏州格雷特机器人有限公司 | A kind of steps climbing robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113247137A (en) * | 2021-06-16 | 2021-08-13 | 无锡锡东电力电气安装工程有限公司 | Pole cat ladder robot of crawling |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141203 |