CN105644652B - A kind of stair climbing robot formed using parallelogram mechanism - Google Patents
A kind of stair climbing robot formed using parallelogram mechanism Download PDFInfo
- Publication number
- CN105644652B CN105644652B CN201610113763.6A CN201610113763A CN105644652B CN 105644652 B CN105644652 B CN 105644652B CN 201610113763 A CN201610113763 A CN 201610113763A CN 105644652 B CN105644652 B CN 105644652B
- Authority
- CN
- China
- Prior art keywords
- walking
- stents
- parallelogram mechanism
- building device
- climbing
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The present invention relates to a kind of stair climbing robot formed using parallelogram mechanism, including frame（1）, active X stents（2）, driven X stents（3）, walking foot（4）, support shaft（9）And power input shaft（10）, walking foot（4）By the sufficient support shaft of the first walking（7）With the sufficient support shaft of the second walking（8）Support, is installed on active X stents（2）With driven X stents（3）Between.Power input shaft（10）, support shaft（9）, first walking support shaft（7）, second walking support shaft（8）, active X stents（2）And driven X stents（3）Form parallelogram mechanism.The often set Climbing building device of the stair climbing robot of the present invention includes four parallelogram mechanisms, and the introducing of parallelogram causes all walking foots（4）Bottom plate it is parallel to the ground always, so as to improve the job stability of entire robot.
Description
Technical field
The present invention relates to climbing robot technical fields, are formed in particular to a kind of using parallelogram mechanism
Stair climbing robot.
Background technology
Weight is often brought up to stair by people in daily life and production, and traditional method is substantially by manpower transport
It completes.But when weight is overweight or is short of hands, carrying can not just succeed, therefore people have invented a variety of Stair climbing devices
Overcome this problem, guarantee personal safety, improve work situation, raise labour productivity.Divide by principle, these devices are main
It is divided into wheel group formula, crawler type and legged.
Stationarity is not high during wheel group formula Stair climbing device stair activity, center of gravity big rise and fall, and device volume is larger, it is difficult to
It is used on ordinary residence stair.Track type climbing-building installation weight is big, it is huge to be caused at stair edge when moving underaction, climbing building
Pressure, have certain damage to stair, and level land is larger using suffered resistance, these problems limit it in daily life
Promote the use of.Legged Stair climbing device imitates the action that animal creeps compared with first two, can be considered polypody climbing robot,
The principle alternately lifted using a plurality of pedipulator, seat supported to climb building, barycentre steadiness when climbing building, movement is flexible, is suitble to different rulers
Very little stair.Therefore, polypody climbing robot can replace wheel group formula, caterpillar type robot to complete a variety of transports, detect operation.
The existing general modular design of polypody climbing robot includes biped anthropomorphic robot, quadruped robot and six sufficient machines
Device people, foot structure are mostly cascaded structure.Quadruped robot steady stability performance is significantly better than two foots, and the redundancy of mechanism and control
Complexity processed is simpler than six foots and eight foots.And cascaded structure is relatively low compared to having accumulated error, precision for parallel-connection structure,
The shortcomings of structure is not compact, rigidity is low, bearing capacity is small.
Such as 104760630 A Chinese invention patents of publication number CN, it discloses a kind of apery gait stair climbing machines
People, including four structures identical foot, coupling part and control system；Wherein, each foot include installing plate, forefoot and
Hind paw is installed on the both sides of installing plate in Z word shapes, and driving device is installed in installing plate；Along the direction of climbing of stair, position
Two foots in front are front foot, are the rear foot positioned at two foots below, and front foot is connected by the coupling part with the rear foot；
The control system is electrically connected with the driving device and controls the driving device.The apery gait stair climbing machine of the invention
The structure and connection mode of device people is on the basis of human body leg structure is copied, with reference to designed by the shape of stair itself out
, the state of walking is substantially similar to the state of person to go upstairs, and stair will not be damaged in itself, has higher stabilization
Property.But the robot relies primarily on forefoot and hind paw is contacted with stair, and the bearing capacity that can bear is small, and sole
End is fitted on stair can cause to wear to stair.
