CN106184446A - There is the stair climbing robot turning to and dodging function - Google Patents
There is the stair climbing robot turning to and dodging function Download PDFInfo
- Publication number
- CN106184446A CN106184446A CN201610663332.7A CN201610663332A CN106184446A CN 106184446 A CN106184446 A CN 106184446A CN 201610663332 A CN201610663332 A CN 201610663332A CN 106184446 A CN106184446 A CN 106184446A
- Authority
- CN
- China
- Prior art keywords
- luggage carrier
- stair
- steering assistance
- climbing robot
- stair 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.)
- Granted
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
- B60S9/205—Power driven manoeuvring fittings, e.g. reciprocably driven steppers or rotatably driven cams
Abstract
The present invention relates to robotics, particularly relate to a kind of stair climbing robot having and turning to and dodge function.It includes luggage carrier, and bottom luggage carrier, centre is provided with a steering assistance plate, is provided with rectilinear movement unit and slew gear between steering assistance plate and luggage carrier；Being respectively provided with a photographic head with rear side on front side of luggage carrier, on the left of luggage carrier and right side is respectively provided with a ultrasonic distance measuring module, is provided with microprocessor and wireless communication module in luggage carrier.The present invention makes improvement on the basis of original wheeled stair climbing robot, it is achieved four road wheels synchronize to be afraid of stair, also assures that the horizontal stable of top luggage carrier simultaneously, it is achieved that safety is born a heavy burden and climbed building.The key improvements of the present invention is by being additionally arranged at the bottom of rectilinear movement unit and slew gear at luggage carrier, it is achieved that the transverse shifting of robot dodges the turning function on pedestrian and stair.Meanwhile, also by arranging camera head and range unit, Real-time Collection stair field condition, observed by monitor terminal and make a response.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of stair climbing robot having and turning to and dodge function.
Background technology
Current stair climbing robot climbs the major way of step lower limb formula, wheeled and crawler type, and each way cuts both ways,
But all there is same problem, one is when needing to turn on stair, it is impossible to realize；Two are, when running on stair up and down
During the people in building, it is not known that dodge；Three are, deviate former direction during climbing building, it is impossible to find in time and adjustment causes encountering both sides
Wall.It addition, existing several stair climbing robot is it is difficult to ensure that steadily of centre of gravity and planar movement, loading function cannot effectively be sent out
Wave.
Summary of the invention
For solving the problems referred to above, the invention provides a kind of stair climbing robot having and turning to and dodge function, Neng Lou
Turn on ladder and dodge pedestrian, bearing a heavy burden and also ensure that gravity balance while climbing building.
The technical solution used in the present invention is as follows:
A kind of have the stair climbing robot turning to and dodging function, and including luggage carrier, bottom luggage carrier, centre is provided with one turn
To being provided with rectilinear movement unit and slew gear between accessory plate, steering assistance plate and luggage carrier, rectilinear movement unit is for real
Moving left and right of existing luggage carrier, slew gear is used for driving luggage carrier to rotate；Steering assistance plate is provided with perpendicular support
Seat, support seat is Collapsible structure, and its side is provided with telescopic cylinder, is used for controlling it and stretches；Respectively set with rear side on front side of luggage carrier
There is a photographic head, for shooting the scene of robot front and back；On the left of luggage carrier and right side is respectively provided with a ultrasonic ranging
Module, for measuring the luggage carrier left and right edges distance to stair both sides；Microprocessor and radio communication it is provided with in luggage carrier
Module, microprocessor receives real time data that two ultrasonic distance measuring modules send and two data is compared, when two side datas not
Control rectilinear movement unit action time consistent moved to left by luggage carrier or move to right certain distance；Wireless communication module is for by photographic head
Shooting view data be uploaded to monitor terminal in real time, monitor terminal according to image display sight determine whether people need to dodge or
Whether this turning, sends instruction by wireless communication module to robot and controls to translate or turn to about robot.
Further, being respectively arranged in the front and the rear with a guide rail at steering assistance plate bottom luggage carrier, each slide connects one and carries
The first walking support member that thing frame is vertical, first walks, and support member bottom is each fixes a ground-engaging element.
Further, steering assistance plate is provided with the second walking support member, second walking support member one end in support seat side
Being rotationally connected with steering assistance plate, the other end connects rotating driving device；Rotating driving device and former and later two ground-engaging elements
It is in transmission connection, is used for driving ground-engaging element to rotate.
Further, described ground-engaging element includes the left wheel component at axletree and axletree two ends and right wheel component, left car
Wheel component and right wheel component respectively include a discoidal outer wheel disc and are connected to three small trochal discs inside this outer wheel disc, outward
Wheel disc is connected with axletree, and outer wheel disc radially has three grooves being separated by 120 degree, and three small trochal discs are led to by check lock lever and three
Groove is slidably connected, and the outer margin contour of small trochal disc is the Archimedes spiral front and back connected and a circular arc.
Further, described rotating driving device includes driving motor, driving wheel and two Timing Belts, the car of two ground-engaging elements
Axle is provided with synchronous pulley, and driving wheel is connected with the synchronous pulley on the axletree of both sides respectively by two Timing Belts.
Preferably, three described walking support members are Collapsible structure, can walk before and after regulating according to shoulder height
The difference in height of support member, higher than bottom Backside support part bottom the support member of general front side.
The present invention makes improvement on the basis of original wheeled stair climbing robot, it is achieved four road wheels synchronize to be afraid of stair,
Also assures that the horizontal stable of top luggage carrier, it is achieved that safety is born a heavy burden and climbed building simultaneously.The key improvements of the present invention is to pass through
It is additionally arranged at the bottom of rectilinear movement unit and slew gear, it is achieved that the transverse shifting of robot dodges pedestrian and stair at luggage carrier
On turning function.Meanwhile, also by arranging camera head and range unit, Real-time Collection stair field condition, by monitoring
Terminal is observed and makes a response.
Accompanying drawing explanation
Fig. 1 is the perspective view of the present invention；
Fig. 2 is that the present invention dismantles the front sectional view after ground-engaging element；
Fig. 3 is the control system block diagram of the present invention；
In figure, 1, luggage carrier, 2, photographic head, 3, guide rail, the 4, first walking support member, 5, small trochal disc, 6, outer wheel disc, 7, car
Axle, 8, synchronous pulley, 9, groove, 10, check lock lever, 11, Timing Belt, 12, support seat, 13, drive motor, 14, driving wheel, 15,
Telescopic cylinder, 16, ultrasonic distance measuring module, 17, steering assistance plate, 18, rectilinear movement unit, 19, slew gear, 20, second
Walking support member, 21, microprocessor, 22, power supply, 23, wireless communication module, 24, monitor terminal.
Detailed description of the invention
The present invention is described in detail below in conjunction with the accompanying drawings.
A kind of have the stair climbing robot turning to and dodging function, as shown in Figure 1, 2, including a luggage carrier 1, luggage carrier 1
It is provided with a square steering assistance plate 17 in the middle of bottom, on the upside of steering assistance plate 17, is provided with slew gear 19 and rectilinear movement unit
18, the chassis of slew gear 19 is fixed on steering assistance plate, and its rotating disk is fixing with bottom luggage carrier to be connected, and is used for driving loading
Frame rotates；Rectilinear movement unit 18 includes that left and right is secured transverse to the guide groove on steering assistance plate and the slide block in guide groove, slide block
It is connected with bottom luggage carrier, for realizing the left and right translation of luggage carrier.Propping up of a vertical direction it is provided with bottom steering assistance plate 17
Support seat 12, supporting seat 12 is Collapsible structure, and side is provided with telescopic cylinder 15, is used for driving a bearing to stretch.Support seat is stretched out
After height more than walking support member and the total height of ground-engaging element, be used for propping up luggage carrier and make ground-engaging element unsettled, it is achieved turn
Dynamic and mobile luggage carrier；
Bottom luggage carrier 1, before and after steering assistance plate, both sides are respectively provided with the guide rail 3 of one section of fore-and-aft direction, each each cunning of guide rail 3
Be dynamically connected first vertical with a luggage carrier walking support member 4, connects two walkings respectively bottom the first walking support member 4
Parts.Steering assistance plate 17 lower rotation connects the second walking support member 20, fixed drive motor 13 and driving wheel bottom it
14.Three walking support members are made up of telescoping tube, its adjustable length.Described ground-engaging element includes axletree 7 and axletree two ends
Left wheel component and right wheel component, left wheel component and right wheel component respectively include a discoidal outer wheel disc 6 and connect
Three small trochal discs 5 inside this outer wheel disc, outer wheel disc 6 is connected with axletree, and outer wheel disc radially has and is separated by three of 120 degree and leads to
Groove 9, three small trochal discs 5 are slidably connected with three grooves 9 by check lock lever 10, and the outer margin contour of small trochal disc 5 is one front and back to connect
Archimedes spiral and circular arc.Being equipped with synchronous pulley 8 on two axletrees 7, driving wheel 14 passes through with the synchronous pulley 8 of both sides
Timing Belt 11 is in transmission connection.
It is respectively provided with a photographic head 2 with rear side, for shooting the scene of robot front and back on front side of luggage carrier 1；Loading
On the left of frame and right side be respectively provided with a ultrasonic distance measuring module 16, for measure luggage carrier left and right edges to stair both sides away from
From；Being provided with microprocessor 21 and wireless communication module 23 in luggage carrier, microprocessor receives two ultrasonic distance measuring modules and sends
Real time data and two data are compared, when two side datas are inconsistent control rectilinear movement unit action luggage carrier is moved to left or
Move to right certain distance；Wireless communication module 23, for the view data that photographic head shoots is uploaded to monitor terminal 24 in real time, is supervised
According to image display sight, control terminal determines whether that people need to dodge or whether this turning, by wireless communication module to robot
Send instruction to control to translate or turn to about robot.Microprocessor 21 is powered by power supply 22.
The work process of the present invention is as follows:
Before climbing step, the distance of two first walking support members before and after adjusting according to step width, with two walking before and after ensureing
Parts synchronize to climb rank.Then the first walking support member and the difference in height of middle second walking support member are adjusted so that front and back two the
The difference in height of one walking support member is two shoulder heights, luggage carrier level during to ensure to climb building.Open the lock in wheel component
Tight bar, according to the step dimension of stair adjust three small trochal discs centrifugal away from so that wheel component during climbing step with platform
Rank do not interfere, and robot starts to climb building afterwards.
During climbing building, the stair situation before and after front and back two photographic head shoot robot, by image information by wireless
Communication module is sent to monitor terminal, and when finding that front or behind has people, monitor terminal sends instruction, supports seat and stretches out, support
Rise luggage carrier, ground-engaging element is unsettled, then control rectilinear movement unit action so that the walking support member of luggage carrier and lower section and
Ground-engaging element shift to right or left, concedes space, facilitates pedestrian to pass through, and after people passes through, luggage carrier returns and continues to climb building in situ.When
Robot climbs to the platform of two sections of staircases when needing to turn, and equally, first opens support seat stay and plays luggage carrier, make ground-engaging element hang
Sky, then controls slew gear action and makes luggage carrier first turn over 90 degree counterclockwise, pack up support seat, and a small distance that moves ahead is to closing
Right position is put, and stretches out support seat the most again, slew gear, after driving luggage carrier to turn over 90 degree the most counterclockwise, be directed at next section of building
Ladder, continues to climb building.
During climbing building, the ultrasonic distance measuring module of the luggage carrier left and right sides measures two edges in real time from stair both sides
Distance, when finding the mobile route of robot deviation, stretches out support seat, controls rectilinear movement unit action, move to left or move to right conjunction
Suitable distance, in order to climb building by original route.
Claims (6)
1. there is the stair climbing robot turning to and dodging function, including luggage carrier, it is characterised in that: in the middle of bottom luggage carrier
Being provided with a steering assistance plate, be provided with rectilinear movement unit and slew gear between steering assistance plate and luggage carrier, rectilinear movement is single
Unit is for realizing moving left and right of luggage carrier, and slew gear is used for driving luggage carrier to rotate；Steering assistance plate is provided with and hangs down with it
Straight support seat, support seat is Collapsible structure, and its side is provided with telescopic cylinder, is used for controlling it and stretches；On front side of luggage carrier and
Rear side is respectively provided with a photographic head, for shooting the scene of robot front and back；On the left of luggage carrier and right side is respectively provided with and one surpasses
Sound ranging module, for measuring the luggage carrier left and right edges distance to stair both sides；Be provided with in luggage carrier microprocessor and
Wireless communication module, microprocessor receives real time data that two ultrasonic distance measuring modules send and two data is compared, when two
Control rectilinear movement unit action when side data is inconsistent moved to left by luggage carrier or move to right certain distance；Wireless communication module is used for
The view data that photographic head shoots is uploaded to monitor terminal in real time, and monitor terminal determines whether people according to image display sight
Need to dodge or whether this turning, send instruction by wireless communication module to robot and control to translate or turn to about robot.
The most according to claim 1 have the stair climbing robot turning to and dodging function, it is characterised in that: bottom luggage carrier
Being respectively arranged in the front and the rear with a guide rail at steering assistance plate, each slide connects a first walking support member vertical with luggage carrier,
First walks, and support member bottom is each fixes a ground-engaging element.
The most according to claim 2 have the stair climbing robot turning to and dodging function, it is characterised in that: steering assistance plate
On be provided with the second walking support member supporting seat side, second walking support member one end is rotationally connected with steering assistance plate, another
End connection has rotating driving device；Rotating driving device is in transmission connection with former and later two ground-engaging elements, is used for driving ground-engaging element
Rotate.
The most according to claim 2 have the stair climbing robot turning to and dodging function, it is characterised in that: described walking
Parts include that the left wheel component at axletree and axletree two ends and right wheel component, left wheel component and right wheel component respectively include
One discoidal outer wheel disc and be connected to three small trochal discs inside this outer wheel disc, outer wheel disc is connected with axletree, outer wheel disc radial direction
Having three grooves being separated by 120 degree, three small trochal discs are slidably connected by check lock lever and three grooves, the outer rim wheel of small trochal disc
Exterior feature is the Archimedes spiral front and back connected and a circular arc.
The most according to claim 4 have the stair climbing robot turning to and dodging function, it is characterised in that: described rotation
Driving means includes driving motor, driving wheel and two Timing Belts, and the axletree of two ground-engaging elements is provided with synchronous pulley, and driving wheel leads to
Cross two Timing Belts to be connected with the synchronous pulley on the axletree of both sides respectively.
6. turn to and dodge the stair climbing robot of function according to having described in Claims 2 or 3, it is characterised in that:
Three described walking support members are Collapsible structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610663332.7A CN106184446B (en) | 2016-08-12 | 2016-08-12 | With the stair climbing robot for turning to and avoiding function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610663332.7A CN106184446B (en) | 2016-08-12 | 2016-08-12 | With the stair climbing robot for turning to and avoiding function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106184446A true CN106184446A (en) | 2016-12-07 |
| CN106184446B CN106184446B (en) | 2019-05-24 |
Family
ID=57515166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610663332.7A Active CN106184446B (en) | 2016-08-12 | 2016-08-12 | With the stair climbing robot for turning to and avoiding function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106184446B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838924A (en) * | 2017-10-11 | 2018-03-27 | 深圳市贝优通新能源技术开发有限公司 | A kind of intelligent meal delivery robot for being easy to climb building and pass dish |
| CN110116768A (en) * | 2019-04-30 | 2019-08-13 | 厦门大学 | It is drawn by front and back and scrolls up and down the quadruped robot for realizing gait control |
| CN110588832A (en) * | 2019-10-15 | 2019-12-20 | 中南大学 | Multi-foot type all-terrain robot |
| CN113530175A (en) * | 2020-04-20 | 2021-10-22 | 广东博智林机器人有限公司 | Motion chassis, floor installation equipment and walking method |
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| CN203084552U (en) * | 2012-11-06 | 2013-07-24 | 大连民族学院 | Reconnaissance robot based on wireless communication |
| CN103693123A (en) * | 2013-12-11 | 2014-04-02 | 上海交通大学 | Robot capable of synchronously climbing stairs |
| CN104699011A (en) * | 2013-12-06 | 2015-06-10 | 刘扬 | Wheel-legged stair-climbing robot control system |
| CN206766174U (en) * | 2016-08-12 | 2017-12-19 | 王鑫洋 | With the stair climbing robot for turning to and avoiding function |
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| JPS59140184A (en) * | 1983-01-28 | 1984-08-11 | Mitsubishi Electric Corp | Moving machine |
| CN2723136Y (en) * | 2004-03-19 | 2005-09-07 | 黄亚红 | Stair climbing robot |
| CN101462563A (en) * | 2009-01-16 | 2009-06-24 | 谢哲 | Archimedes spiral wheel for stair climbing vehicle and double-rocking lever mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838924A (en) * | 2017-10-11 | 2018-03-27 | 深圳市贝优通新能源技术开发有限公司 | A kind of intelligent meal delivery robot for being easy to climb building and pass dish |
| CN110116768A (en) * | 2019-04-30 | 2019-08-13 | 厦门大学 | It is drawn by front and back and scrolls up and down the quadruped robot for realizing gait control |
| CN110588832A (en) * | 2019-10-15 | 2019-12-20 | 中南大学 | Multi-foot type all-terrain robot |
| CN110588832B (en) * | 2019-10-15 | 2022-04-15 | 中南大学 | Multi-foot type all-terrain robot |
| CN113530175A (en) * | 2020-04-20 | 2021-10-22 | 广东博智林机器人有限公司 | Motion chassis, floor installation equipment and walking method |
| CN113530175B (en) * | 2020-04-20 | 2022-08-09 | 广东博智林机器人有限公司 | Motion chassis, floor installation equipment and walking method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106184446B (en) | 2019-05-24 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20190423 Address after: 410600 Star 57, South Section of Huangxing Avenue, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province Applicant after: Hunan Siyi Commercial Vehicle Technology Co., Ltd. Address before: 25 000 1 No. 17, South Yanzishan District, Lixia District, Jinan City, Shandong Province Applicant before: Wang Xinyang |
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Address after: 410600 room 603, building 5, Xingwei Chuangxin Park, No.57, south section of Huangxing Avenue, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province Patentee after: Hunan siteyi Technology Co.,Ltd. Address before: 410600 Star 57, South Section of Huangxing Avenue, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province Patentee before: Hunan Siyi Commercial Vehicle Technology Co.,Ltd. |
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