CN106627828A - Swing-type elevating and descending obstacle-surmounting robot - Google Patents
Swing-type elevating and descending obstacle-surmounting robot Download PDFInfo
- Publication number
- CN106627828A CN106627828A CN201611084378.XA CN201611084378A CN106627828A CN 106627828 A CN106627828 A CN 106627828A CN 201611084378 A CN201611084378 A CN 201611084378A CN 106627828 A CN106627828 A CN 106627828A
- Authority
- CN
- China
- Prior art keywords
- lifting
- swinging
- vehicle frame
- crossbeam
- surpassing robot
- 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
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
- B62D57/028—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 having wheels and mechanical legs
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a swing-type elevating and descending obstacle-surmounting robot comprising a car frame; two side parts at the front of the car frame are provided with two front driving wheels; two side parts at the rear end of the car frame are provided with two rear driving wheels; the car frame is provided with a swing support mechanism; the swing support mechanism is provided with an elevating and descending guiding support frame; the front end and the rear end of the elevating and descending guiding support frame are both provided with elevating and descending advancing mechanisms capable of elevating and descending and advancing independently; one group wheel bodies of the front driving wheels and the rear driving wheels are positioned between the two elevating and descending advancing mechanisms. Through the back and forth swing of the elevating and descending guiding support frame, the obstacle-surmounting robot can be switched between modals of going upstairs and downstairs; the obstacle-surmounting robot has simple and reliable structure and strong obstacle-surmounting ability and is low in cost, easy to manufacture and flexible to operate.
Description
Technical field
The invention mainly relates to barrier-surpassing robot field, more particularly to a kind of swinging lift barrier-surpassing robot.
Background technology
In actual application, mobile robot is frequently necessary to overcome the obstacle of upper and lower step.In this kind of robot
The precision equipment of carrying, often requires that at work holding attitude is constant.Existing barrier-surpassing robot, such as with the shoe for swinging fin
Belt robot, obstacle climbing ability is limited, and chassis inclines seriously during obstacle detouring, not only affects the normal work of carrying equipment, and
And be easily caused robot and topple.Existing barrier-surpassing robot, the such as legged mobile robot of bionical class, though there is preferable obstacle detouring energy
Power, but structure and control are complicated, be difficult to, and also it is with high costs.Existing barrier-surpassing robot, it is such as wheeled with rocking arm
Robot, though having adaptive advantage, obstacle climbing ability is limited, and upper and lower step obstacle ability is mismatched.
The content of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, there is provided a kind of simple structure, with low cost,
It is easy to making, operating flexibility, obstacle climbing ability by force and the swinging lift obstacle detouring machine of chassis level can be kept during obstacle detouring
Device people.
To solve above-mentioned technical problem, the present invention is employed the following technical solutions：
A kind of swinging lift barrier-surpassing robot, including vehicle frame, the vehicle frame drives before the both sides of front end are equiped with two
Wheel, vehicle frame is equiped with two rear drive sprockets, swinging support mechanism, the swing is equiped with the vehicle frame in the both sides of rear end
Be equiped with lifting guide support frame on supporting mechanism, the front and back end of the lifting guide support frame be equiped with can independent-lifting and
The lifting walking mechanism of traveling, in the front driving wheel and rear drive sprocket group wheel body be located at two lifting walking mechanisms it
Between.
As the further improvement of above-mentioned technical proposal：
The lifting guide support frame includes crossbeam and vertical guide, and the crossbeam is packed in swinging support mechanism, described perpendicular
Direction guiding rail is divided in the rear and front end of crossbeam, and the lifting walking mechanism of rear and front end is slided respectively with the vertical guide of respective end
Connect.
The swinging support mechanism includes fork and telescoping cylinder, and the two ends of the fork are hinged respectively with vehicle frame and crossbeam,
The telescoping cylinder is installed in vehicle frame and the output end of telescoping cylinder is hinged with crossbeam.
The lifting walking mechanism includes lifting driver part, elevating lever and support wheel, the lifting driver part installing
In vertical guide, the elevating lever is slided and is mounted in vertical guide and is connected with lifting driver part, and the support wheel is installed in
Elevating lever bottom.
The elevating lever includes vertical rod and cross bar, and the vertical rod is slided and is mounted in vertical guide and connects with lifting driver part
Connect, the cross bar is packed in bottom of upright rod, the support wheel is divided in the both ends of cross bar.