In another example Authorization Notice No. is the Chinese utility model patent of CN 202997150U, it discloses a kind of four-footeds to climb
Stair robot mechanism, including upper body and four foots in parallel connected to it, each foot includes and upper body is affixed consolidates
Fixed platform, haptic element and the identical movement branched chain of three structures being connected between fixed platform and haptic element, three movement branched chain axis
It symmetrically and evenly arranges, every movement branched chain includes master arm and slave arm, and one end of master arm is connect with rotating driving device, main
The other end of swing arm and a hollow ball shape connector are affixed, and rotating driving device is fixed below fixed platform；With three movements
Three hollow ball shape connectors of branch are embedded in form haptic element with one heart, and spherical pair is formed between two neighboring hollow ball shape connector.It should
Technical solution can automatically walk, stair activity, larger heavy burden can be carried, ensure that robot upper body remains water in action
It is flat, but its structure is complex, and its walking mechanism is made of three movement branched chains, and the process of walking is more multiple
It is miscellaneous, and stability is than relatively low.
Invention content
It is relatively low in order to solve precision in the prior art, the shortcomings of structure is not compact, rigidity is low, bearing capacity is small, by setting
It is calculated as the stability that parallelogram mechanism realizes robot.
To achieve these goals, the technical scheme is that：
It is a kind of using parallelogram mechanism form stair climbing robot, including frame, active X stents, driven X stents and
Walking foot, the walking foot is by the sufficient support shaft of the first walking and the sufficient support shaft support of the second walking；Active X stents are inputted with power
Axis connection；Driven X stents and support axis connection；Power input shaft, support shaft, first walking support shaft, second walking support shaft,
Active X stents and driven X stents form parallelogram mechanism.The introducing of parallelogram mechanism causes all walking foots
Bottom plate it is parallel to the ground always, so as to improve the job stability of entire robot；During the walking of robot, as long as walking
Foot plate is combined with ground, it is possible to ensure that the sufficient supporting leg of walking is perpendicular to the ground, so as to ensure that frame is perpendicular to the ground, on frame
Cargo do not fall out.
Preferably, the shape of the active X stents and driven X stents is X-shaped structural slab.
In any of the above-described scheme preferably, it is set between the active X stents and driven X stents sufficient there are four walking.
In any of the above-described scheme preferably, the walking foot is equipped with two axis pins, in robot ambulation, walking
Foot is perpendicular to the ground always, so as to ensure that the stability of robot.
In any of the above-described scheme preferably, the robot is made of four sets of Climbing building devices, four sets of Climbing building devices two
Two form four groups of front, rear, left and right Climbing building devices, and by same power source drive, therefore can ensure four sets of Climbing building devices
Operation synchronizes.
In any of the above-described scheme preferably, four sets of Climbing building devices are respectively front-seat left side Climbing building device, front row
Climbing building device and heel row right side Climbing building device on the left of right side Climbing building device, heel row.
In any of the above-described scheme preferably, the front-seat left side Climbing building device passes through two with Climbing building device on the left of heel row
Root is front and rear to keep connecting rod to form parallelogram mechanism, ensures that walking foot plate is contacted with stair ground.
In any of the above-described scheme preferably, the front-seat right side Climbing building device passes through two with Climbing building device on the right side of heel row
Root is front and rear to keep connecting rod to form parallelogram mechanism, ensures that walking foot plate is contacted with stair ground.
In any of the above-described scheme preferably, before the front row left side Climbing building device is formed with front-seat right side Climbing building device
Walking mechanism；Climbing building device and Climbing building device composition rear walking mechanism on the right side of heel row on the left of heel row.
In any of the above-described scheme preferably, the active X stents are directly driven by driving mechanism.
In any of the above-described scheme preferably, the active X stents drive driven X stents by gear drive.
In any of the above-described scheme preferably, the gearratio of the gear drive is 1：1, so as to ensure that actively
X stents and driven X stents traffic direction and the consistency of movement velocity.
In any of the above-described scheme preferably, the gear drive includes first gear, second gear and third
Gear.
In any of the above-described scheme preferably, the gear drive with four walking enough, active X stents and from
Dynamic X stents form four parallelogram mechanisms.
In any of the above-described scheme preferably, walking foot support shaft sufficient with the first walking, the second walking foot support
Axis is connected by sufficient supporting leg of walking.
The course of work of stair climbing robot formed using parallelogram mechanism of the present invention is：Driving mechanism is opened
Afterwards, the active bracket in front-seat left side Climbing building device and the active X stents in front-seat right side Climbing building device are inputted around power
Shaft rotation is moved, and pass through gear mechanism drive driven X stents around support shaft rotate, so as to drive in pre-walking mechanism walking foot to
On walk forward while lift, at the same time power passes through the modes such as Worm Wheel System or chain drive（Non- present patent application
Important document is not shown in figure）Synchronous transport drives and is climbed on the left of lower heel row to Climbing building device, heel row right side Climbing building device on the left of heel row
The active X holder pivots of Climbing building device on the right side of building mechanism and heel row, so as to which the walking in rear walking mechanism be driven to synchronize enough upwards
It lifts, while synchronization is walked forward.Since Climbing building device passes through front and rear holding connecting rod with Climbing building device on the left of heel row on the left of front row
Form parallelogram mechanism；Front-seat right side Climbing building device is parallel by front and rear holding connecting rod composition with Climbing building device on the right side of heel row
Quadrangular mechanism ensures that walking foot plate is contacted with stair ground.In addition, power input shaft, support shaft, the first walking support
Axis, the second walking support shaft, active X stents and driven X stents form parallelogram mechanism.Parallelogram mechanism draws
Enter so that the bottom plate of all walking foots is parallel to the ground always, so as to improve the job stability of entire robot；Machine
During the walking of people, as long as walking foot plate is combined with ground, it is possible to ensure that the sufficient supporting leg of walking is perpendicular to the ground, so as to ensure frame
Frame is perpendicular to the ground, and the cargo on frame is not fallen out.
Description of the drawings
Fig. 1 is the knot of a preferred embodiment of the stair climbing robot according to the invention formed using parallelogram mechanism
Structure schematic diagram.
Fig. 2 is preferred implementation shown in Fig. 1 of the stair climbing robot according to the invention formed using parallelogram mechanism
The structure diagram of forward and backward Climbing building device in example.
Fig. 3 is preferred implementation shown in Fig. 1 of the stair climbing robot according to the invention formed using parallelogram mechanism
Active X stents and the structure diagram of driven X stents connection relation in example.
Fig. 4 is preferred implementation shown in Fig. 3 of the stair climbing robot according to the invention formed using parallelogram mechanism
The broken away view of example.
Fig. 5 is preferred implementation shown in Fig. 3 of the stair climbing robot according to the invention formed using parallelogram mechanism
Side view in example.
Fig. 6 is preferred implementation shown in Fig. 2 of the stair climbing robot according to the invention formed using parallelogram mechanism
The schematic diagram of example.
Fig. 7 is preferred implementation shown in Fig. 3 of the stair climbing robot according to the invention formed using parallelogram mechanism
It walks sufficient structure diagram in example.
Fig. 8 is preferred implementation shown in Fig. 3 of the stair climbing robot according to the invention formed using parallelogram mechanism
The structure simplification figure of example.
Fig. 9 is preferred implementation shown in Fig. 2 of the stair climbing robot according to the invention formed using parallelogram mechanism
The simplification figure of forward and backward Climbing building device in example.
Figure 10 is preferred implementation shown in Fig. 1 of the stair climbing robot according to the invention formed using parallelogram mechanism
The fundamental diagram of example.
Specific embodiment
With reference to the accompanying drawings of the specification to the specific of the stair climbing robot formed using parallelogram mechanism of the present invention
Embodiment is further described.
An as shown in Figure 1, preferred implementation of the stair climbing robot according to the invention formed using parallelogram mechanism
The structure diagram of example.It is a kind of using parallelogram mechanism form stair climbing robot, including frame 1, active X stents 2, from
Dynamic X stents 3 and walking foot 4, the walking foot 4 are supported by the sufficient sufficient support shaft 8 of the walking of support shaft 7 and second of the first walking；Active X
Stent 2 is connect with power input shaft 10；Driven X stents 3 are connect with support shaft 9（As shown in Figure 6）.Power input shaft 10, support
The walking walking of support shaft 7, second of axis 9, first support shaft 8, active X stents 2 and driven X stents 3 form parallelogram machine
Structure 14（As shown in Figure 6）.The introducing of parallelogram mechanism so that the bottom plate of all walking foots 4 is parallel to the ground always, from
And improve the job stability of entire robot；During the walking of robot, as long as the bottom plate of walking foot 4 is combined with ground, just
Can ensureing to walk, sufficient supporting leg 6 is perpendicular to the ground, and so as to ensure that frame 1 is perpendicular to the ground, the cargo on frame 1 is not fallen out.
In the present embodiment, the shape of the active X stents 2 and driven X stents 3 is X-shaped structural slab, X-shaped structure it is every
Walking foot is connected by axis pin on a vertex.
As shown in fig. 6, shown in Fig. 2 of the stair climbing robot according to the invention formed using parallelogram mechanism preferably
The schematic diagram of embodiment.
In the present embodiment, the gear drive 15 includes first gear 11, second gear 12 and third gear 13.
In the present embodiment, the active X stents 2 are directly driven by driving mechanism.
As shown in figure 3, shown in Fig. 1 of the stair climbing robot according to the invention formed using parallelogram mechanism preferably
Active X stents and the structure diagram of driven X stents connection relation in embodiment.
In the present embodiment, the active X stents 2 drive driven X stents 3 by gear drive 15.
In the present embodiment, the gearratio of the gear drive 15 is 1：1, so as to ensure that active X stents 2 with from
The consistency of dynamic 3 traffic direction of X stents and movement velocity.
In the present embodiment, the gear drive 15 and four walking foots 4 form four parallelogram mechanisms, put down
The introducing of row quadrangular mechanism so that the bottom plate of all 4 walkings foots is parallel to the ground always.
In the present embodiment, the sufficient sufficient support shaft 8 of the walking of support shaft 7 and second of 4 and first walking of walking foot passes through row
Sufficient supporting leg 6 is walked to connect（As shown in Figure 7）.
As shown in figure 4, shown in Fig. 3 of the stair climbing robot according to the invention formed using parallelogram mechanism preferably
The broken away view of embodiment.
In the present embodiment, walking foot 4 there are four being set between the active X stents 2 and driven X stents 3.
In the present embodiment, between the gear drive 15 and active X stents 2, driven X stents 3 and walking foot 4
Four parallelogram are formed, so as to ensure that the stability of robot.
In the present embodiment, it is described walking foot 4 be equipped with two axis pins, in robot ambulation, walking foot 4 always with ground
Face is vertical, so as to ensure that the stability of robot.
As shown in figure 5, shown in Fig. 3 of the stair climbing robot according to the invention formed using parallelogram mechanism preferably
Side view in embodiment.
As shown in fig. 7, in the present embodiment, the walking foot 4 is equipped with two pivot pins, and in robot ambulation, walking
Foot 4 is perpendicular to the ground always, so as to ensure that the stability of robot.
In the present embodiment, robot is made of four sets of Climbing building devices, and four sets of Climbing building devices form front, rear, left and right two-by-two
Four groups of Climbing building devices, and by same power source drive, therefore can ensure that the operation of four sets of Climbing building devices synchronizes（Driving source and
Driving source transmission mechanism for present patent application have to part, do not give and listing）.Four sets of Climbing building devices are parallelogram mechanism, point
It Wei not the first parallelogram, the second parallelogram, third parallelogram and the 4th parallelogram.
As shown in figure 8, climb building shown in Fig. 3 of the stair climbing robot according to the invention formed using parallelogram mechanism
The structure simplification figure of the preferred embodiment of mechanism.
In the present embodiment, the robot is made of four sets of Climbing building devices, four sets of Climbing building devices form two-by-two it is forward and backward,
Left and right four groups of Climbing building devices, and by same power source drive, therefore can ensure that the operation of four sets of Climbing building devices synchronizes.
In the present embodiment, four sets of Climbing building devices are respectively front-seat left side Climbing building device 21, front-seat right side climbing machine
Climbing building device 31 and heel row right side Climbing building device 32 on the left of structure 22, heel row.
In the present embodiment, the front-seat left side Climbing building device 21 passes through the front and rear company of holding with Climbing building device 31 on the left of heel row
Bar 16 forms parallelogram mechanism, ensures that walking foot plate is contacted with stair ground.
In the present embodiment, the front-seat right side Climbing building device 22 passes through the front and rear company of holding with Climbing building device 32 on the right side of heel row
Bar 16 forms parallelogram mechanism, ensures that walking foot plate is contacted with stair ground.
As shown in figure 9, shown in Fig. 2 of the stair climbing robot according to the invention formed using parallelogram mechanism preferably
The simplification figure of forward and backward Climbing building device in embodiment.
In the present embodiment, the front-seat left side Climbing building device 21 forms pre-walking mechanism with front-seat right side Climbing building device 22
20；Climbing building device 31 forms rear walking mechanism 30 with Climbing building device 32 on the right side of heel row on the left of heel row（With reference to as shown in Figure 2）.
As shown in Figure 10, it is excellent shown in Fig. 1 of the stair climbing robot according to the invention formed using parallelogram mechanism
Select the fundamental diagram of embodiment.
Power input shaft 10, support shaft 9, first walk support shaft 7, second walk support shaft 8, active X stents 2 and from
Dynamic X stents 3 form parallelogram mechanism 14（As shown in Figure 6）.The introducing of parallelogram mechanism causes all walking foots 4
Bottom plate it is parallel to the ground always, so as to improve the job stability of entire robot；During the walking of robot, as long as walking
4 bottom plates of foot are combined with ground, it is possible to ensure that the sufficient supporting leg 6 of walking is perpendicular to the ground, so as to ensure that frame 1 is perpendicular to the ground, and frame
Cargo on frame 1 is not fallen out.
In the present embodiment, the front-seat left side Climbing building device 21 passes through the front and rear company of holding with Climbing building device 31 on the left of heel row
Bar 16 forms parallelogram mechanism, ensures that walking foot plate is contacted with stair ground.
In the present embodiment, the front-seat right side Climbing building device 22 passes through the front and rear company of holding with Climbing building device 32 on the right side of heel row
Bar 16 forms parallelogram mechanism, ensures that walking foot plate is contacted with stair ground.
The course of work of stair climbing robot formed using parallelogram mechanism of the present invention is：Driving mechanism is opened
Afterwards, the active bracket in front-seat left side Climbing building device 21 and the active X stents 2 in front-seat right side Climbing building device 22 are around power
Input shaft 10 rotates, and passes through gear mechanism 15 and driven X stents 3 is driven to be rotated around support shaft 9, so as to drive pre-walking mechanism 20
In walking walk forward while be lifted up enough, at the same time power passes through the modes such as Worm Wheel System or chain drive
（Non- present patent application important document, is not shown in figure）Synchronous transport to Climbing building device 32 on the right side of Climbing building device 31 on the left of heel row, heel row,
So as to which the active X stents of Climbing building device 31 and heel row right side Climbing building device 32 on the left of heel row be driven to rotate synchronously, walk after drive
Walking in mechanism 30 synchronizes walk forward while being lifted up enough.Due to being climbed on the left of Climbing building device 21 on the left of front row and heel row
Building mechanism 31 forms parallelogram mechanism by front and rear holding connecting rod 16 and connects；Front-seat right side Climbing building device 22 and heel row right side
Climbing building device 32 forms parallelogram mechanism by front and rear holding connecting rod 16 and connects, and ensures that walking foot plate connects with stair ground
It touches.In addition, power input shaft 10, support shaft 9, first walking support shaft 7, second walk support shaft 8, active X stents 2 and from
Dynamic X stents 3 form parallelogram mechanism 14.The introducing of parallelogram mechanism causes the bottom plate of all walking foots 4 always
It is parallel with bottom surface, so as to improve the job stability of entire robot；During the walking of robot, if walking foot 4 bottom plates with
Ground combines, it is possible to ensure that the sufficient supporting leg 6 of walking is perpendicular to the ground, so as to ensure that frame 1 is perpendicular to the ground, and the goods on frame 1
Object is not fallen out.
It will be apparent to those skilled in the art that the stair climbing robot formed using parallelogram mechanism of the present invention is included
The arbitrary combination of each section in this specification.As space is limited and in order to make specification concise, herein not by these combinations one
One is discussed in detail, but after having seen this specification, the model of the present invention that the arbitrary combination of each section being made of this specification is formed
It encloses self-evident.
Claims (14)
1. a kind of stair climbing robot formed using parallelogram mechanism, including frame (1), active X stents (2), driven X branch
Frame (3) and walking foot (4), it is characterised in that：Walking foot (4) is by the sufficient support shaft (7) of the first walking and the sufficient support shaft of the second walking
(8) it supports；Active X stents (2) are connect with power input shaft (10)；Driven X stents (3) connect with support shaft (9)；Power inputs
Axis (10), support shaft (9), the first walking support shaft (7), the second walking support shaft (8), active X stents (2) and driven X branch
Frame (3) forms parallelogram mechanism (14)；Gear drive (15) with four walking foot (4), active X stents (2) and
Driven X stents (3) form four parallelogram mechanisms.
2. the stair climbing robot formed as described in claim 1 using parallelogram mechanism, it is characterised in that：Active X branch
The shape of frame (2) and driven X stents (3) is X-shaped structural slab.
3. the stair climbing robot formed as claimed in claim 1 or 2 using parallelogram mechanism, it is characterised in that：Active X
It is set between stent (2) and driven X stents (3) sufficient (4) there are four walking.
4. the stair climbing robot formed as claimed in claim 3 using parallelogram mechanism, it is characterised in that：Walking foot
(4) two axis pins are equipped with.
5. the stair climbing robot formed as described in claim 1 using parallelogram mechanism, it is characterised in that：The machine
People is made of four sets of Climbing building devices, and four sets of Climbing building devices form four groups of front, rear, left and right Climbing building device two-by-two, and by same dynamic
Power source drives.
6. the stair climbing robot formed as claimed in claim 5 using parallelogram mechanism, it is characterised in that：Described four sets
The respectively front-seat left side Climbing building device (21) of Climbing building device, front-seat right side Climbing building device (22), heel row left side Climbing building device (31)
With Climbing building device (32) on the right side of heel row.
7. the stair climbing robot formed as claimed in claim 6 using parallelogram mechanism, it is characterised in that：Front-seat left side
Climbing building device (21) is with Climbing building device (31) on the left of heel row by connecting rod (16) being kept to form parallelogram mechanism before and after two.
8. the stair climbing robot formed as claimed in claim 6 using parallelogram mechanism, it is characterised in that：Front-seat right side
Climbing building device (22) is with Climbing building device (32) on the right side of heel row by connecting rod (16) being kept to form parallelogram mechanism before and after two.
9. the stair climbing robot formed as claimed in claim 6 using parallelogram mechanism, it is characterised in that：Front-seat left side
Climbing building device (21) forms pre-walking mechanism (20) with front-seat right side Climbing building device (22)；Climbing building device (31) is with after on the left of heel row
Row's right side Climbing building device (32) forms rear walking mechanism (30).
10. the stair climbing robot formed as claimed in claim 1 or 2 using parallelogram mechanism, it is characterised in that：Actively
X stents (2) are directly driven by driving mechanism.
11. the stair climbing robot formed as claimed in claim 10 using parallelogram mechanism, it is characterised in that：The master
Dynamic X stents (2) drive driven X stents (3) by gear drive (15).
12. the stair climbing robot formed as claimed in claim 11 using parallelogram mechanism, it is characterised in that：Gear passes
The gearratio of motivation structure (15) is 1：1.
13. the stair climbing robot formed as claimed in claim 11 using parallelogram mechanism, it is characterised in that：Gear passes
Motivation structure (15) includes first gear (11), second gear (12) and third gear (13).
14. the stair climbing robot formed as described in claim 1 using parallelogram mechanism, it is characterised in that：Walking foot
(4) support shaft (7) sufficient with the first walking, the sufficient support shaft (8) of the second walking are connect by sufficient supporting leg (6) of walking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610113763.6A CN105644652B (en) | 2016-03-01 | 2016-03-01 | A kind of stair climbing robot formed using parallelogram mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610113763.6A CN105644652B (en) | 2016-03-01 | 2016-03-01 | A kind of stair climbing robot formed using parallelogram mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105644652A CN105644652A (en) | 2016-06-08 |
| CN105644652B true CN105644652B (en) | 2018-06-15 |
Family
ID=56491998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610113763.6A Expired - Fee Related CN105644652B (en) | 2016-03-01 | 2016-03-01 | A kind of stair climbing robot formed using parallelogram mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105644652B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107010133A (en) * | 2017-04-19 | 2017-08-04 | 应夏英 | A kind of robot of town road with buffer unit |
| CN108945134B (en) * | 2018-05-29 | 2019-10-22 | 马鞍山市新桥工业设计有限公司 | A kind of loading stair climbing robot |
| CN116853379B (en) * | 2023-07-12 | 2024-03-26 | 广东福临门世家智能家居有限公司 | Stair transportation equipment for manufacturing stainless steel doors and windows |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1117246A1 (en) * | 1983-06-01 | 1984-10-07 | Красноярский Политехнический Институт | Vehicle propelling gear |
| JPS62205863A (en) * | 1986-03-07 | 1987-09-10 | Meidensha Electric Mfg Co Ltd | Running device |
| US6082475A (en) * | 1998-07-01 | 2000-07-04 | Ilkhanov; Azer | Robotic leg for traversing a path similar to that of a human leg during walking |
| CN103523111A (en) * | 2013-10-25 | 2014-01-22 | 济南大学 | Multi-foot-wheel traveling mechanism |
| CN104443100A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Gravity center adjusting mechanism for ladder climbing robot |
| CN104760630A (en) * | 2015-04-29 | 2015-07-08 | 佛山轻子精密测控技术有限公司 | People gait simulation stair-climbing robot |
-
2016
- 2016-03-01 CN CN201610113763.6A patent/CN105644652B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1117246A1 (en) * | 1983-06-01 | 1984-10-07 | Красноярский Политехнический Институт | Vehicle propelling gear |
| JPS62205863A (en) * | 1986-03-07 | 1987-09-10 | Meidensha Electric Mfg Co Ltd | Running device |
| US6082475A (en) * | 1998-07-01 | 2000-07-04 | Ilkhanov; Azer | Robotic leg for traversing a path similar to that of a human leg during walking |
| CN103523111A (en) * | 2013-10-25 | 2014-01-22 | 济南大学 | Multi-foot-wheel traveling mechanism |
| CN104443100A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Gravity center adjusting mechanism for ladder climbing robot |
| CN104760630A (en) * | 2015-04-29 | 2015-07-08 | 佛山轻子精密测控技术有限公司 | People gait simulation stair-climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105644652A (en) | 2016-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103273985B (en) | Quadruped stair climbing robot mechanism | |
| KR100977348B1 (en) | Operation control device for leg-type mobile robot and operation control method, and robot device | |
| KR100695355B1 (en) | Walking robot and motion control method thereof | |
| CN105644652B (en) | A kind of stair climbing robot formed using parallelogram mechanism | |
| CN105599818B (en) | Barrier-surpassing robot | |
| CN103802907A (en) | Humanoid robot feet | |
| CN105835979A (en) | Multifunctional walking machine | |
| CN206520675U (en) | Apery biped walking mechanism | |
| CN104118490B (en) | Imitative lizard desert quadruped robot | |
| CN106741281A (en) | A kind of quadruped robot walking mechanism containing linear joint | |
| CN103010330A (en) | Biped walking robot | |
| CN109857131A (en) | A kind of two foot-four-footed posture changing control method of legged type robot | |
| CN105923067A (en) | Small wheel-foot combined type hexapod robot | |
| CN204137154U (en) | A kind of exploration robot of six foot ten eight degrees of freedom based on STM32 control | |
| CN205819365U (en) | A kind of leg has the quadruped robot of structure changes function | |
| CN105480320A (en) | STM32 control-based exploration robot with six feet and eighteen degrees of freedom | |
| CN208842509U (en) | A kind of hexapod robot of multi link driving | |
| CN206482813U (en) | Single bionical gait rehabilitation training robot system of driving | |
| CN206749956U (en) | A kind of belt wheel leg mechanism of robot | |
| CN106476926A (en) | A kind of Novel suspending legged mobile robot | |
| CN209519072U (en) | Step device and walking rehabilitation training robot | |
| CN205327215U (en) | Walking device | |
| CN203222055U (en) | Traveling mechanism of walking robot | |
| CN102372042A (en) | Motion planning system for biped robot | |
| CN104401418B (en) | A kind of two foot air cushion shoe walking robot and traveling methods thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180615 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |