CN104760630A - People gait simulation stair-climbing robot - Google Patents
People gait simulation stair-climbing robot Download PDFInfo
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- CN104760630A CN104760630A CN201510211004.9A CN201510211004A CN104760630A CN 104760630 A CN104760630 A CN 104760630A CN 201510211004 A CN201510211004 A CN 201510211004A CN 104760630 A CN104760630 A CN 104760630A
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Abstract
The invention discloses a people gait simulation stair-climbing robot and belongs to the field of robots. The robot comprises four feet of the same structure, a connecting part and a control system. Each foot comprises an installation plate, wherein a front sole and a rear sole are installed on the two sides of the installation plate in a Z shape, and a driving device is installed in the installation plate. The two feet located in the front part are the front feet in the stair climbing direction, the two feet located in the rear part are the rear feet in the stair climbing direction, and the front feet are connected with the rear feet through the connecting part. The control system is electrically connected with the driving device and controls the driving device. The structure and the connecting manner of the people gait simulation stair-climbing robot are designed by simulating the structure of feet of a human body and combining the shape of stairs, the walking state of the robot is basically similar to the stair climbing state of people, the stairs cannot be damaged, and high stability is achieved.
Description
Technical field
The present invention relates to robot, be specifically related to a kind of can the stair climbing robot of apery gait.
Background technology
Current existing stair climbing robot many employings crawler type, vane type structure, of long duration can cause certain infringement to stair body, as the scuffing on porcelain block surface, break, the Chinese patent application being 201010248695.7 as application number provides a kind of disaster-situation accompanying robot, it adopts the driving mode of crawler belt, this kind of robot most of the time is all travel on comparatively smooth ground, relatively be difficult to be applicable to speeling stairway, efficiency during its speeling stairway and stationarity are all not high enough, easy appearance overturning phenomenon, simultaneously crawler-mounted due to it, it can produce serious destruction to stair body, and need larger driving power.
Application number be 201210133863.7 Chinese patent application provide a kind of stair climbing mechanical device, it comprises forebody, rear body, Fuselage connection part, four pentagonal wheel legs, four DC servo motor and wheel leg fixed parts, this technical scheme is by controlling drive motor velocity of rotation and the direction of different wheel leg, pivot stud can be realized, mode easily realizes, during speeling stairway, pentacle weel leg often turns over the stair that a week can climb five steps, the efficiency rate of exchange are high, but its structure is comparatively complicated, and bearing capacity ratio is lower.
The Chinese patent application that application number is 201310244311.8 provides a kind of four-footed stair climbing robot mechanism, it comprises upper body and connected four foots in parallel, each foot comprises the fixed platform affixed with upper body, haptic element and be connected to the identical movement branched chain of three structures between fixed platform and haptic element, article three, movement branched chain rotational symmetry is evenly arranged, every bar movement branched chain comprises master arm and slave arm, one end of master arm is connected with rotating driving device, the other end and a hollow ball shape joint of master arm are affixed, rotating driving device is fixed on below fixed platform, form haptic element with three concentric setting-ins of hollow ball shape joint of three movement branched chain, between adjacent two hollow ball shape joints, form spherical pair.This technical scheme can be walked automatically, stair activity, can carry larger heavy burden, ensures that in action, robot upper body remains level, but its structure is comparatively complicated, and its traveling gear is made up of three movement branched chain, the process of its walking is comparatively complicated, and stability is lower.
Summary of the invention
The object of the invention be to provide a kind of can the stair climbing robot of apery gait, to solve the many disadvantages that existing stair climbing robot exists.
In order to achieve the above object, the present invention adopts following technical scheme:
Apery gait stair climbing robot, comprises the identical foot of four structures, connecting bridge and control system; Wherein, each foot comprises adapter plate, and forefoot and hind paw are the both sides that zigzag shape is installed on adapter plate, and actuating device is installed in adapter plate; Along the direction of climbing of stair, two foots be positioned at above are the forward foot in a step, and two foots be positioned at below are the rear foot, and the forward foot in a step is connected with the rear foot by described connecting bridge, are formed overall; Described control system and described actuating device are electrically connected and control described actuating device.
