CN106627828B - Swinging lift barrier-surpassing robot - Google Patents
Swinging lift barrier-surpassing robot Download PDFInfo
- Publication number
- CN106627828B CN106627828B CN201611084378.XA CN201611084378A CN106627828B CN 106627828 B CN106627828 B CN 106627828B CN 201611084378 A CN201611084378 A CN 201611084378A CN 106627828 B CN106627828 B CN 106627828B
- Authority
- CN
- China
- Prior art keywords
- lifting
- vehicle frame
- swinging
- crossbeam
- wheel
- 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.)
- Active
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
Abstract
The invention discloses a kind of swinging lift barrier-surpassing robots, including vehicle frame, there are two front driving wheels for both sides installing of the vehicle frame in front end, there are two rear drive sprockets for both sides installing of the vehicle frame in rear end, swinging support mechanism is installed on vehicle frame, be installed with lifting guide support frame in swinging support mechanism, the front and back end of lifting guide support frame be installed with can independent-lifting and traveling lifting walking mechanism, one group of wheel body in front driving wheel and rear drive sprocket is located between two lifting walking mechanisms.Pass through the swing for lifting guide support frame so that barrier-surpassing robot is converted between the mode of upper and lower step obstacle, the barrier-surpassing robot have it is simple and reliable for structure, it is of low cost, be easy to the strong advantage of making, operating flexibility, obstacle climbing ability.
Description
Technical field
The invention mainly relates to barrier-surpassing robot field more particularly to a kind of swinging lift barrier-surpassing robots.
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 and keeps posture constant at work.Existing barrier-surpassing robot, such as with the shoe for swinging fin
Belt robot, obstacle climbing ability is limited, and chassis tilts seriously when obstacle detouring, not only influences the normal work of carrying equipment, and
And it is easy to cause robot and topples.Existing barrier-surpassing robot, such as legged mobile robot of bionical class, though there is preferable obstacle detouring energy
Power, however structure and control are complicated, are difficult to realize, and also it is with high costs.Existing barrier-surpassing robot, it is such as wheeled with rocking arm
Robot, though having the advantages that adaptive, obstacle climbing ability is limited, and upper and lower step obstacle ability mismatches.
Invention content
The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, provide it is a kind of simple in structure, it is of 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.
In order to solve the above technical problems, the present invention uses following technical scheme：
A kind of swinging lift barrier-surpassing robot, including vehicle frame, the vehicle frame are installed in the both sides of front end there are two before
Driving wheel, vehicle frame in rear end both sides installing there are two rear drive sprocket, be installed with swinging support mechanism on the vehicle frame, it is described
Lifting guide support frame is installed in swinging support mechanism, the front and back end of the lifting guide support frame is installed with and can independently rise
Drop and the lifting walking mechanism advanced, one group of wheel body in the front driving wheel and rear drive sprocket are located at two lifting walking mechanisms
Between.
As a further improvement of the above technical scheme：
The lifting guide support frame includes crossbeam and vertical guide, and the crossbeam is packed in swinging support mechanism, institute
The rear and front end that vertical guide is divided in crossbeam is stated, the lifting walking mechanism of rear and front end is led with the vertical of respective end respectively
Rail is sliding.
The swinging support mechanism includes swing rod and telescoping cylinder, and the both ends of the swing rod are hinged with vehicle frame and crossbeam respectively,
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 in vertical guide and is connect with lifting driver part, and the support wheel is installed in
Elevating lever bottom.
The elevating lever includes upright bar and cross bar, and the upright bar is slided in vertical guide and connected with lifting driver part
It connects, the cross bar is packed in bottom of upright rod, and 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 the prior art, the advantages of the present invention are as follows：
1, swinging lift barrier-surpassing robot of the invention does not need as long as the height of front and back lifting walking mechanism is suitable
Other structures or size are adjusted, the step and obstacle of various height can be crossed over, obstacle performance protrudes；
2, swinging lift barrier-surpassing robot of the invention has the same ability for overcoming upper and lower step obstacle, fits
Ying Xingqiang.
3, 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 carries.
4, swinging lift barrier-surpassing robot of the invention, obstacle detouring change lifting using swinging support mechanism in the process and advance
Position of the mechanism relative to vehicle frame can complete up/down steps without turning to, improve obstacle detouring flexibility；
5, swinging lift barrier-surpassing robot of the invention, overall structure is very simple, and function is reliable, of low cost, easily
In making.
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 status diagram that vehicle frame is lifted in swinging lift barrier-surpassing robot of the present invention.
Fig. 6 is the status diagram of lifting walking mechanism lifting in front end in swinging lift barrier-surpassing robot of the present invention.
Fig. 7 is the flow diagram of swinging lift barrier-surpassing robot top bar of the present invention.
Fig. 8 is the flow diagram that swinging lift barrier-surpassing robot of the present invention is got out of a predicament or an embarrassing situation.