The front and rear part of the vehicle frame offers the hollow out relief portion passed through for the lifting walking mechanism of front and back end.
Compared with prior art, it is an advantage of the current invention that：
1st, swinging lift barrier-surpassing robot of the invention, as long as the height for lifting walking mechanism in front and back is suitable, it is not necessary to adjust
Other structures or size, can just cross over the step and obstacle of various height, and its obstacle performance is projected；
2nd, swinging lift barrier-surpassing robot of the invention, with the equal ability for overcoming upper and lower step obstacle, adaptability
By force.
3rd, swinging lift barrier-surpassing robot of the invention, can remain vehicle frame level during obstacle detouring, it is ensured that
The equipment normal work that robot is carried.
4th, swinging lift barrier-surpassing robot of the invention, changes lifting and advances during obstacle detouring using swinging support mechanism
Mechanism can complete up/down steps relative to the position of vehicle frame without turning to, and improve obstacle detouring flexibility；
5th, swinging lift barrier-surpassing robot of the invention, overall structure is very simple, and function reliability is with low cost, it is easy to make
Make.
Description of the drawings
Fig. 1 is the dimensional structure diagram of swinging lift barrier-surpassing robot of the present invention.
Fig. 2 is the present invention looks up structural representation of swinging lift barrier-surpassing robot of the present invention.
Fig. 3 is the main structure diagram of swinging lift barrier-surpassing robot of the present invention.
Fig. 4 is the swing state schematic diagram of swinging lift barrier-surpassing robot of the present invention.
Fig. 5 is the view of vehicle frame lifting in swinging lift barrier-surpassing robot of the present invention.
Fig. 6 is the view that front end lifts walking mechanism lifting in swinging lift barrier-surpassing robot of the present invention.
Fig. 7 is the schematic flow sheet of swinging lift barrier-surpassing robot top bar of the present invention.
Fig. 8 is the schematic flow sheet that swinging lift barrier-surpassing robot of the present invention is got out of a predicament or an embarrassing situation.
Each label is represented in figure：
1st, vehicle frame；11st, hollow out relief portion；2nd, front driving wheel；3rd, rear drive sprocket；4th, swinging support mechanism；41st, fork；42nd, stretch
Cylinder；5th, guide support frame is lifted；51st, crossbeam；52nd, vertical guide；6th, walking mechanism is lifted；61st, lifting driver part；62nd, rise
Drop bar；621st, vertical rod；622nd, cross bar；63rd, support wheel.
Specific embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
Fig. 1 to Fig. 8 shows a kind of embodiment of swinging lift barrier-surpassing robot of the present invention, and the barrier-surpassing robot includes
Vehicle frame 1, vehicle frame 1 is equiped with two front driving wheels 2 in the both sides of front end, and vehicle frame 1 is after the both sides of rear end are equiped with two
Driving wheel 3, is equiped with swinging support mechanism 4 on vehicle frame 1, lifting guide support frame 5, lifting are equiped with swinging support mechanism 4
The front and back end of guide support frame 5 is equiped with can independent-lifting and the lifting walking mechanism 6 advanced, front driving wheel 2 and rear driving
One group of wheel body in wheel 3 is located between two lifting walking mechanisms 6.When using, when the robot is in grading operation, two ends
Lifting walking mechanism 6 departs from a high position, when needing to cross the obstacles such as step, the edge of lifting walking mechanism 6 at two ends with ground
The decline of lifting guide support frame 5 is contacted with ground, and lifting guide support frame 5 can be reversely ordered about when further declining along lifting traveling
The lifting upwards of mechanism 6, so as to drive the lifting of vehicle frame 1, when front driving wheel 2 and step with it is high when, lifting walking mechanism 6 is advanced forward
And drive vehicle frame 1 front driving wheel 2 is contacted with step, now, the lifting walking mechanism 6 of front end rises to initial position, enters one
Walking to traveling makes rear drive sprocket 3 contact with step, and now, the lifting walking mechanism 6 of rear end rises to initial position, so as to realize
Top bar, when getting out of a predicament or an embarrassing situation, starts swinging support mechanism 4 and orders about the drive lifting walking mechanism 6 of lifting guide support frame 5 to reach
It is dynamic, until front driving wheel 2 is located between two lifting walking mechanisms 6, now, operate by the inverse process of top bar.This
Bright robot, as long as the height for lifting walking mechanism 6 in front and back is suitable, just can be across various steps and obstacle, its obstacle performance
It is prominent；Make use of during obstacle detouring front driving wheel 2 and rear drive sprocket 3 composition Wheel structure and lifting walking mechanism 6 from
Traveling ability, there is preferable mobility；Change lifting walking mechanism 6 relative to car using swinging support mechanism 4 during obstacle detouring
The position of frame 1, without turning to up/down steps can be completed, and improve obstacle detouring flexibility；The robot of the present invention, it is overall
Structure is very simple compact, with low cost, it is easy to make.
