CN105905180B - A kind of claw rolling type stairs climbing robot and its method of climbing - Google Patents
A kind of claw rolling type stairs climbing robot and its method of climbing Download PDFInfo
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- CN105905180B CN105905180B CN201610173579.0A CN201610173579A CN105905180B CN 105905180 B CN105905180 B CN 105905180B CN 201610173579 A CN201610173579 A CN 201610173579A CN 105905180 B CN105905180 B CN 105905180B
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- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention belongs to field in intelligent robotics, specifically, are related to a kind of carrying out the robot of efficient stairs climbing and its method of climbing with click-on mechanism and the working method of rolling.It includes click-on mechanism, gravity regulating mechanism, mechanism of rolling, main body of climbing, the accessory body that climbs, control mechanism, power supply, the click-on mechanism is provided with multigroup, the click-on mechanism is respectively and fixedly installed to the edge of the climb main body and the accessory body that climbs, and described climb is connected between main body and the accessory body that climbs by click-on mechanism.The present invention utilizes click-on mechanism, and by the clamping and disengaging movement for being mutually twisted two mechanical structures of realization of climb main body and the accessory body that climbs, finally realizes the alternation of two mechanical structures.
Description
Technical field
The invention belongs to field in intelligent robotics, specifically, are related to a kind of work side with click-on mechanism and rolling
Formula carries out the robot of efficient stairs climbing and its method of climbing.
Background technology
For disabled person, stair activity is a very difficult task, especially when the not no side of relatives at one's side
When helping；And for current popular corridor sweeping robot, the cleaning for stair is also a difficult task.Currently, by
It is irregular in the height of stair, width, therefore lot of challenges is brought for the stairs climbing robot of Development of Universal；Meanwhile by
It is shorter in the research history for stair climbing robot, although expert, engineer etc. successively propose various mechanisms.Such as row
Star wheel type, crawler type, leg foot formula and parallelogram lindage formula etc., but these mechanisms not can solve stairs climbing and ask
Topic, respectively there is respective drawback and deficiency.
Patent 201210116810.4 discloses a kind of elevating and telescopic type corridor cleaning robot, with riser guide, indulges
To mechanisms such as rack, the first draw runners, the nose motion of lower plate is realized by the engagement of gear, and utilize the horizontal rolling of setting
Brush, water and dust catcher realize the cleaning of corridor.Mechanical structure is reasonable for structure, favorable working performance, but the mechanism only uses
Horizontal corridor garbage cleaning, the dust man for being not appropriate for stair make.
Patent 2010239967.0 discloses a kind of quick cleaning device of novel stair, and in particular to mechanical equipment technology
Field.The lower end both sides of cleaning device ontology are provided with cross climbing wheel, and circle is provided among the lower end of cleaning device ontology
Shape clearer, upper end and the drive connection axis connection of round clearer, is substantially planet gear type structure, realizes climbing for stair
It rises, but the structure can only adapt to specific stair, and in stairs climbing slippery conditions, working range easily occur for machine
Narrow, efficiency is low.
Patent 201520290569.6 then discloses a kind of cleaning robot that the stair of multiway structure clean, including machine
People's shell and the movement assembly in robot housing lower surface is set, wherein movement assembly includes N number of walking foot, walking foot includes
Telescopic plunger set piece and the foot pad etc. being connect with plunger set piece.Foot surface walk equipped with for pushing walking foot movement
Positive cylinder and for pushing the reversed cylinder that moves in the opposite direction of walking foot.The alternative worker of the machine completes stair
Cleaning cleaning but the walking foot of the machine is more, bulky, climbing and clearing up and have very much for narrow stair
Limit, and due to leaning on cylinder control walking foot so that the actuation time of dynamic walking foot is long, and efficiency is too low.
Invention content
The technical problem to be solved by the present invention is to how overcome the deficiencies of the prior art and provide to provide one kind by claw machine
The claw rolling type of structure, gravity regulating mechanism, mechanism of rolling, main body of climbing, the accessory body that climbs, control mechanism, driving mechanism composition
Stairs climbing robot.
The clamping and disengaging movement for the main body and the accessory body that climbs of being climbed by control, to realize climb main body and the accessory body that climbs
Alternating rolling, realize safe efficient to stair and inexpensive task of climbing, solve structure existing for current stairs climbing
The problem of complexity, inefficiency, technical scheme is as follows：
A kind of claw rolling type stairs climbing robot, including：Click-on mechanism 1, gravity regulating mechanism 2, rolling mechanism 3,
Main body of climbing 4, the accessory body 5 that climbs, control mechanism 6, power supply 7 form, and the click-on mechanism 1 is provided with multigroup, the click-on mechanism
1 is respectively and fixedly installed to the edge of the climb main body 4 and the accessory body 5 that climbs, and described climb is led between main body 4 and the accessory body 5 that climbs
It crosses click-on mechanism 1 to be connected, the gravity regulating mechanism 2 is distributed in the side of the climb main body 4 and the accessory body 5 that climbs, described
Rolling mechanism 3 is fixed in the click-on mechanism 1, and the control mechanism 6 and power supply 7 are arranged at described climb and main body 4 and climb
Rise the inside of accessory body 5.
The click-on mechanism 1 includes：Claw horizontal axis 11, claw bearing 12, claw main body 13, claw accessory body 19, claw master
Gear 14, claw pinion 18, claw touch sensor 15, claw Driving Stepping Motor 16, horizontal axis bearing 17, claw driving
Stepping motor gear 110.
By the clamping and centrifugation between click-on mechanism 1 and claw horizontal axis 11, claw bearing 12, main body of climbing is realized
Clamping and separation between 5 and 6 Liang Ge mechanisms of accessory body of climbing.The claw horizontal axis 11 shares 8, is divided into two groups, fixes respectively
In the lateral four edges boundary line for main body 4 of climbing, while being also disposed on lateral four edges circle for the accessory body 5 that climbs, each claw
Two horizontal axis bearings 17 are provided at both ends on horizontal axis 11,17 inner ring of horizontal axis bearing and claw horizontal axis 11 connect, and outer ring is exposed, for card
Pawl main body 13 and the clamping of claw accessory body 19 use.Both ends also set up that there are two claw bearing 12, claws on each claw horizontal axis 11
The inner ring and claw horizontal axis 11 of bearing 12 connect, and outer ring is connected with the end of claw ontology 13, and claw main body 13, claw pair
The position that the end of body 19 is connected with 12 outer ring of claw bearing is provided with claw master gear 14 and claw pinion 18, the main tooth of claw
Wheel 14 and claw pinion 18 are engaged by gear to be connected, and the rotation of claw master gear 14 can directly drive claw pinion
18 rotation, since claw master gear 14 and claw pinion 18 are that gear mechanism meshes together, the rotation meeting of one of them
Another relative rotation is driven, otherwise therefore claw master gear 14 and claw pinion 18 move toward one another or phase is from movement；
Therefore the rotation of claw master gear 14 and claw pinion 18 has also driven the clamping of claw main body 13 and claw accessory body 19 indirectly
And disengaging movement.
Inside between claw main body 13 and claw accessory body 19 is equipped with claw touch sensor 15, for detecting claw master
Whether there is or not object collisions between body 13 and claw accessory body 19.
Claw Driving Stepping Motor 16 is mounted on 4 inside of main body of climbing, and shaft is provided with mating with claw master gear 14
Claw Driving Stepping Motor gear 110, and engaged by gear, the rotation of claw Driving Stepping Motor 16 can drive
The rotation of claw Driving Stepping Motor gear 110, and then the rotation of claw master gear 14 is driven, finally drive claw accessory body 19
Rotation, effect is：Clamping between claw main body 13 and claw accessory body 19 and separation.It should be noted that：In order to reduce by
In click-on mechanism 1 when carrying out clamping to the frictional force of claw horizontal axis 11, claw main body 13 and claw 19 clamping of accessory body when, essence
For the horizontal axis bearing 17 on claw horizontal axis 11 that clamping is other side, rather than simple claw horizontal axis 11.
The gravity regulating mechanism 2 includes：Ball-screw slide unit 21, gravity block 22；The ball-screw slide unit 21 is general
Logical slide unit, structure repeat no more, and are arranged on the longitudinal direction inside climb main body 4 and the accessory body 5 that climbs.The work of gravity block 22
With to adjust the position of centre of gravity of climb main body 4 and the accessory body 5 that climbs, gravity block 22 is arranged on the sliding block of ball-screw slide unit 21.
Gravity regulating mechanism is equally separately mounted to climb the inside of main body 4 and the accessory body 5 that climbs, act as：Main body 4 of climbing is adjusted in real time
With the position of centre of gravity for the accessory body 5 that climbs, when main body of climbing at that time 4 or the accessory body 5 that climbs move, some for being always ensured that rolling is climbed
The center of gravity of body, at the position of centre of gravity for the 5 liang of bodies that climb of accessory body that climb, increases in robot motion and stablizes close proximity to main body 4 of climbing
Property.
The rolling mechanism 3 includes：Rolling stepping motor gear, rolling master gear 32, rolling pinion 33, rolling stepping
Motor 34.
The rolling master gear 32 is directly anchored to climb the claw horizontal axis 11 of main body 4, and roll pinion 33.
The shaft of rolling stepper motor 34 is provided with and rolls the rolling stepping motor gear of the engagement of master gear 32, rolling master
Gear 32 is mounted on the claw horizontal axis 11 where climbing main body 4, and rolling pinion 33 is mounted on the claw where climbing accessory body 5
On horizontal axis 11, at the same when where the main body 4 of climbing click-on mechanism 1 and climb 5 place 1 mutual clamping of click-on mechanism of accessory body when, turn over
Roll master gear 32 and the rolling also just clamping of pinion 33.The stepper motor 34 that rolls rotates, and rolling stepping motor gear is driven to turn
It is dynamic, since rolling stepping motor gear and rolling master gear 32 engage, and then the rotation of rolling master gear 32 is driven, and due to
The engagement of rolling master gear 32 and the pinion 33 that rolls, the final opposite or phase for driving roll master gear 32 and the pinion 33 that rolls
From movement.
The main body 4 of climbing includes：Climb main body rack 41.The main body rack 41 that climbs is square set structure, and climb master
It is provided with support construction outstanding in the lateral four edges boundary line of body 4,4 claw horizontal axis 11 are fixed for installing.
The accessory body 5 that climbs includes：Climb accessory body holder 51.Likewise, the accessory body holder 51 that climbs also is square set knot
Structure is provided with support construction outstanding in the lateral four edges boundary line for the accessory body 5 that climbs, and 4 claw horizontal axis 11 are fixed for installing.
The control mechanism 6 includes：Controller 61, rolling stepper motor driver 62, claw stepper motor driver 63
With slide unit stepper motor driver 64.Controller is responsible for transmission and the information of all control instructions of stairs climbing robot
Fusion, rolling stepper motor driver 62 is for driving rolling stepper motor 34, and claw stepper motor driver 63 is for driving
Claw Driving Stepping Motor 16, slide unit stepper motor driver 64 are used to drive the ball-screw slide unit in gravity regulating mechanism 2
21。
The power supply 7 includes：Lithium battery 71.Effect is：All mains powers are provided for stairs climbing robot.
The beneficial effects of the invention are as follows：
The present invention is ingenious to be utilized claw mechanical structure and rolling working method, by being provided with main body of climbing, pair of climbing
Body realizes the rolling work of two mechanical structure, and similar to the action of the up/down steps of people, efficiency is very high.
The present invention utilizes click-on mechanism, and realizes two mechanical structures by climb main body and being mutually twisted for the accessory body that climbs
Clamping and disengaging movement, finally realize the alternation of two mechanical structures.
The present invention utilizes gravity regulating mechanism, adjusts climb main body and the accessory body that climbs in real time during robot work
Position of centre of gravity increases stability of robot during climbing.
Description of the drawings
Attached drawing 1 is the overall structure diagram of the present invention.
Attached drawing 2 is the dimensional structure diagram of the present invention.
Attached drawing 3 is the left view structural representation of the present invention.
Attached drawing 4 is the present invention looks up structural representation of the present invention.
Attached drawing 5 is the partial structural diagram of the present invention.
Attached drawing 6 is the partial structural diagram of the present invention.
Specific implementation mode
Below in conjunction with attached drawing, the present invention will be further described in detail：
Embodiment 1
As shown in Figure 1, a kind of claw rolling type stairs climbing robot, including：Click-on mechanism 1, gravity regulating mechanism 2,
Roll mechanism 3, main body of climbing 4, the accessory body 5 that climbs, control mechanism 6, the composition of power supply 7, and the click-on mechanism 1 is provided with multigroup, institute
State the edge that click-on mechanism 1 is respectively and fixedly installed to the climb main body 4 and the accessory body 5 that climbs, climb main body 4 and the pair of climbing
It is connected by click-on mechanism 1 between body 5, the gravity regulating mechanism 2 is distributed in main body 4 and the accessory body 5 that climbs of climbing
Side, the rolling mechanism 3 are fixed in the click-on mechanism 1, and the control mechanism 6 and power supply 7 are arranged at described climb
The inside of main body 4 and the accessory body 5 that climbs.
As shown in figures 1 to 6, the click-on mechanism 1 includes：Claw horizontal axis 11, claw bearing 12, claw main body 13, claw pair
Body 19, claw master gear 14, claw pinion 18, claw touch sensor 15, claw Driving Stepping Motor 16, horizontal axis bearing
17, claw Driving Stepping Motor gear 110；
The click-on mechanism 1 is provided with multigroup, passes through the card between click-on mechanism 1 and claw horizontal axis 11, claw bearing 12
The clamping and separation climbed between main body 5 and 6 Liang Ge mechanisms of accessory body of climbing are realized in tight and centrifugation.The claw horizontal axis 11
8 are shared, is divided into two groups, is separately fixed in the lateral four edges boundary line for main body 4 of climbing, while being also disposed on the accessory body 5 that climbs
Lateral four edges circle on, two horizontal axis bearings 17,17 inner ring of horizontal axis bearing and card are provided at both ends on each claw horizontal axis 11
Pawl horizontal axis 11 connects, and outer ring is exposed, is used for claw main body 13 and the clamping of claw accessory body 19.Both ends are also on each claw horizontal axis 11
There are two claw bearing 12, the inner rings and claw horizontal axis 11 of claw bearing 12 to connect for setting, the end of outer ring and claw ontology 13
Connection, and the position that the end of claw main body 13, claw accessory body 19 is connected with 12 outer ring of claw bearing is provided with the main tooth of claw
Wheel 14 and claw pinion 18, claw master gear 14 and claw pinion 18 are engaged by gear to be connected, claw master gear 14
Rotation can directly drive the rotation of claw pinion 18, since claw master gear 14 and claw pinion 18 are that gear mechanism is nibbled
It is combined, the rotation of one of them can drive another relative rotation, therefore claw master gear 14 and claw pinion 18
It moves toward one another or mutually from movement；Therefore the rotation of claw master gear 14 and claw pinion 18 has also driven card indirectly
The clamping and disengaging movement of pawl main body 13 and claw accessory body 19.
Inside between claw main body 13 and claw accessory body 19 is equipped with claw touch sensor 15, for detecting claw master
Whether there is or not object collisions between body 13 and claw accessory body 19.
Claw Driving Stepping Motor 16 is mounted on 4 inside of main body of climbing, and shaft is provided with mating with claw master gear 14
Claw Driving Stepping Motor gear 110, and engaged by gear, the rotation of claw Driving Stepping Motor 16 can drive
The rotation of claw Driving Stepping Motor gear 110, and then the rotation of claw master gear 14 is driven, finally drive claw accessory body 19
Rotation, effect is：Clamping between claw main body 13 and claw accessory body 19 and separation.It should be noted that：In order to reduce by
In click-on mechanism 1 when carrying out clamping to the frictional force of claw horizontal axis 11, claw main body 13 and claw 19 clamping of accessory body when, essence
For the horizontal axis bearing 17 on claw horizontal axis 11 that clamping is other side, rather than simple claw horizontal axis 11.
As shown in Figs. 1-5, the gravity regulating mechanism 2 includes：Ball-screw slide unit 21, gravity block 22；The ball wire
Thick stick slide unit 21 is common slide unit, and structure repeats no more, and is arranged on the longitudinal direction inside climb main body 4 and the accessory body 5 that climbs.
Gravity block 22 act as adjusting climb main body 4 and the position of centre of gravity of accessory body 5 of climbing, and gravity block 22 is arranged in ball-screw slide unit
On 21 sliding block.Gravity regulating mechanism is equally separately mounted to climb the inside of main body 4 and the accessory body 5 that climbs, act as：It adjusts in real time
It saves the position of centre of gravity of climb main body 4 and the accessory body 5 that climbs and is always ensured that rolling when main body of climbing at that time 4 or the accessory body 5 that climbs move
Some body that climbs center of gravity close proximity to climb main body 4 and climb 5 liang of bodies that climb of accessory body position of centre of gravity at, increase machine
Stability in people's movement.
As shown in figures 1 to 6, the rolling mechanism 3 includes：Roll stepping motor gear, rolling master gear 32, the secondary tooth of rolling
Take turns 33, rolling stepper motor 34, the shaft for the stepper motor 34 that rolls is provided with and rolls the rolling stepping electricity that master gear 32 engages
Machine gear, rolling master gear 32 are mounted on the claw horizontal axis 11 where climbing main body 4, and rolling pinion 33 is mounted on pair of climbing
On claw horizontal axis 11 where body 5, while when the click-on mechanism 1 at 4 place of main body of climbing and 5 place click-on mechanism 1 of accessory body of climbing
When mutual clamping, rolling master gear 32 and the rolling also just clamping of pinion 33.The stepper motor 34 that rolls rotates, and drives rolling step
Stepper motor gear rotates, and since rolling stepping motor gear and rolling master gear 32 engage, and then drives rolling master gear 32
Rotation, and due to the engagement of rolling master gear 32 and the pinion 33 that rolls, it is final to drive rolling master gear 32 and the secondary tooth of rolling
The opposite or phase of wheel 33 is from movement.
The main body 4 of climbing includes：Climb main body rack 41.The main body rack 41 that climbs is square set structure, and climb master
It is provided with support construction outstanding in the lateral four edges boundary line of body 4,4 claw horizontal axis 11 are fixed for installing.
The accessory body 5 that climbs includes：Climb accessory body holder 51.Likewise, the accessory body holder 51 that climbs also is square set knot
Structure is provided with support construction outstanding in the lateral four edges boundary line for the accessory body 5 that climbs, and 4 claw horizontal axis 11 are fixed for installing.
The control mechanism 6 includes：Controller 61, rolling stepper motor driver 62, claw stepper motor driver 63,
Slide unit stepper motor driver 64.Control mechanism 6, which is fixedly mounted on, to climb in main body 4；Claw stepper motor driver 63 is simultaneously
Also it is fixedly mounted on and climbs on accessory body 5.
Controller is responsible for the fusion of the transmission and information of all control instructions of stairs climbing robot, rolling stepping electricity
Machine driver 62 is for driving rolling stepper motor 34, and claw stepper motor driver 63 is for driving claw Driving Stepping Motor
16。
The power supply 7 includes：Lithium battery 71.Lithium battery 71, which is fixedly mounted on, to climb in main body 4, while being also fixedly mounted on
It climbs on accessory body 5.The effect of lithium battery 71 is：All mains powers are provided for stairs climbing robot.
As shown in Fig. 1-6.The present invention not only proposes a kind of mechanical mechanism of claw rolling type stairs climbing robot,
It also proposed corresponding working method.
Step 1：Controller 61 controls claw stepper motor driver 63 and drives the positive fortune of claw Driving Stepping Motor 16
It is dynamic；Due to click-on mechanism 1 be provided with it is multigroup, by clamping between click-on mechanism 1 and claw horizontal axis 11, claw bearing 12 and point
From effect, the clamping and separation climbed between main body 5 and 6 Liang Ge mechanisms of accessory body of climbing are realized.And claw horizontal axis 11 shares 8
Root is divided into two groups, is separately fixed in the lateral four edges boundary line for main body 4 of climbing, while being also disposed on the transverse direction for the accessory body 5 that climbs
On four edges circle, described in invention content, since the position of 12 outer ring of claw bearing connection is provided with claw master gear
14 and claw pinion 18, claw master gear 14 and claw pinion 18 pass through gear engagement connection, claw Driving Stepping Motor
16 movement can drive the rotation of claw master gear 14 that can directly drive the rotation of claw pinion 18, due to claw master
Gear 14 and claw pinion 18 are that gear mechanism meshes together, and the rotation of one of them can drive the opposite of another to turn
It is dynamic, therefore claw master gear 14 and claw pinion 18 are realized and are moved toward one another；Therefore claw master gear 14 and claw pinion
18 rotation has also driven the clamping of claw main body 13 and claw accessory body 19 indirectly.I.e.：A wherein claw in main body of climbing 5
Claw main body 13 and claw accessory body 19 on horizontal axis clamp climb accessory body 6 in horizontal axis bearing on a wherein claw horizontal axis
17。
Step 2：Correspondingly, claw main body 13 and claw accessory body 19 in the accessory body 6 that climbs on a wherein claw horizontal axis
Clamp the horizontal axis bearing 17 on a wherein claw horizontal axis in climbing main body 5.Effect is climb main body 5 and 6 reality of accessory body of climbing
Close and clamping is showed.
Step 3：Main body 5 and climb that accessory body 6 is close and clamping by climbing in step 2, due to claw main body 13 and card
Inside between pawl accessory body 19 is equipped with claw touch sensor 15, can detect between claw main body 13 and claw accessory body 19
Whether there is or not object collisions, if there is collision, controller 61 controls claw stepper motor driver 63 and stops claw Driving Stepping Motor
Otherwise 16 movement continues that claw Driving Stepping Motor 16 is driven to move so that angle between claw main body 13 and claw accessory body 19
Degree continues to zoom out, final clamping.
Step 4：By climb main body 5 and the final close and clamping of the accessory body 6 that climbs in step 3, at this time since rolling walks
The shaft of stepper motor 34 is provided with and rolls the rolling stepping motor gear of the engagement of master gear 32, and rolling master gear 32, which is mounted on, climbs
On the claw horizontal axis 11 for rising 4 place of main body, rolling pinion 33 is mounted on the claw horizontal axis 11 where climbing accessory body 5, simultaneously
When where the main body 4 of climbing click-on mechanism 1 and climb 5 place 1 mutual clamping of click-on mechanism of accessory body when, rolling master gear 32 and turn over
Roll the also just clamping of pinion 33.I.e.：State at this time is rolling master gear 32 and rolling 33 clamping of pinion, can carry out machine
Tool gear engagement action.
Step 5：Before carrying out next step action, controller 61 controls slide unit stepper motor driver 64 and drives ball-screw
Slide unit 21, and then gravity block 22 is driven to move, since the setting of ball-screw slide unit 21 is inside climb main body 4 and the accessory body 5 that climbs
Longitudinal direction on.Gravity block 22 act as adjusting climb main body 4 and the position of centre of gravity of accessory body 5 of climbing, and gravity block 22 is arranged
On the sliding block of ball-screw slide unit 21.Gravity regulating mechanism is equally separately mounted to climb main body 4 and the interior of accessory body 5 that climb
Portion, when the accessory body 5 that climbs climbs to 4 top of main body of climbing, controller 61 controls the slide unit stepper motor driving climbed in main body 4
Device 64 drives ball-screw slide unit 21, and then gravity block 22 is driven to be moved to positive direction, before the center of gravity in main body of climbing at this time 4
It moves；Controller 61 controls the slide unit stepper motor driver 64 to climb on accessory body 5 and drives ball-screw slide unit 21, and then band simultaneously
Dynamic gravity block 22 is moved to positive direction, and the center of gravity climbed at this time on accessory body 5 also moves forward.Effect is：4 He of main body of climbing is adjusted in real time
Climb the position of centre of gravity of accessory body 5, when the accessory body 5 that climbed at that time is moved to main body 4 of climbing, ensures the whole center of gravity of robot as possible
In the position for main body 4 of climbing rather than the position for the accessory body 5 that climbs, to increase stability in robot motion.
Step 6：The control rolling driving rolling stepper motor 34 of stepper motor driver 62 of controller 61 rotates forward, in turn
Rolling stepping motor gear rotation is driven, since rolling stepping motor gear and rolling master gear 32 engage, and then drives rolling
The rotation of master gear 32, and due to the engagement of rolling master gear 32 and the pinion 33 that rolls, it is final to drive rolling master gear 32
With moving toward one another for rolling pinion 33.It is adjusted due to experienced the gravity in step 5, center of gravity at this time is in main body 4 of climbing
On, therefore in the case where gear engages induced effect, main body of climbing 4 drives the rotation of accessory body 5 of climbing, i.e.,：Accessory body 5 climb to main body of climbing
4 overturnings.
Step 7：After the accessory body 5 that climbs is overturn to main body 4 of climbing, final effect is：The accessory body 5 that climbs is in main body 4 of climbing
Surface, click-on mechanism 1 be provided with it is multigroup, i.e.,：The clamping position newly combined is repeated step 1, step 2 and step 3.It is old
In conjunction with the separation process at position be：Controller 61 controls claw stepper motor driver 63 and drives claw Driving Stepping Motor 16
Counter motion；Described in invention content, since the position of 12 outer ring of claw bearing connection is provided with claw master gear 14
With claw pinion 18, claw master gear 14 and claw pinion 18 are engaged by gear and are connected, claw Driving Stepping Motor 16
Movement, can drive the rotation of claw master gear 14 that can directly drive the rotation of claw pinion 18, due to the main tooth of claw
Wheel 14 and claw pinion 18 are that gear mechanism meshes together, and the rotation of one of them can drive another relative rotation,
Therefore claw master gear 14 and claw pinion 18 realize mutually from movement；Therefore claw master gear 14 and claw pinion 18
Rotation has also driven the separation of claw main body 13 and claw accessory body 19 indirectly.I.e.：In main body of climbing 5 on a wherein claw horizontal axis
Claw main body 13 and claw accessory body 19 diastole state is become from original clamp position so that claw in main body of climbing 5 is horizontal
Axis 11 and the claw horizontal axis 11 to climb on accessory body 6 detach.
Step 8：Step 1-7 is repeated, the accessory body 5 that may be implemented continuously to climb realizes machine to the overturning of main body 4 of climbing
The continuous of people crosses stairs climbing.
Step 9：It is opposite, it goes downstairs process for robot, it is essentially identical with the mode of above-mentioned steps 1-7, only for
Gravity regulating mechanism in above-mentioned steps 5 is different, i.e.,：Opposite, when main body 4 of climbing is climbed to 5 top of accessory body of climbing, control
Device 61 controls the slide unit stepper motor driver 64 to climb in main body 4 and drives ball-screw slide unit 21, and then drives gravity block 22
It moves to negative direction, is moved after the center of gravity in main body of climbing at this time 4；Controller 61 controls the slide unit stepping climbed on accessory body 5 simultaneously
Motor driver 64 drives ball-screw slide unit 21, and then gravity block 22 is driven to be moved to negative direction, climbs at this time on accessory body 5
Center of gravity is also moved afterwards.Effect is：Adjust climb main body 4 and the position of centre of gravity of accessory body 5 of climbing in real time, main body of climbing at that time 4 is to climbing
When accessory body 5 moves, ensure that the whole center of gravity of robot is in the position for the accessory body 5 that climbs rather than the position for main body 4 of climbing as possible,
To increase stability in robot motion.
In addition, it is also exactly the opposite for the action for mechanism 3 of rolling, as described in step 6, i.e.,：The control of controller 61 is turned over
The rolling driving rolling stepper motor 34 of stepper motor driver 62 rotates backward, and then drives rolling stepping motor gear rotation, by
It is engaged in rolling stepping motor gear and rolling master gear 32, and then drives the rotation of rolling master gear 32, and due to rolling
The engagement of master gear 32 and rolling pinion 33, it is final to drive the phase of rolling master gear 32 and the pinion 33 that rolls from movement.By
It being adjusted in experienced gravity in step 5, center of gravity at this time, which is in, climbs on accessory body 5, therefore in the case where gear engages induced effect,
The accessory body 5 that climbs drives the rotation of main body 4 of climbing, i.e.,：Main body of climbing 4 is overturn to the accessory body 5 that climbs.It repeats the above steps, may be implemented
Continuous main body 4 of climbing is overturn to the accessory body 5 that climbs, and then realizes that the continuous of robot crosses stair decline.I.e.：Step 1-9 is
The step of complete robot realizes stairs climbing and declines and method.
Above-described embodiment simply to illustrate that the present invention technical concepts and features, it is in the art the purpose is to be to allow
Those of ordinary skill cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all
It is the equivalent changes or modifications made by the essence according to the content of present invention, should all covers within the scope of the present invention.
Claims (8)
1. a kind of claw rolling type stairs climbing robot, it is characterised in that：Including click-on mechanism, gravity regulating mechanism, rolling
Mechanism, main body of climbing, the accessory body that climbs, control mechanism, power supply, the click-on mechanism are provided with multigroup, the click-on mechanism difference
It is fixedly mounted on the edge of the climb main body and the accessory body that climbs, described climb passes through click-on mechanism between main body and the accessory body that climbs
It is connected, the gravity regulating mechanism is distributed in the side of the climb main body and the accessory body that climbs, and the rolling mechanism is fixed on
In the click-on mechanism, the control mechanism and power supply are arranged at the inside of the climb main body and the accessory body that climbs.
2. a kind of claw rolling type stairs climbing robot as described in claim 1, it is characterised in that：The click-on mechanism packet
Include claw horizontal axis, claw bearing, claw main body, claw accessory body, claw master gear, claw pinion, claw touch sensor, card
Pawl Driving Stepping Motor, horizontal axis bearing, claw Driving Stepping Motor gear, the claw horizontal axis share 8, are divided into two groups, point
It is not fixed in the lateral four edges boundary line for main body of climbing, while being also disposed on lateral four edges circle for the accessory body that climbs.
3. a kind of claw rolling type stairs climbing robot as described in claim 1, it is characterised in that：The gravity adjusts machine
Structure includes ball-screw slide unit, gravity block.
4. a kind of claw rolling type stairs climbing robot as described in claim 1, it is characterised in that：Rolling mechanism packet
Include rolling stepping motor gear, rolling master gear, rolling pinion, rolling stepper motor.
5. a kind of claw rolling type stairs climbing robot as claimed in claim 2, it is characterised in that：By click-on mechanism and
The card to climb between main body and accessory body Liang Ge mechanisms of climbing is realized in clamping between claw horizontal axis, claw bearing and centrifugation
Tight and separation；Two horizontal axis bearings are provided at both ends on each claw horizontal axis, horizontal axis bearing inner race is connected with claw horizontal axis, outer ring
It is exposed, it is used for claw main body and the clamping of claw accessory body；Both ends also set up that there are two claw bearing, claws on each claw horizontal axis
The inner ring of bearing is connected with claw horizontal axis, and outer ring is connected with the end of claw ontology, and the end of claw main body, claw accessory body
The position connected with claw bearing outer ring is provided with claw master gear and claw pinion, and claw master gear and claw pinion are logical
Cross gear engagement connection, the rotation of the rotation directly drive claw pinion of claw master gear, claw main body and claw accessory body it
Between inside claw touch sensor is installed, for detecting, whether there is or not object collision, claws between claw main body and claw accessory body
Driving Stepping Motor is mounted on the inside of main body of climbing, and shaft is provided with the claw Driving Stepping Motor mating with claw master gear
Gear, and engaged by gear, the rotation of claw Driving Stepping Motor drives the rotation of claw Driving Stepping Motor gear, into
And the rotation of claw master gear is driven, finally drive the rotation of claw accessory body.
6. a kind of claw rolling type stairs climbing robot as claimed in claim 3, it is characterised in that：The gravity adjusts machine
Structure includes ball-screw slide unit, gravity block；It is arranged on the longitudinal direction inside climb main body and the accessory body that climbs, the work of gravity block
With to adjust the position of centre of gravity of climb main body and the accessory body that climbs, gravity block is arranged on the sliding block of ball-screw slide unit, gravity tune
Section mechanism is equally separately mounted to climb the inside of main body and the accessory body that climbs.
7. a kind of claw rolling type stairs climbing robot as claimed in claim 4, it is characterised in that：Rolling mechanism packet
Include rolling stepping motor gear, rolling master gear, rolling pinion, rolling stepper motor, the shaft setting for the stepper motor that rolls
Have and the rolling stepping motor gear for master gear engagement of rolling, rolling master gear are mounted on the claw horizontal axis where main body of climbing
On, rolling pinion is on the claw horizontal axis where the accessory body that climbs.
8. a kind of stairs climbing method of claw rolling type stairs climbing robot, it is characterised in that：
Step 1：Controller controls claw stepper motor driver and drives claw Driving Stepping Motor positive movement；Realization is climbed master
Clamping and separation between body and accessory body Liang Ge mechanisms of climbing, therefore claw master gear and claw pinion realize opposite fortune
Dynamic, the rotation of claw master gear and claw pinion has also driven the clamping of claw main body and claw accessory body indirectly；
Step 2：Correspondingly, the claw main body and claw accessory body in the accessory body that climbs on a wherein claw horizontal axis are also clamped and are climbed
Horizontal axis bearing in main body on a wherein claw horizontal axis；
Step 3：Main body and climb that accessory body is close and clamping by climbing in step 2, due to claw main body and claw accessory body it
Between inside claw touch sensor is installed, detect that whether there is or not object collisions between claw main body and claw accessory body, if touching
It hits, then controller control claw stepper motor driver stops the movement of claw Driving Stepping Motor, otherwise continues to drive claw
Driving Stepping Motor moves so that angle continues to zoom out between claw main body and claw accessory body, final clamping；
Step 4：By climb main body and the final close and clamping of the accessory body that climbs in step 3, at this time due to the stepper motor that rolls
Shaft be provided with and roll the rolling stepping motor gear of master gear engagement, while when climb click-on mechanism where main body and
When the mutual clamping of click-on mechanism where accessory body of climbing, rolling master gear and rolling pinion also just clamping, i.e.,：State at this time
For rolling master gear and rolling pinion clamping, mechanical gear engagement action is carried out；
Step 5：Before carrying out next step action, controller controls slide unit stepper motor driver and drives ball-screw slide unit, into
And gravity block is driven to move, the movement of position of centre of gravity is realized, to increase stability in robot motion；
Step 6：Controller control rolling stepper motor driver driving rolling stepper motor rotates forward, final to drive rolling master
Gear is moved toward one another with rolling pinion, is adjusted due to experienced the gravity in step 5, and center of gravity at this time is in main body of climbing
On, therefore in the case where gear engages induced effect, main body of climbing drives accessory body rotation of climbing, i.e.,：The accessory body that climbs is turned over to main body of climbing
Turn；
Step 7：After the accessory body that climbs is overturn to main body of climbing, final effect is：The accessory body that climbs is in the surface for main body of climbing,
Click-on mechanism be provided with it is multigroup, i.e.,：The clamping position newly combined is repeated step 1, step 2 and step 3；The position of old combination
Separation process be：Controller controls claw stepper motor driver and drives claw Driving Stepping Motor counter motion；Claw master
Gear and claw pinion realize mutually from movement；Therefore the rotation of claw master gear and claw pinion has also driven card indirectly
The separation of pawl main body and claw accessory body, i.e.,：Claw main body and claw accessory body in main body of climbing on a wherein claw horizontal axis by
Clamp position originally becomes diastole state so that the claw horizontal axis to climb in main body and the claw horizontal axis to climb on accessory body point
From；
Step 8：Step 1-7 is repeated, realizes the accessory body that continuously climbs to main body overturning of climbing, and then realize that the continuous of robot turns over
More stairs climbing；
Step 9：It is opposite, it goes downstairs process for robot, it is essentially identical with the mode of above-mentioned steps, only for above-mentioned steps
Gravity regulating mechanism in 5 is different, i.e.,：Opposite, it realizes the Forward of position of centre of gravity, stablizes to increase in robot motion
Property；
Step 10：In addition, it is also exactly the opposite for the action for mechanism of rolling, as described in step 6, band action is engaged in gear
Under, the accessory body that climbs drives the body rotation that climbs, i.e.,：Main body of climbing is overturn to the accessory body that climbs；It repeats the above steps, realizes continuous
Main body of climbing to accessory body overturning of climbing, and then realize that the continuous of robot crosses stair decline, i.e.,：Step 1-9 is complete
The step of robot realizes stairs climbing and declines and method.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610173579.0A CN105905180B (en) | 2016-03-24 | 2016-03-24 | A kind of claw rolling type stairs climbing robot and its method of climbing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610173579.0A CN105905180B (en) | 2016-03-24 | 2016-03-24 | A kind of claw rolling type stairs climbing robot and its method of climbing |
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| CN105905180A CN105905180A (en) | 2016-08-31 |
| CN105905180B true CN105905180B (en) | 2018-10-02 |
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| CN108296686A (en) * | 2018-02-17 | 2018-07-20 | 李大德 | Shipbuilding Intelligent welding equipment walking robot |
| CN112590962A (en) * | 2020-12-03 | 2021-04-02 | 合肥工业大学 | Go up stair machinery based on bionics principle |
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| CN100382934C (en) * | 2006-06-19 | 2008-04-23 | 北京航空航天大学 | Butt jointed crawler type mobile robot |
| CN101664926A (en) * | 2009-09-24 | 2010-03-10 | 北京航空航天大学 | Tetrahedral rolling robot with parallel mechanism |
| CN104224055A (en) * | 2013-06-17 | 2014-12-24 | 景幂机械（上海）有限公司 | Novel quick stair cleaner |
| DE102014011235A1 (en) * | 2014-08-05 | 2016-02-25 | Gerald Amler | Device and method for overcoming stairs and similar obstacles for household robots such as vacuum cleaners or other autonomous devices |
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