Each label indicates in figure：
1, vehicle frame；11, hollow out relief portion；2, front driving wheel；3, rear drive sprocket；4, swinging support mechanism；41, swing rod；42、
Telescoping cylinder；5, guide support frame is lifted；51, crossbeam；52, vertical guide；6, walking mechanism is lifted；61, lifting driver part；
62, elevating lever；621, upright bar；622, cross bar；63, support wheel.
Specific implementation mode
The present invention is described in further details below with reference to Figure of description and specific embodiment.
Fig. 1 to Fig. 8 shows that a kind of embodiment of swinging lift barrier-surpassing robot of the present invention, the barrier-surpassing robot include
Vehicle frame 1, vehicle frame 1 are installed in the both sides of front end there are two front driving wheel 2, and vehicle frame 1 is installed in the both sides of rear end there are two after
Driving wheel 3 is installed with swinging support mechanism 4 on vehicle frame 1, and lifting guide support frame 5, lifting are installed in swinging support mechanism 4
The front and back end of guide support frame 5 be installed with can independent-lifting and traveling lifting walking mechanism 6, front driving wheel 2 and rear driving
One group of wheel body in wheel 3 is located between two lifting walking mechanisms 6.In use, when the robot is in grading operation, both ends
Walking mechanism 6 is lifted to be detached from a high position, when needing to cross the obstacles such as step, 6 edge of lifting walking mechanism at both ends with ground
Lifting guide support frame 5 declines to be contacted with ground, and lifting guide support frame 5 can reversely be driven to be advanced along lifting when further declining
Mechanism 6 is lifted upwards, to drive vehicle frame 1 to be lifted, when front driving wheel 2 and step with it is high when, lifting walking mechanism 6 is advanced forward
And drive vehicle frame 1 that front driving wheel 2 is made to be contacted with step, at this point, the lifting walking mechanism 6 of front end rises to initial position, into one
Walking to traveling makes rear drive sprocket 3 be contacted with step, at this point, the lifting walking mechanism 6 of rear end rises to initial position, to realize
Top bar when getting out of a predicament or an embarrassing situation, starts swinging support mechanism 4 and lifting guide support frame 5 is driven to drive lifting walking mechanism 6 to Forward
It is dynamic, until front driving wheel 2 is located between two lifting walking mechanisms 6, at this point, being operated by the inverse process of top bar.This hair
Bright robot can cross over various steps and obstacle, obstacle performance as long as the height of front and back lifting walking mechanism 6 is suitable
It is prominent；Oneself for the Wheel structure and lifting walking mechanism 6 that front driving wheel 2 and rear drive sprocket 3 form is utilized during obstacle detouring
Traveling ability has preferable mobility；Change lifting walking mechanism 6 relative to vehicle using swinging support mechanism 4 during obstacle detouring
The position of frame 1 can complete up/down steps without turning to, improve obstacle detouring flexibility；The robot of the present invention, it is whole
Structure very simple and compact, it is of 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 it is sliding.In the structure, the main carrying basis that crossbeam 51 is lifted as lifting walking mechanism 6 and vehicle frame 1, together
Shi Qineng is moved laterally by the driving of swinging support mechanism 4, 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 swing rod 41 and telescoping cylinder 42, the both ends of swing rod 41 respectively with vehicle frame 1
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 is used as power source, and swing rod 41 forms parallel four side rod mechanism with vehicle frame 1 and crossbeam 51, to realize lifting walking mechanism
6 back-and-forth motion.
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 in vertical guide 52 and connect with lifting driver part 61,
Support wheel 63 is installed in 62 bottom of elevating lever.In the structure, lifting driver part 61 can drive elevating lever 62 to make elevating movement, when
When being contacted with ground, lifting driver part 61 can drive vehicle frame 1 to make lifting fortune to support wheel 63 by lifting guide support frame 5 again
It is dynamic；Support wheel 63 can drive vehicle frame 1 to advance equipped with driving motor, by the traveling of support wheel 63, simple in structure, design
It is ingenious.
In the present embodiment, elevating lever 62 includes upright bar 621 and cross bar 622, upright bar 621 slide in the vertical guide 52 and with
Lifting driver part 61 connects, and cross bar 622 is packed in 621 bottom of upright bar, and support wheel 63 is divided in the both ends of cross bar 622.It should
In structure, elevating lever 62 drives cross bar 622 to make elevating movement, and installation foundation of 622 one side of cross bar as support wheel 63, separately
On the one hand, it is located at 52 lower section of vertical guide, positioning can be formed 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 evacuation passed through for the lifting walking mechanism 6 of front and back end
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, however, it is not intended to limit the invention.It is any to be familiar with ability
The technical staff in domain, without deviating from the scope of the technical scheme of the present invention, all using the technology contents pair of the disclosure above
Technical solution of the present invention makes many possible changes and modifications, or is revised as the equivalent embodiment of equivalent variations.Therefore, every
Without departing from the content of technical solution of the present invention, according to the present invention technical spirit any simple modification made to the above embodiment,
Equivalent variations and modification, all shall fall within the protection scope of the technical scheme of the invention.