In the present embodiment, lifting guide support frame 5 includes crossbeam 51 and vertical guide 52, and crossbeam 51 is packed in swinging support
In mechanism 4, vertical guide 52 is divided in the rear and front end of crossbeam 51, the lifting walking mechanism 6 of rear and front end respectively with respective end
Vertical guide 52 slip.In the structure, crossbeam 51 is basic as the main carrying of lifting walking mechanism 6 and the lifting of vehicle frame 1, together
Shi Qineng is driven by swinging support mechanism 4 and is moved laterally, and vertical guide 52 then ensure that lifting walking mechanism 6 and vehicle frame 1
The smoothness and agility of lifting.
In the present embodiment, swinging support mechanism 4 includes fork 41 and telescoping cylinder 42, the two ends of fork 41 respectively with vehicle frame 1
It is hinged with crossbeam 51, telescoping cylinder 42 is installed in vehicle frame 1 and the output end of telescoping cylinder 42 is hinged with crossbeam 51.In the structure, stretch
Cylinder 42 forms parallel four side rods mechanism as power source, fork 41 with vehicle frame 1 and crossbeam 51, to realize lifting walking mechanism
6 it is movable.
In the present embodiment, lifting walking mechanism 6 includes lifting driver part 61, elevating lever 62 and support wheel 63, and lifting is driven
Dynamic component 61 is installed in vertical guide 52, and elevating lever 62 is slided and is mounted in vertical guide 52 and is connected with lifting driver part 61,
Support wheel 63 is installed in the bottom of elevating lever 62.In the structure, lifting driver part 61 can order about elevating lever 62 and make elevating movement, when
When support wheel 63 is contacted with ground, lifting driver part 61 can drive vehicle frame 1 to make lifting fortune by lifting guide support frame 5 again
It is dynamic；Support wheel 63 can drive vehicle frame 1 to advance equipped with motor by the traveling of support wheel 63, its simple structure, design
It is ingenious.
In the present embodiment, elevating lever 62 includes vertical rod 621 and cross bar 622, vertical rod 621 slide be mounted in vertical guide 52 and with
Lifting driver part 61 connects, and cross bar 622 is packed in the bottom of vertical rod 621, and support wheel 63 is divided in the both ends of cross bar 622.Should
In structure, elevating lever 62 drives cross bar 622 to make elevating movement, and the one side of cross bar 622 is used as the installation foundation of support wheel 63, separately
On the one hand, it is located at the lower section of vertical guide 52, can form positioning to the rising of elevating lever 62 and the decline of vehicle frame 1.
In the present embodiment, the front and rear part of vehicle frame 1 offers the hollow out passed through for the lifting walking mechanism 6 of front and back end and avoids
Portion 11.The hollow out relief portion 11 is used for lifting walking mechanism 6 in lifting process and passes through, and on the one hand avoids the formation of interference；Separately
On the one hand consumptive material can be saved.
Although the present invention is disclosed as above with preferred embodiment, but is not limited to the present invention.It is any to be familiar with ability
The technical staff in domain, in the case of without departing from technical solution of the present invention scope, all using the technology contents pair of the disclosure above
Technical solution of the present invention makes many possible variations and modification, or the Equivalent embodiments for being revised as equivalent variations.Therefore, it is every
Without departing from the content of technical solution of the present invention, according to the technology of the present invention essence to any simple modification made for any of the above embodiments,
Equivalent variations and modification, all should fall in the range of technical solution of the present invention protection.
Claims (7)
1. a kind of swinging lift barrier-surpassing robot, including vehicle frame（1）, the vehicle frame（1）Two are equiped with the both sides of front end
Individual front driving wheel（2）, vehicle frame（1）Two rear drive sprockets are equiped with the both sides of rear end（3）, it is characterised in that：The vehicle frame
（1）On be equiped with swinging support mechanism（4）, the swinging support mechanism（4）On be equiped with lifting guide support frame（5）, it is described
Lifting guide support frame（5）Front and back end be equiped with can independent-lifting and advance lifting walking mechanism（6）, the front driving
Wheel（2）And rear drive sprocket（3）In one group of wheel body be located at two lifting walking mechanisms（6）Between.
2. swinging lift barrier-surpassing robot according to claim 1, it is characterised in that：The lifting guide support frame
（5）Including crossbeam（51）And vertical guide（52）, the crossbeam（51）It is packed in swinging support mechanism（4）On, it is described vertically to lead
Rail（52）It is divided in crossbeam（51）Rear and front end, the lifting walking mechanism of rear and front end（6）It is perpendicular with respective end respectively
Direction guiding rail（52）It is sliding.
3. swinging lift barrier-surpassing robot according to claim 2, it is characterised in that：The swinging support mechanism（4）
Including fork（41）And telescoping cylinder（42）, the fork（41）Two ends respectively with vehicle frame（1）And crossbeam（51）It is hinged, it is described to stretch
Contracting cylinder（42）It is installed in vehicle frame（1）And telescoping cylinder（42）Output end and crossbeam（51）It is hinged.
4. the swinging lift barrier-surpassing robot according to Claims 2 or 3, it is characterised in that：The lifting walking mechanism
（6）Including lifting driver part（61）, elevating lever（62）And support wheel（63）, the lifting driver part（61）It is installed in vertical
Guide rail（52）On, the elevating lever（62）Cunning is mounted in vertical guide（52）Interior and and lifting driver part（61）Connection, described
Support wheel（63）It is installed in elevating lever（62）Bottom.
5. swinging lift barrier-surpassing robot according to claim 4, it is characterised in that：The elevating lever（62）Including vertical
Bar（621）And cross bar（622）, the vertical rod（621）Cunning is mounted in vertical guide（52）Interior and and lifting driver part（61）Connection,
The cross bar（622）It is packed in vertical rod（621）Bottom, the support wheel（63）It is divided in cross bar（622）Both ends.
6. the swinging lift barrier-surpassing robot according to Claims 2 or 3, it is characterised in that：The vehicle frame（1）Before and after
Portion offers the lifting walking mechanism for front and back end（6）The hollow out relief portion for passing through（11）.
7. swinging lift barrier-surpassing robot according to claim 5, it is characterised in that：The vehicle frame（1）Front and rear part
Offer the lifting walking mechanism for front and back end（6）The hollow out relief portion for passing through（11）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611084378.XA CN106627828B (en) | 2016-11-30 | 2016-11-30 | Swinging lift barrier-surpassing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611084378.XA CN106627828B (en) | 2016-11-30 | 2016-11-30 | Swinging lift barrier-surpassing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106627828A true CN106627828A (en) | 2017-05-10 |
| CN106627828B CN106627828B (en) | 2018-09-25 |
Family
ID=58813814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611084378.XA Active CN106627828B (en) | 2016-11-30 | 2016-11-30 | Swinging lift barrier-surpassing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106627828B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015704A (en) * | 2018-10-24 | 2018-12-18 | 孙国力 | It is a kind of can obstacle detouring Pei Pao robot and its obstacle detouring control method |
| CN109501884A (en) * | 2019-01-02 | 2019-03-22 | 太原科技大学 | A kind of huge polar region scientific investigation more gully vehicle |
| CN110291003A (en) * | 2018-01-26 | 2019-09-27 | 林丘 | Stair lifting device |
| CN111963625A (en) * | 2020-08-21 | 2020-11-20 | 武汉博益阳光健康管理有限公司 | A multi-media all-in-one for health training |
| CN113815747A (en) * | 2021-10-12 | 2021-12-21 | 烟台清科嘉机器人联合研究院有限公司 | AGV robot and implementation method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6068073A (en) * | 1996-05-10 | 2000-05-30 | Cybernet Systems Corporation | Transformable mobile robot |
| CN202191423U (en) * | 2011-08-26 | 2012-04-18 | 张秀川 | Wheel chair capable of climbing stairs |
| CN104207899A (en) * | 2014-03-27 | 2014-12-17 | 刘继伦 | Stair climbing wheelchair |
| CN104814842A (en) * | 2015-04-21 | 2015-08-05 | 东华大学 | Intelligent horizontal-attitude stair-climbing wheelchair and rotary stair-climbing method |
| CN105293371A (en) * | 2015-11-30 | 2016-02-03 | 杭州西湖电子研究所 | Method of maneuvering getting-on and getting-off of parent car by detecting trolley Method for flexibly getting on or off parent car of detecting trolley |
-
2016
- 2016-11-30 CN CN201611084378.XA patent/CN106627828B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6068073A (en) * | 1996-05-10 | 2000-05-30 | Cybernet Systems Corporation | Transformable mobile robot |
| CN202191423U (en) * | 2011-08-26 | 2012-04-18 | 张秀川 | Wheel chair capable of climbing stairs |
| CN104207899A (en) * | 2014-03-27 | 2014-12-17 | 刘继伦 | Stair climbing wheelchair |
| CN104814842A (en) * | 2015-04-21 | 2015-08-05 | 东华大学 | Intelligent horizontal-attitude stair-climbing wheelchair and rotary stair-climbing method |
| CN105293371A (en) * | 2015-11-30 | 2016-02-03 | 杭州西湖电子研究所 | Method of maneuvering getting-on and getting-off of parent car by detecting trolley Method for flexibly getting on or off parent car of detecting trolley |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110291003A (en) * | 2018-01-26 | 2019-09-27 | 林丘 | Stair lifting device |
| CN110291003B (en) * | 2018-01-26 | 2022-06-07 | 林丘 | Stair lifting device |
| US11872168B2 (en) | 2018-01-26 | 2024-01-16 | Lin Qiu | Stair lift |
| CN109015704A (en) * | 2018-10-24 | 2018-12-18 | 孙国力 | It is a kind of can obstacle detouring Pei Pao robot and its obstacle detouring control method |
| CN109501884A (en) * | 2019-01-02 | 2019-03-22 | 太原科技大学 | A kind of huge polar region scientific investigation more gully vehicle |
| CN111963625A (en) * | 2020-08-21 | 2020-11-20 | 武汉博益阳光健康管理有限公司 | A multi-media all-in-one for health training |
| CN113815747A (en) * | 2021-10-12 | 2021-12-21 | 烟台清科嘉机器人联合研究院有限公司 | AGV robot and implementation method thereof |
| CN113815747B (en) * | 2021-10-12 | 2023-01-06 | 烟台清科嘉机器人联合研究院有限公司 | AGV robot and implementation method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106627828B (en) | 2018-09-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106627829B (en) | Auxiliary wheel lifts barrier-surpassing robot | |
| CN106741275B (en) | Sliding type lifting barrier-surpassing robot | |
| CN106627828A (en) | Swing-type elevating and descending obstacle-surmounting robot | |
| CN106741260A (en) | Lift barrier-surpassing robot | |
| CN202379448U (en) | 180 degree turn-over machine of tires | |
| CN106904227B (en) | Obstacle-crossing mobile robot | |
| CN108058736A (en) | A kind of push-down stair climbing power-assisted trolley | |
| CN214524119U (en) | Transportation operation robot for environmental protection building | |
| CN101712447A (en) | Three-dimensional vehicle | |
| KR20230125295A (en) | Carrying Devices and How to Carry Cargoes | |
| CN206156685U (en) | Dual -purpose platform truck of rail | |
| CN201660847U (en) | Truss type bridge-detecting vehicle | |
| CN110962731A (en) | Rotatable AGV dolly of using of lifting of transferring to with laser direction function | |
| CN202499655U (en) | Travelling lifting appliance | |
| JP5812407B2 (en) | Carrier support device for elevated floor work vehicles | |
| CN209958860U (en) | Split type self-adaptation floating car carrier | |
| CN215284983U (en) | Width-variable stair-climbing transportation robot | |
| CN104960882A (en) | Coating line oil cylinder automatic loading and unloading device | |
| CN212268617U (en) | Full-servo direct-drive comb tooth type intelligent trolley | |
| CN213950471U (en) | AGV of four-point synchronous lifting load | |
| CN113428810A (en) | Press from both sides formula vehicle transport AGV that lifts | |
| CN109958309B (en) | Split type self-adaptive floating car carrier and working method thereof | |
| CN106348203A (en) | Road-rail platform car and application method thereof | |
| CN209274758U (en) | The horizontal attitude loading stair climbing robot of wheel-leg combined type | |
| CN209889584U (en) | Bidirectional storage automatic material taking machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |