CN105172920B - Crawler type stair transfer robot with power assistant arm - Google Patents
Crawler type stair transfer robot with power assistant arm Download PDFInfo
- Publication number
- CN105172920B CN105172920B CN201510500631.4A CN201510500631A CN105172920B CN 105172920 B CN105172920 B CN 105172920B CN 201510500631 A CN201510500631 A CN 201510500631A CN 105172920 B CN105172920 B CN 105172920B
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- China
- Prior art keywords
- power assistant
- assistant arm
- module
- stair
- transfer robot
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Abstract
A kind of simple and effective crawler type stair transfer robot structure with power assistant arm, for bearing weight stair activity, it is characterised in that including：Caterpillar drive primary module, including at least two pairs belt wheels and the crawler belt around belt wheel motion；Frame, for carrying weight, is arranged on the wheel shaft of belt wheel；Steering module is supported, is arranged in frame, including the steering lifting piece that motor is connected with same motor, lifting piece is turned under motor drive, departs from ground and pivot stud for lifting crawler belt；Power assistant arm motion module, is arranged at the front-end and back-end of frame, including multigroup power assistant arm moving cell being made up of runner and power assistant arm, and power assistant arm is arranged on the deviation home position of runner；Detecting module, for detecting stair and barrier；And control module, for controlling caterpillar drive primary module, power assistant arm motion module, support steering module and detecting module.
Description
Technical field
A kind of transfer robot, especially a kind of transfer robot of carrying heavy goods stair activity.
Background technology
Robot is to aid in the mankind and solves dangerous, heavy and dangerous work assistant.In daily life, carrying heavy goods
From to high and low being downstairs upstairs very common, and it is relatively elaborate dangerous thing, either for strong
Man or the less woman of strength for, be all a difficult matter！Even the porter of burly chap, gone downstairs upper
When terraced, because being not easily seen the pin of oneself, carrying heavy goods such as refrigerator, piano etc. is still a dangerous work！Although having
Elevator, but still there are a lot of old-fashioned residential buildings not have an elevator, and these buildings stair be often it is narrow.
Preferably solve to do in this regard, carrying out carrying heavy goods stair activity using the robot or machine of energy stair climbing and being one
Method, is that all more concerns of the Research Centers such as this domestic university and achievement in research show, but is all conceived to " pin " to climbing, i.e.,
The improvement of crawler belt, or use specially designed wheel or step mechanical mechanism, although problem can be also solved, but it is mostly more complicated,
Monitor and manipulate in particular for people, it is impossible to automatic turning or cornering difficulties.
As can be seen here, develop a kind of robot of stair climbing so that the robot meets simple in construction, be easy to manipulate, together
When, turns flexible, is the problem of production, teaching ＆ research all circles of robot research field need to solve.
The content of the invention
The present invention proposes that inventor combines the both hands backstroked in life and grabs the action taken off to solve the above problems,
The form of having an effect pedaled after being grabbed before when observing cat and dog quadruped stair activity simultaneously, it is proposed that it is a kind of it is simple and effective have help
The crawler type stair transfer robot structure of the arm of force, for bearing weight stair activity, it is characterised in that including：Caterpillar drive
Primary module, including at least two pairs belt wheels and the crawler belt around belt wheel motion；Frame, for carrying weight, is arranged at the wheel of belt wheel
On axle；Steering module is supported, is arranged in frame, including the steering lifting piece that motor is connected with same motor, turn to lifting parts
Part departs from ground and pivot stud under motor drive for lifting crawler belt；Power assistant arm motion module, is arranged at the front end of frame
And rear end, including multigroup power assistant arm moving cell being made up of runner and power assistant arm, power assistant arm is installed in the deviation center of circle of runner
Position, reciprocal grabbing is done under driven by rotating wheel and takes off action, the corner for catching stair, and realization increases upward drawing when going upstairs
Drag, increases downward resistance when going downstairs；Detecting module, for detecting stair and barrier；And control module, for controlling
Caterpillar drive primary module processed, power assistant arm motion module, support steering module and detecting module.
The crawler type stair transfer robot with power assistant arm that the present invention is provided, can also have the feature that and also wrap
Include：Gravity sensor, between frame and the wheel shaft of belt wheel, for sensing whether weight exceedes load limit value.
The crawler type stair transfer robot with power assistant arm that the present invention is provided, can also have the feature that：Carry out
The breach of band is right angle, and the corner for same stair is chimeric and improves the gripping power of crawler belt.
The crawler type stair transfer robot with power assistant arm that the present invention is provided, can also have the feature that：Its
In, runner is driven by respective motor respectively.
The crawler type stair transfer robot with power assistant arm that the present invention is provided, can also have the feature that：Its
In, detecting module is ultrasonic detector or infrared detector.
The crawler type stair transfer robot with power assistant arm that the present invention is provided, can also have the feature that：Its
In, turn to enhanced feature in lifting piece and be hydraulically operated, its power source is motor.
The crawler type stair transfer robot with power assistant arm that the present invention is provided, can also have the feature that：Its
In, power assistant arm includes palmar hand and arm part, and palmar hand is many toothings, for catching the corner of stair to increase frictional force, hand
Arm is connected with the deviation home position of runner with bearing pin, is taken off for the circular motion of runner to be converted into grabbing for palmar hand
Make.
Invention effect and effect
The crawler type stair transfer robot with power assistant arm that the present invention is provided, be arranged at frame front end and after
The power assistant arm motion module at end, it by reciprocal grab of power assistant arm can take off action in robot stair activity, catch stair
Corner, when climbing, preceding power assistant arm catches stair corner to add the power creeped upwards：Before grab after pedal；Down climbing
When, power assistant arm catches stair corner to add the resistance slid downwards：Front post-tensioning.The design of front and rear power assistant arm can facilitate machine
Device people's stair activity.
Brief description of the drawings
Fig. 1 is the combination diagram of the crawler type stair transfer robot with power assistant arm of the present invention；
Fig. 2 is intended to for the power-assisted arm configuration of the crawler type stair transfer robot with power assistant arm of the present invention.
Embodiment
In order to illustrate the concrete structure of the crawler type stair transfer robot with power assistant arm that the present invention is provided, below this
Individual embodiment illustrates the structure and operation principle of the crawler type stair transfer robot with power assistant arm.
Fig. 1 is the structural representation of the crawler type stair transfer robot with power assistant arm of the present embodiment
Fig. 2 is intended to for the power-assisted arm configuration of the crawler type stair transfer robot with power assistant arm of the present embodiment
As shown in Fig. 1 institutes, the crawler type stair transfer robot 100 with power assistant arm includes：
Caterpillar drive primary module 10, it includes two pairs of belt wheels 11 and the crawler belt 12 moved around belt wheel, the breach of crawler belt 12
It is right angle, the right-angle side corner grasper with stair is closed；
On frame 20, the wheel shaft for being arranged at belt wheel 11, weight is carried, in frame 20, positioned at frame and the wheel shaft of belt wheel
Between be provided with gravity sensor 21；
Steering module 30 is supported, is arranged in frame 20, including the steering lifting piece 31 that motor is connected with same motor, its
Enhanced feature is hydraulically operated in middle steering lifting piece 31, and its power source is motor；
Power assistant arm motion module 40, is arranged at the front-end and back-end of frame 20, including multigroup by runner 41 and power assistant arm 42
The front or rear power assistant arm moving cell of composition, power assistant arm 41 is arranged on the deviation home position of runner 42, and the circumference of runner is revolved
Walk around and turn to reciprocal grab of power assistant arm and take off action,
Further, power assistant arm 42 includes palmar hand 421 and arm part 422, and palmar hand 421 is many toothings, for grabbing
The firmly corner of stair, arm part 422 is connected with the deviation home position of runner 41 with bearing pin, for the circular motion of runner to be turned
It is changed to grabbing for palmar hand and takes off action；
Detecting module 50, including installed in frame front and back be ultrasonic detector 51 and infrared detector 52,
Wherein it is located at the ultrasonic detector 51 in front of frame, before robot runs to barrier or when encountering stair, can passes through
Ultrasonic detector 51 sends ultrasonic wave and carrys out detection range, and infrared detector 52 has personnel or dynamic for detecting user or other
Thing；
And control module (not shown), for controlling caterpillar drive primary module, power assistant arm motion module, support to turn
To module and detecting module.
In order to ensure the normal operation of machine, it is necessary to which control machine people's bears quality, during more than certain quality, gravity
Inductor 21 will pass the signal along to control module alarm.
Bear after weight, reach robot to stair movement, when to preparation stairs before stair, ultrasound examination is arrived
During barrier, the motor of support steering module 30 will be connected, steering module 30 will be adjusted to robot suitable angle
Position, while hydraulic-driven lifting is arrived in the vertical position in stair face, now, power assistant arm moving cell before single motor drives
Runner 41 rotate, and then drive power assistant arm 42 rotate clockwise, the palmar hand 421 of power assistant arm 42 will pin stair face, draw
Drag, the front portion of robot is taken on stair face, rear power assistant arm moving cell below now can be in preceding power assistant arm moving cell
Coordinate, carry out rotation counterclockwise and carry out being similar to the action pedaled.
When bear weight operation move prepare to climb down stair before stair when, power assistant arm moving cell before single motor drives
Runner 41 rotate counterclockwise, and then drive power assistant arm 42 rotate counterclockwise, the palmar hand 421 of power assistant arm 42 will block stair
The corner in face, blocks the power of robot tenesmus, and rear power assistant arm moving cell below can now match somebody with somebody in preceding power assistant arm moving cell
Close, carry out clockwise rotation and be similar to the action grabbed there is provided gripping power, slow down the power slid down by gravity, it is overall
Ground, under the synergy of crawler belt and power assistant arm so that robot will not quickly slide stair.
The effect of the present embodiment and advantage
The crawler type stair transfer robot with power assistant arm that the present embodiment is provided, be arranged at the front end of frame with
The power assistant arm motion module of rear end, it by reciprocal grab of power assistant arm can take off action in robot stair activity, catch building
The corner of ladder, when climbing, preceding power assistant arm catches stair corner to add the power creeped upwards：Before grab after pedal；Down
When climbing, power assistant arm catches stair corner to add the resistance slid downwards：Front post-tensioning.The design of front and rear power assistant arm can facilitate
Robot stair activity.
Further, the ultrasonic wave and infrared detector of front and rear setting, can be with detecting obstacles thing and personnel, it is to avoid collision barrier
Hinder thing or injury user and other staff.
Claims (6)
1. a kind of crawler type stair transfer robot with power assistant arm, for bearing weight stair activity, it is characterised in that bag
Include：
Caterpillar drive primary module, including at least two pairs belt wheels and the crawler belt around belt wheel motion；
Frame, for carrying the weight, on the wheel shaft for being arranged at the belt wheel；
Steering module is supported, is arranged in the frame, including the steering lifting piece that motor is connected with the motor, it is described
Lifting piece is turned under motor drive, departs from ground and pivot stud for lifting the crawler belt；
Power assistant arm motion module, is arranged at the front-end and back-end of the frame, including multigroup by helping that runner and power assistant arm are constituted
Arm of force moving cell, the power assistant arm is arranged on the deviation home position of the runner, does reciprocal under the driven by rotating wheel
Grab and take off action, the corner for catching stair, realization increases upward drag force when going upstairs, and increases downward resistance when going downstairs
Power；
Detecting module, for detecting stair and barrier；And
Control module, for controlling caterpillar drive primary module, the power assistant arm motion module, the support steering module and described
Detecting module,
Wherein, the power assistant arm includes palmar hand and arm part, and the palmar hand is many toothings, the corner for catching stair
Increase frictional force, the arm part connects with the deviation home position of the runner with bearing pin, for by the circular motion of runner
Be converted to grabbing for palmar hand and take off action.
2. there is the crawler type stair transfer robot of power assistant arm as claimed in claim 1, it is characterised in that：
Also include gravity sensor, between the wheel shaft of the frame and the belt wheel, for sensing whether the weight surpasses
Overload limit value.
3. there is the crawler type stair transfer robot of power assistant arm as claimed in claim 1, it is characterised in that：
The breach of the crawler belt is right angle, is fitted together to and improves the gripping power of crawler belt for the corner with the stair.
4. there is the crawler type stair transfer robot of power assistant arm as claimed in claim 1, it is characterised in that：
Wherein, the runner is driven by respective motor respectively.
5. there is the crawler type stair transfer robot of power assistant arm as claimed in claim 1, it is characterised in that：
Wherein, the detecting module is ultrasonic detector or infrared detector.
6. there is the crawler type stair transfer robot of power assistant arm as claimed in claim 1, it is characterised in that：
Wherein, enhanced feature is hydraulically operated in the steering lifting piece, and its power source is motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510500631.4A CN105172920B (en) | 2015-08-14 | 2015-08-14 | Crawler type stair transfer robot with power assistant arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510500631.4A CN105172920B (en) | 2015-08-14 | 2015-08-14 | Crawler type stair transfer robot with power assistant arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105172920A CN105172920A (en) | 2015-12-23 |
| CN105172920B true CN105172920B (en) | 2017-10-13 |
Family
ID=54895509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510500631.4A Expired - Fee Related CN105172920B (en) | 2015-08-14 | 2015-08-14 | Crawler type stair transfer robot with power assistant arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN105172920B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106175573B (en) * | 2016-08-31 | 2018-07-13 | 李建国 | A kind of new-type glass-cleaning robot |
| CN108860075A (en) * | 2018-06-19 | 2018-11-23 | 宁波大壬智能科技有限公司 | A kind of method of carwash intelligent robot carwash |
| CN108860074A (en) * | 2018-06-19 | 2018-11-23 | 宁波大壬智能科技有限公司 | A kind of method that carwash robot is walked around garage |
| CN109500818B (en) * | 2018-12-13 | 2021-06-08 | 广东电网有限责任公司广州供电局 | Stair climbing method of inspection robot |
| CN109823988B (en) * | 2019-03-25 | 2020-04-03 | 中国石油大学(北京) | Pole holding type robot for climbing steps |
Citations (6)
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|---|---|---|---|---|
| CN101143604A (en) * | 2007-10-31 | 2008-03-19 | 东华大学 | Joint track type walking mechanism |
| CN101486360A (en) * | 2009-01-05 | 2009-07-22 | 东南大学 | Stairs climbing control method for crawler moving robot with guide arm |
| CN202225932U (en) * | 2011-08-29 | 2012-05-23 | 李文杰 | Goods transporting device capable of climbing stairs |
| CN203306131U (en) * | 2013-05-08 | 2013-11-27 | 昆明理工大学 | Electric cargo trolley capable of climbing stairs |
| JP2014054948A (en) * | 2012-09-13 | 2014-03-27 | Ihi Aerospace Co Ltd | Fall prevention device |
| CN104002880A (en) * | 2014-06-03 | 2014-08-27 | 东南大学 | Control method for crawler type mobile robot with guiding arms automatically going upstairs and downstairs |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7654348B2 (en) * | 2006-10-06 | 2010-02-02 | Irobot Corporation | Maneuvering robotic vehicles having a positionable sensor head |
-
2015
- 2015-08-14 CN CN201510500631.4A patent/CN105172920B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101143604A (en) * | 2007-10-31 | 2008-03-19 | 东华大学 | Joint track type walking mechanism |
| CN101486360A (en) * | 2009-01-05 | 2009-07-22 | 东南大学 | Stairs climbing control method for crawler moving robot with guide arm |
| CN202225932U (en) * | 2011-08-29 | 2012-05-23 | 李文杰 | Goods transporting device capable of climbing stairs |
| JP2014054948A (en) * | 2012-09-13 | 2014-03-27 | Ihi Aerospace Co Ltd | Fall prevention device |
| CN203306131U (en) * | 2013-05-08 | 2013-11-27 | 昆明理工大学 | Electric cargo trolley capable of climbing stairs |
| CN104002880A (en) * | 2014-06-03 | 2014-08-27 | 东南大学 | Control method for crawler type mobile robot with guiding arms automatically going upstairs and downstairs |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105172920A (en) | 2015-12-23 |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20171013 Termination date: 20200814 |