Claims (4)
1. a kind of swinging lift barrier-surpassing robot, including vehicle frame（1）, the vehicle frame（1）It is installed with two in the both sides of front end
A front driving wheel（2）, vehicle frame（1）There are two rear drive sprockets for both sides installing in rear end（3）, it is characterised in that：The vehicle frame
（1）On be installed with swinging support mechanism（4）, the swinging support mechanism（4）On be installed with lifting guide support frame（5）, described
Lift guide support frame（5）Front and back end be installed with can independent-lifting and traveling lifting walking mechanism（6）, driven before described
Wheel（2）And rear drive sprocket（3）In one group of wheel body be located at two lifting walking mechanisms（6）Between, 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, the swinging support mechanism（4）Including swing rod（41）And telescoping cylinder（42）, the swing rod（41）Both ends
Respectively with vehicle frame（1）And crossbeam（51）It is hinged, the telescoping cylinder（42）It is installed in vehicle frame（1）And telescoping cylinder（42）Output end
With crossbeam（51）It is hinged.
2. swinging lift barrier-surpassing robot according to claim 1, 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 and vertically leads
Rail（52）On, the elevating lever（62）It is sliding to be mounted in vertical guide（52）Interior and and lifting driver part（61）Connection, the support
Wheel（63）It is installed in elevating lever（62）Bottom.
3. swinging lift barrier-surpassing robot according to claim 2, it is characterised in that：The elevating lever（62）Including vertical
Bar（621）And cross bar（622）, the upright bar（621）It is sliding to be mounted in vertical guide（52）Interior and and lifting driver part（61）Connection,
The cross bar（622）It is packed in upright bar（621）Bottom, the support wheel（63）It is divided in cross bar（622）Both ends.
4. swinging lift barrier-surpassing robot according to any one of claim 1 to 3, 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 passed 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 CN106627828A (en) | 2017-05-10 |
| CN106627828B true 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) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6364135B1 (en) * | 2018-01-26 | 2018-07-25 | 丘 林 | Stair lifting device |
| 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 |
| CN111963625B (en) * | 2020-08-21 | 2021-11-05 | 武汉博益阳光健康管理有限公司 | A multi-media all-in-one for health training |
| 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 |
Family Cites Families (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 |
| CN104207899B (en) * | 2014-03-27 | 2016-08-24 | 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 |
| CN105293371B (en) * | 2015-11-30 | 2017-09-12 | 杭州西湖电子研究所 | A kind of method for detecting the motor-driven upper and lower female car of dolly |
-
2016
- 2016-11-30 CN CN201611084378.XA patent/CN106627828B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106627828A (en) | 2017-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106627829B (en) | Auxiliary wheel lifts barrier-surpassing robot | |
| CN106741275B (en) | Sliding type lifting barrier-surpassing robot | |
| CN106627828B (en) | Swinging lift barrier-surpassing robot | |
| CN106741260A (en) | Lift barrier-surpassing robot | |
| CN104207899B (en) | Stair climbing wheelchair | |
| CN106904227B (en) | Obstacle-crossing mobile robot | |
| CN107187511B (en) | Becoming wheelbase can obstacle detouring industrial robot omnidirectional chassis | |
| WO2017067107A1 (en) | Automatic raising/lowering wheel mechanism, and intelligent luggage and method of using same | |
| CN201762070U (en) | Lifting platform device of machine tool | |
| CN105438291A (en) | Robot moving platform with deformable tracks | |
| WO2017193802A1 (en) | Moving platform and suitcase comprising same | |
| CN206108800U (en) | Special moving staircase of aircraft maintenance personnel | |
| CN103231748A (en) | Inside and outside reinforced structural type configuration-changeable obstacle crossing robot | |
| CN203471767U (en) | Robot for carrying out rescue and relief work | |
| CN205676092U (en) | Multi-functional green house covered with plastic film electric transporting vehicle | |
| CN206156685U (en) | Dual -purpose platform truck of rail | |
| CN103552637A (en) | Climbing self-balancing shopping trolley | |
| CN2844096Y (en) | Liftable and foldable operating platform | |
| CN203866692U (en) | Mountain servo bridge car | |
| CN206395773U (en) | A kind of novel fork type transfer lifter | |
| CN205099295U (en) | Pneumatic three -dimensional lift operation platform | |
| CN208085848U (en) | A kind of four-footed wheeled robot | |
| CN201195307Y (en) | Self-determining over-barrier robot with flexible cable | |
| CN105438975A (en) | Lifting sling with following opening and closing function | |
| CN205257787U (en) | Lift hoist with retinue function that opens and shuts |
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 |