During robot stair climbing, the rear foot is turned to the upper class stair of forward foot in a step place stair by the moment of torsion utilizing the actuating device in the forward foot in a step to export, now before and after pin exchange, the rear foot become the forward foot in a step again output torque the rear foot is now turned to its upper class stair; Circulation like this, copies gait during person to go upstairs to realize the function of stair climbing.
One as apery gait stair climbing robot of the present invention is improved, and described connecting bridge comprises the first support, the second support and extension rod, and described first support, the second support take the shape of the letter U shape; Wherein, described first support is connected with two actuating devices of the forward foot in a step, and the second support is connected with two actuating devices of the rear foot; Described first support, the second support are distributed with mounting hole, described extension rod is also distributed with mounting hole, and by installing screw on mounting hole, described first support, the second support are connected, formed overall.Like this by the mounting hole installation site on change extension rod and support, can extend or shorten distance between the forward foot in a step and the rear foot to adapt to the stair of different size.
Another kind as apery gait stair climbing robot of the present invention improves, described control system comprises Arduino controller and power module, wherein, power module provides power supply for actuating device and Arduino controller, and Arduino controller is in order to the action of accessory drive.
As another improvement of apery gait stair climbing robot of the present invention, two hollow slots are had in described adapter plate, actuating device is installed in two hollow slots of adapter plate one side by screw, forefoot is installed in two hollow slots of adapter plate another side by screw, by having two hollow slots in adapter plate, actuating device and forefoot can be installed on different height and positions, to adapt to the stair of differing heights.
As the further improvement of apery gait stair climbing robot of the present invention, described forefoot is convex shape, plays the effect that balancing torque in motion process prevents robot from toppling forward; Described hind paw is concave shape, plays the effect that balancing torque in motion process prevents robot from toppling backward; Distance between forefoot and hind paw is the height of stair; By ingehious design forefoot and the special shape of hind paw, not only can ensure that robot is in the process of motion, forefoot and hind paw are on same stair face, and can avoid when the rear foot lands, the hind paw of the rear foot can push down the situation appearance of the forefoot of the forward foot in a step, achieve rear foot output torque dexterously and ground This move is left in forward foot in a step rotation, ensure the torque arm length of the resistance to tipping moment of robot simultaneously, alleviate robot body weight.
As the further improvement of apery gait stair climbing robot of the present invention, described actuating device is steering wheel.
In order to the situation preventing robot from hypsokinesis can not occur in the process of motion occurs, the length of described hind paw is tried to achieve by following formula:
Draw:
Wherein: c is the length of hind paw; L is in rear foot switching process, when it and the forward foot in a step is horizontal time its motor shaft and forward foot in a step motor shaft between distance; M is the quality of pin.
In order to the situation preventing robot from can not lean forward in the process of motion occurs, the length of described forefoot is tried to achieve by following formula:
Draw:
Wherein: the length that c ' is forefoot; L ' is the forward foot in a step, horizontal throw between rear foot motor shaft; M is the quality of pin.
The length of above hind paw and the length of forefoot simultaneously, meet robot in the process of motion, the phenomenon that can not interfere between the two occurs.
From the above, the present invention compared with prior art, has following beneficial effect:
The structure of apery gait stair climbing robot of the present invention and connection mode are on the basis of copying human foot structure, in conjunction with stair self shape designed by out, by the pin of robot being designed to the Z-shaped structure of laminating stair, and by particular design forefoot, hind paw length, ensure that the danger that robot had not only turned forward backward but also not, before utilizing simultaneously, hind paw increases the length of the antidumping arm of force, solve the go upstairs robot that causes because center of gravity is liftoff in process of robot to topple problem, and before devising dexterously, the shape of hind paw, avoid when the rear foot lands, the hind paw of the rear foot can push down the situation appearance of the forefoot of the forward foot in a step, achieve rear foot output torque and ground This move is left in forward foot in a step rotation.By applying apery gait stair climbing robot of the present invention, decreasing the destruction of robot to stair body, and there is higher stability.
Accompanying drawing explanation
Fig. 1 is the structural representation of apery gait stair climbing robot of the present invention;
Fig. 2 is apery gait stair climbing robot of the present invention single leg structure schematic diagram;
Fig. 3 is the calculation diagram of hind paw length;
Fig. 4 is the calculation diagram of forefoot length;
In figure: 1 pin, 2 steering wheels, 3 control system, 4 mounting holes, 5 first supports, the 5 ' second support, 6 extension rods, 10 adapter plates, 11 hollow slots, 12 forefoots, 13 hind paws.
Detailed description of the invention
Accompanying drawing, only for exemplary illustration, can not be interpreted as the restriction to this patent.
To those skilled in the art, in accompanying drawing, some known features and explanation thereof may be omitted is understandable.
Below in conjunction with the Figure of description in the present invention, be clearly and completely described the technical scheme in invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, for the structural representation of the apery gait stair climbing robot of present pre-ferred embodiments, it comprises the identical foot 1 of four structures, connecting bridge and control system 3, wherein, along the direction of climbing of stair, two foots be positioned at above are the forward foot in a step, two foots be positioned at below are the rear foot, as shown in Figure 2, each foot 1 comprises adapter plate 10, two hollow slots 11 are had in adapter plate 10, forefoot 12 is installed vertically in two hollow slots 11 of adapter plate 10 by screw, hind paw 13 is positioned at the bottom of adapter plate 10, with adapter plate 10 in L-shaped shape, forefoot 12, adapter plate 10, in vertical zigzag shape between hind paw 13 three, with the shape of stair of fitting, when when the stair of differing heights, the distance between forefoot 12 and hind paw 13 can be adjusted, to adapt to the stair of differing heights, simultaneously, in order to ensure that robot is in the process of motion, the hind paw 13 of the forward foot in a step and the forefoot 12 of the rear foot drop on same stair face, avoid when the rear foot lands, the hind paw 13 of the rear foot can push down the situation appearance of the forefoot 12 of the forward foot in a step, specially forefoot 12 is designed in convex shape, hind paw 13 is in concave shape, when such forefoot 12 and hind paw 13 drop on same stair face, can stagger together, solve the problem dexterously.
Actuating device and steering wheel 2 are installed on by screw in two hollow slots 11 on adapter plate 10 another side simultaneously, and the control line of steering wheel 2 is connected in control system 3.
Again as shown in Figure 1, described connecting bridge comprises the first support 5, second support 5 ' and two extension rods 6, and this first, second support is U-shaped; Wherein, this first support 5 is connected with two steering wheel 2 main shafts of the forward foot in a step, and the second support 5 ' is connected with two steering wheel 2 main shafts of the rear foot; Described first support 5, second support 5 ' is distributed with mounting hole 4, described extension rod 6 is also distributed with mounting hole 4, and by installing screw on mounting hole 4, described first support 5, second support 5 ' is connected, formed overall, like this by the installation site of change extension rod 6 with the mounting hole 4 on first, second support, can extend or shorten distance between the forward foot in a step and the rear foot to adapt to the stair of different size.
Wherein, control system 3 is being arranged on the first support 5, second support 5 ', control system 3 comprises power module and Arduino controller, 220V civil power is converted to stable 5V and exports by power module, in order to provide power supply to four steering wheels 2 and Arduino controller 3, Arduino controller is in order to control the action of steering wheel 2.
Corresponding to human body stair climbing process-lift pin, stride, put pin, the process that robot is gone upstairs also is divided into three processes.
When robot is in initial condition, namely the rear foot is when at next stage stair, the forward foot in a step is at previous stage stair, and start the machine people, robot setting in motion.Steering wheel 2 output torque in the forward foot in a step, makes the rear foot around the forward foot in a step, and connecting bridge that is former, the rear foot is that radius rotates, and rotates to front and back pin and stops when same upright position.In the process of rear less touch with the ground, the center of gravity of machine is the side to the rear in whole mechanism, robot has the trend retreating and cover, make robot not hypsokinesis, then when centrifugal castor is maximum, robot not hypsokinesis, and correspond to stair climbing process, when the rear foot will be rolled up in the process of upper class stair by forward foot in a step driving, when the rear foot and forward foot in a step level, be the maximum torque retreated.As shown in Figure 3, if in now rear foot switching process, when it and the forward foot in a step is horizontal time its motor shaft and forward foot in a step motor shaft between distance be L, the weight of Mei Zhi foot 1 is M, the length of hind paw 13 is c, and should be less than according to the moment retreated around fulcrum the moment turned forward around fulcrum can draw following formula:
Draw:
Therefore the length of hind paw 13 must meet this condition robot just can be made not topple over; But this distance can not be oversize because when oversize meeting causes rearfoot movement and the forward foot in a step interfere.
The above-mentioned first step for robot stair climbing-lift pin.
When the forward foot in a step rotates to upright position same as the rear foot, if now continue to rotate, then can collide with stair because the rear foot does not mix up attitude, so this step will adjust the attitude of the rear foot.Namely rear foot steering wheel 2 output torque makes the rear foot rotate to certain attitude around support steadily to land requirement to meet.This is the second step of robot stair climbing.
After the rear foot adjusts attitude, the forward foot in a step again output torque makes the rear foot land.Because robot has the trend turning forward and cover in this process, therefore the forefoot 12 with certain length is provided with to the moment increasing robot and retreat to make whole machine balancing, the basic method as above-mentioned hind paw length of method of calculating, as shown in Figure 4, if the horizontal throw between forward and backward pin motor shaft is L ', the weight of every pin is M, and the length of forefoot 12 is c ', and should be less than according to the moment turned forward around fulcrum the moment retreated around fulcrum can draw following formula:
Draw:
Equally, this length also should meet forward and backward pin motion process in can not interfere.
After the rear foot lands, robot has got back to again initial condition.Now, pin exchanges, the forward foot in a step due to position after become the rear foot, the rear foot is front becoming the forward foot in a step due to position, and starts the circulation of next stair climbing.
Claims (8)
1. apery gait stair climbing robot, is characterized in that, comprises the identical foot of four structures, connecting bridge and control system; Wherein, each foot comprises adapter plate, and forefoot and hind paw are the both sides that zigzag shape is installed on adapter plate, and actuating device is installed in adapter plate; Along the direction of climbing of stair, two foots be positioned at above are the forward foot in a step, and two foots be positioned at below are the rear foot, and the forward foot in a step is connected with the rear foot by described connecting bridge; Described control system and described actuating device are electrically connected and control described actuating device.
2. apery gait stair climbing robot as claimed in claim 1, it is characterized in that, described connecting bridge comprises the first support, the second support and extension rod; Wherein, described first support is connected with two actuating devices of the forward foot in a step, and the second support is connected with two actuating devices of the rear foot; Described first support, the second support are distributed with mounting hole, described extension rod is also distributed with mounting hole, and by installing screw on mounting hole, described first support, the second support are connected.
3. apery gait stair climbing robot as claimed in claim 1, it is characterized in that, described control system comprises Arduino controller and power module, wherein, power module provides power supply for actuating device and Arduino controller, and Arduino controller is used for accessory drive.
4. apery gait stair climbing robot as claimed in claim 1, it is characterized in that, have two hollow slots in described adapter plate, actuating device is installed in two hollow slots of adapter plate one side by screw, and forefoot is installed in two hollow slots of adapter plate another side by screw.
5. the apery gait stair climbing robot as described in claim 1 or 4, it is characterized in that, described forefoot is convex shape, described hind paw is concave shape.
6. the apery gait stair climbing robot as described in as arbitrary in Claims 1-4, it is characterized in that, described actuating device is steering wheel.
7. apery gait stair climbing robot as claimed in claim 1, it is characterized in that, the length of described hind paw is tried to achieve by following formula:
Draw:
Wherein: c is the length of hind paw; L is in rear foot switching process, when it and the forward foot in a step is horizontal time its motor shaft and forward foot in a step motor shaft between distance; M is the quality of pin.
8. apery gait stair climbing robot as claimed in claim 1, it is characterized in that, the length of described forefoot is tried to achieve by following formula:
Draw:
Wherein: the length that c ' is forefoot; L ' is the forward foot in a step, horizontal throw between rear foot motor shaft; M is the quality of pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510211004.9A CN104760630B (en) | 2015-04-29 | 2015-04-29 | Apery gait stair climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510211004.9A CN104760630B (en) | 2015-04-29 | 2015-04-29 | Apery gait stair climbing robot |
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| CN104760630A true CN104760630A (en) | 2015-07-08 |
| CN104760630B CN104760630B (en) | 2017-08-25 |
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| CN201510211004.9A Expired - Fee Related CN104760630B (en) | 2015-04-29 | 2015-04-29 | Apery gait stair climbing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105644652A (en) * | 2016-03-01 | 2016-06-08 | 北京联合大学 | Stair-climbing robot formed by utilizing parallelogram mechanisms |
| CN108042058A (en) * | 2017-12-19 | 2018-05-18 | 常州大学怀德学院 | A kind of floor cleaning climbing robot of temperature difference infrared perception |
| KR20200009442A (en) * | 2018-07-19 | 2020-01-30 | 한양대학교 산학협력단 | Robot |
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| CN103273984A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped-imitating stair-climbing robot |
| TW201339034A (en) * | 2012-03-30 | 2013-10-01 | Rui-Ren Zhou | Stair climbing mechanism of moving vehicle |
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2015
- 2015-04-29 CN CN201510211004.9A patent/CN104760630B/en not_active Expired - Fee Related
Patent Citations (6)
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| US20050133280A1 (en) * | 2001-06-04 | 2005-06-23 | Horchler Andrew D. | Highly mobile robots that run and jump |
| KR20030088947A (en) * | 2002-05-15 | 2003-11-21 | 장동영 | The stair climbing robot and traveling method |
| CN102874341A (en) * | 2011-07-15 | 2013-01-16 | 谢哲 | Wheel-leg mixed type moving device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105644652A (en) * | 2016-03-01 | 2016-06-08 | 北京联合大学 | Stair-climbing robot formed by utilizing parallelogram mechanisms |
| CN105644652B (en) * | 2016-03-01 | 2018-06-15 | 北京联合大学 | A kind of stair climbing robot formed using parallelogram mechanism |
| CN108042058A (en) * | 2017-12-19 | 2018-05-18 | 常州大学怀德学院 | A kind of floor cleaning climbing robot of temperature difference infrared perception |
| CN108042058B (en) * | 2017-12-19 | 2020-05-19 | 常州大学怀德学院 | Ground cleaning and climbing robot with temperature difference infrared sensing function |
| KR20200009442A (en) * | 2018-07-19 | 2020-01-30 | 한양대학교 산학협력단 | Robot |
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| CN104760630B (en) | 2017-08-25 |
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Effective date of registration: 20191125 Address after: 221000 shadow mountain village, Bian Tang town, Jiawang District, Xuzhou City of Jiangsu Provinces Patentee after: Xuzhou Sen furniture Co., Ltd. Address before: 528225, Guangdong City, Foshan Province Nanhai District lion town Nanhai software technology park, industry think tank city A seat research building A502 room Patentee before: FOSHAN QINGZI PRECISION MEASUREMENT AND CONTROL TECHNOLOGY CO., LTD. |
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