CN107307950A - A kind of wheel type barrier-crossing robot - Google Patents
A kind of wheel type barrier-crossing robot Download PDFInfo
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- CN107307950A CN107307950A CN201710628444.3A CN201710628444A CN107307950A CN 107307950 A CN107307950 A CN 107307950A CN 201710628444 A CN201710628444 A CN 201710628444A CN 107307950 A CN107307950 A CN 107307950A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 50
- 238000009434 installation Methods 0.000 claims abstract description 22
- 230000009975 flexible effect Effects 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 15
- 230000009184 walking Effects 0.000 claims description 13
- 210000002683 foot Anatomy 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims 2
- 238000005096 rolling process Methods 0.000 claims 1
- 241000282326 Felis catus Species 0.000 abstract description 7
- 230000009194 climbing Effects 0.000 abstract description 5
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 210000001699 lower leg Anatomy 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/068—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with extensible supports pushing upwards, e.g. telescopic legs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
A kind of wheel type barrier-crossing robot, its retractable support cylinder includes some sleeves for being set with successively and sliding cooperation each other, and sleeve includes upper bush, some middle sleeves, lower sleeve, and upper bush upper end is provided with installation frame；Scissor-type linkage is provided with sleeve, upper bush is stretched out in scissor-type linkage lower end connection lower sleeve, upper end, and is connected with the first drive transmission device for driving its flexible, and the first drive transmission device is arranged on installation frame, and installation frame is hinged with connector.It the advantage is that scissor-type linkage has preferably flexible adjustment capability and stretched faster to regulate the speed, it is arranged on simultaneously in the sleeve that mutually socket sliding coordinates, both combine, both flexible amplitude, stretching speed ensure that, it ensure that strength capabilities simultaneously, support is more stable and firm so that cat ladder barrier-surpassing robot obstacle climbing ability is stronger, and speed is faster during obstacle detouring.
Description
Technical field
The present invention relates to a kind of wheel chair robot, specifically related to a kind of wheel type barrier-crossing robot.
Background technology
Wheelchair is the walking-replacing tool of limbs disability or handicapped person, but conventional wheelchair adaptability, mobility all compare
Poor, if encounter such as climb and fall, stair, barrier complex road condition, wheelchair will be difficult to pass through.
Therefore, it is badly in need of a kind of adaptable, flexible property of exploitation good, and being capable of getting over by various complex road conditions
Hinder wheelchair.
A kind of obstacle detouring wheelchair of applicant's once innovation and creation, and applied for patent of invention, pass through the first drive transmission device
Realize and mutually converted between the first pin and crus secunda walking, swing realizes the first pin and the by the second drive transmission device
The telescopic variation of two pin, so as to very easily realize that barrier is crossed over, adapts to various road conditions.
But above-mentioned obstacle detouring wheelchair walking pin stretches, amplitude is small, and obstacle climbing ability is weak, while needing by the first pin and second
The mutual cooperation of pin realizes that structure is more complicated, and weight weight, transport difficult.
The content of the invention
In order to overcome the shortcomings of background technology, the present invention is provided.
The technical solution adopted in the present invention：A kind of wheel type barrier-crossing robot, including frame and the row being arranged in frame
Walking system, seat system, carry balancing system and operating system；The running gear includes four groups of walking support feets, every group
The walking support feet includes retractable support cylinder, the second drive transmission device and connector；Four groups of walking support feet difference
The corner location of bottom of the frame is fixed on by connector, the upper end of the retractable support cylinder is hinged on connector, and is passed through
Second drive transmission device constitutes retractable support cylinder along being linked that its hinged end rotates；The retractable support cylinder includes some
Be set with successively and slide the sleeve of cooperation each other, the sleeve includes upper bush, some middle sleeves, lower sleeve, it is described on
Sleeve upper end is provided with installation frame；Scissor-type linkage is provided with the sleeve, the scissor-type linkage lower end connects
Lower sleeve is connect, upper bush is stretched out in upper end, and is connected with the first drive transmission device for driving its flexible, the first driving transmission
Mechanism is arranged on installation frame, and the installation frame is hinged with connector.
The scissor-type linkage includes some scissor units, each scissor unit include it is arranged in a crossed manner and be hinged the
It is articulated and connected between one hinge bar, the second hinge bar, adjacent scissor unit by the first hinge bar, the second hinge bar；Described
One drive transmission device includes the first servomotor, the first screw mandrel, first straight line track, second straight line track, the first sliding block, two
Individual second sliding block；The first straight line track, second straight line track are fixed on installation frame, the first straight line track edge
Telescopic direction arranges that the second straight line track and first straight line track are perpendicular, first sliding block and first straight line track
Sliding coordinates, and connects the scissor unit of the top, and second sliding block slides with second straight line track to be coordinated, and respectively with most
First hinge bar of the scissor unit of upper end, the end of the second hinge bar are hinged；First screw mandrel is put down with first straight line track
Row arrangement, and coordinate through the first sliding block with its screw thread, first servomotor is fixed on installation frame, and passes through first
The screw mandrel of transmission component drive connection first.
Resilient snubber is provided between the scissor-type linkage and lower sleeve.
The retractable support cylinder bottom portion is additionally provided with traveling wheel mechanism, and the traveling wheel mechanism includes support frame, roller, second
Servomotor, support frame as described above is fixed on lower sleeve bottom, and the roller is rotatably installed on support frame by rotating shaft, institute
The second servomotor is stated by the second transmission component drive connection rotating shaft, roller synchronous rotary is driven.
Second drive transmission device includes the 3rd servomotor, curved rack, the first travelling gear, the curved tooth
Bar is fixedly mounted on the outside of installation frame, and the 3rd servomotor passes through the 3rd the first driving cog of transmission component drive connection
Wheel, first travelling gear is meshed with curved rack.
The carry balancing system includes the 3rd rectilinear orbit, mounting bracket, balance weight assembly；3rd rectilinear orbit is fixed
Arranged installed in bottom of the frame, and along the longitudinal direction, the balance weight assembly is arranged on mounting bracket, the mounting bracket and the 3rd straight
Trajectory sliding coordinates, and drives the reciprocal sliding movement constituted along the 3rd rectilinear orbit by the 3rd drive transmission device.
3rd drive transmission device includes linear gear rack, the 4th servomotor, the linear gear rack and the 3rd straight line
Parallel track arranges that the 4th servomotor is fixedly mounted on mounting bracket, and its output end is connected with the second travelling gear, described
Second travelling gear is meshed with linear gear rack.
3rd rectilinear orbit, mounting bracket, balance weight assembly, the 3rd drive transmission device are equipped with 2 groups, and along frame ground
Portion's center line is arranged symmetrically.
The balance weight assembly is balancing weight.
The balance weight assembly is retractable support cylinder.
The beneficial effects of the invention are as follows：Using above scheme, scissor-type linkage has preferably flexible adjustment capability
And faster stretch is regulated the speed, while being arranged in the mutually sleeve of socket sliding cooperation, both combinations both ensure that and stretch
Contracting degree, stretching speed, while ensure that strength capabilities, are supported more stable and firm.Therefore, using the flexible branch of said structure
Cylinder is supportted, enables to cat ladder barrier-surpassing robot obstacle climbing ability stronger, and speed is faster during obstacle detouring.
Brief description of the drawings
Fig. 1 is the structural representation of the cat ladder barrier-surpassing robot of the embodiment of the present invention one.
Fig. 2 is the structural representation of running gear after the hidden parts structure of the embodiment of the present invention one.
Fig. 3 is the structural representation of the cat ladder barrier-surpassing robot of the embodiment of the present invention two.
Fig. 4 is the structural representation of running gear after the hidden parts structure of the embodiment of the present invention two.
Fig. 5 is structural representation when the first retractable support of embodiment of the present invention cylinder stretches out.
Fig. 6 is structural representation when the first retractable support of embodiment of the present invention cylinder shrinks.
Fig. 7 is the structural representation when drive mechanism of the embodiment of the present invention first is connected with scissor-type linkage.
Fig. 8 is the structural representation at another visual angle when the drive mechanism of the embodiment of the present invention first is connected with scissor-type linkage
Figure.
The structural representation of Fig. 9 traveling wheel mechanisms of the embodiment of the present invention.
The structural representation of Figure 10 seat systems of the embodiment of the present invention.
The structural representation at another visual angle of Figure 11 seat systems of the embodiment of the present invention.
Figure 12 is the structural representation of another the first retractable support of embodiment cylinder of the invention.
Figure 13 is structural representation when another drive mechanism of embodiment first of the invention is connected with scissor-type linkage
Figure.
1- walkings support feet in figure, 11- the first retractable support cylinders, 111- upper bushes, 112- lower sleeves, 113- scissor-types connect
Linkage, the hinge bars of 1131- first, the hinge bars of 1132- second, 114- installation frames, the drive transmission devices of 115- first,
The servomotors of 1151- first, the screw mandrels of 1152- first, 1153- first straight line tracks, 1154- second straight line tracks, 1155- first
Sliding block, the sliding blocks of 1156- second, the rectilinear orbits of 1157- the 3rd, the sliding blocks of 1158- the 3rd, the drive transmission devices of 12- second, 121-
Three servomotors, the travelling gears of 122- first, the curved racks of 123-, 13- connectors, 116- traveling wheel mechanisms, 1161- supports
Connect on frame, 1162- rollers, the servomotors of 1163- second, 21- seats, 22- backrests, 23- pedals, 24- connecting plates, 241-
Plate, 242- lower plates, 25- rotating and regulating mechanisms, the drive transmission devices of 26- the 3rd, 3- carry balancing systems, the straight lines of 31- the 3rd
Track, 32- mounting brackets, the drive transmission devices of 33- balance weight assemblies 34- the 3rd, 341- linear gear racks, the servomotors of 342- the 4th,
The travelling gears of 343- second, 4- frames.
Embodiment
Embodiments of the present invention is further illustrated below in conjunction with the accompanying drawings：
As illustrated, a kind of wheel type barrier-crossing robot, including frame 4 and be arranged in frame 4 running gear, seat system,
Carry balancing system and operating system.
The running gear includes four groups of walking support feets 1, and support feet 1 of being walked described in every group includes retractable support cylinder
11st, the second drive transmission device 12 and connector 13；Four groups of walking support feets 1 are fixed on frame 4 by connector 13 respectively
The corner location of bottom, the upper end of the retractable support cylinder 11 is hinged on connector 13, and passes through the second drive transmission device
Being linked along the rotation of its hinged end of 12 composition retractable support cylinders 11.
Keep balancing by carry balancing system, while coordinating the flexible ability of of retractable support cylinder 11 itself, and pass through
Second drive transmission device 12 realizes the front and rear opposing oscillatory of retractable support cylinder 11, enabling across obstacle, adapts to various
Complex road condition.
Wherein, the retractable support cylinder 11 includes some sleeves for being set with successively and sliding cooperation each other, the set
Cylinder includes upper bush 111, some middle sleeves, lower sleeve 112, and the upper end of upper bush 111 is provided with installation frame 114；It is described
Scissor-type linkage 113 is provided with sleeve, the lower end of scissor-type linkage 113 is connected in lower sleeve 112, upper end stretching
Sleeve 111, and the first drive transmission device 115 for driving its flexible is connected with, first drive transmission device 115 is arranged on
On installation frame 114, the installation frame 114 is hinged with connector 13.
Scissor-type linkage 113, which has preferably flexible adjustment capability and stretched faster, regulates the speed, and sets simultaneously
Put in the sleeve coordinated in mutual socket sliding, both combine, and both ensure that flexible amplitude, stretching speed, while ensure that strong
Degree ability, is supported more stable and firm.Therefore, using the retractable support cylinder of said structure, cat ladder barrier-surpassing robot is enabled to
Obstacle climbing ability is stronger, and speed is faster during obstacle detouring.
As illustrated, the scissor-type linkage 113 includes some scissor units, each scissor unit is set including intersection
Pass through the first hinge bar 1131, between the first hinge bar 1131, the second hinge bar 1132 put and be hinged, adjacent scissor unit
Two hinge bars 1132 are articulated and connected；First drive transmission device 115 includes the first servomotor 1151, the first screw mandrel
1152nd, first straight line track 1153, second straight line track 1154, the first sliding block 1155, two the second sliding blocks 1156；Described first
Rectilinear orbit 1153, second straight line track 1154 are fixed on installation frame 114, the first straight line track 1153 is along flexible
Direction arranges that the second straight line track 1154 and first straight line track 1153 are perpendicular, first sliding block 1155 and first
The sliding of rectilinear orbit 1153 coordinates, and connects the scissor unit of the top, second sliding block 1156 and second straight line track
1154 slidings coordinate, and the end hinge of the first hinge bar 1131 respectively with the scissor unit of the top, the second hinge bar 1132
Connect；First screw mandrel 1152 is arranged in parallel with first straight line track 1153, and coordinates through the first sliding block 1155 and its screw thread,
First servomotor 1151 is fixed on installation frame 114, and passes through first the first screw mandrel of transmission component drive connection
1152。
During operation, the first servomotor 1151 starts, and drives the first screw mandrel 1152 to rotate by the first transmission component, so that
The first sliding block 1155 is driven to be slid along first straight line track 1153, the first sliding block 1155 then drives scissor unit synchronization action, together
When the first hinge bar 1131 of the scissor unit, the end of the second hinge bar 1132 pass through the second sliding block 1156, second straight line rail
Road 1154 is spacing relatively movable, so as to realize the quick-expansion adjustment of scissor-type linkage 113.
Wherein, the first transmission component uses Worm Wheel System component, can more reasonably install connection, convenient flexible branch
Support cylinder 11 and connection is installed, also directly can be attached transmission using shaft coupling or other modes certainly.
Certainly, first drive transmission device 115 can also as illustrated by figs. 12-13, including the first servomotor 1151,
First screw mandrel 1152, the 3rd rectilinear orbit 1157, two the 3rd sliding blocks 1158, the drive connection of the first servomotor 1,151
One screw mandrel 1152, first screw mandrel 1152 is parallel with the 3rd rectilinear orbit 1157, and its two ends sets symmetrical screw thread
Tooth silk, two the 3rd sliding blocks 1158 are arranged symmetrically in the two ends of the first screw mandrel 1152, coordinate with the screw thread of the first screw mandrel 1152；Two
Individual 3rd sliding block 1158 the first hinge bar 1131 respectively with the scissor unit of the top, the end of the second hinge bar 1132
It is hinged.
First servomotor 1151 can drive the first screw mandrel 1152 to rotate, and first screw mandrel 1152 can drive two the 3rd
Sliding block 1158 is synchronous opposite or opposite mobile, so as to realize the quick-expansion adjustment of scissor-type linkage, adjustment is more stablized.
Further, resilient snubber is provided between the scissor-type linkage 113 and lower sleeve 112, in its support
When movable, resilient snubber plays an elastic buffer effect, in the support feet as obstacle detouring wheelchair, when obstacle detouring is walked,
The comfort level of user can either be ensured, again scissor-type linkage can be protected not impacted directly, service life is improved.
The resilient snubber can directly use spring structure.
As illustrated, the bottom of the first retractable support cylinder 11 is additionally provided with traveling wheel mechanism 116, the traveling wheel mechanism
116 include support frame 1161, roller 1162, the second servomotor 1163, and support frame as described above 1161 is fixed on the bottom of lower sleeve 112
Portion, the roller 1162 is rotatably installed on support frame 1161 by rotating shaft, and second servomotor 1163 passes through
Two transmission component drive connection rotating shafts, drive the synchronous rotary of roller 1162.On steady section, pass through the second servomotor 1163
Drive the action of roller 1162 to realize to move ahead or retreat, walking more facilitates.
Passed as illustrated, second drive transmission device 12 includes the 3rd servomotor 121, curved rack 122, first
Moving gear 123, the curved rack 122 is fixedly mounted on the outside of installation frame 114, and the 3rd servomotor 121 passes through the
Three the first travelling gears of transmission component drive connection 123, first travelling gear 123 is meshed with curved rack 122.
By the rotating of the 3rd servomotor 121, the rotating of curved rack 122 is driven, retractable support cylinder 11 is realized not
Disconnected swings back and forth relatively.It is not only simple in structure, links ingenious, controls more accurate.
As illustrated, the carry balancing system 3 includes the 3rd rectilinear orbit 31, mounting bracket 32, balance weight assembly 33；It is described
3rd rectilinear orbit 31 is fixedly mounted on the bottom of frame 4, and arranges along the longitudinal direction, and the balance weight assembly 33 is arranged on mounting bracket
On 32, the rectilinear orbit 31 of mounting bracket 32 and the 3rd sliding coordinates, and drives composition edge by the 3rd drive transmission device 34
The reciprocal sliding movement of 3rd rectilinear orbit 31.
In obstacle detouring, with the flexible and swing of each retractable support cylinder 11, its overall position of centre of gravity can produce change,
Therefore the change of its center of gravity is made up by balance weight assembly 33, it is ensured that stress balance so that it more stablizes in obstacle detouring.
Wherein, the 3rd drive transmission device 34 includes linear gear rack 341, the 4th servomotor 342, the straight line tooth
Articles 341 are arranged in parallel with the 3rd rectilinear orbit 31, and the 4th servomotor 342 is fixedly mounted on mounting bracket 32, its output end
The second travelling gear 343 is connected with, second travelling gear 343 is meshed with linear gear rack 341.It is simple in construction, operation side
Just.
Further, the 3rd rectilinear orbit 31, mounting bracket 32, balance weight assembly 33, the 3rd drive transmission device 34 are equal
It is arranged symmetrically provided with 2 groups, and along the bottom centerline of frame 4.Stress is more stablized, it is ensured that its balanced capacity.
In addition, the balance weight assembly 33 is balancing weight.Can certainly be as illustrated, the balance weight assembly 33 be flexible branch
Support cylinder.
As illustrated, the seat system includes seat 21, backrest 22, pedal 23, connecting plate 24；The seat 21 is consolidated
Be scheduled in frame 3, between the rear end of the backrest 22 and seat 21, the front end of one end of the connecting plate 24 and seat 21 it
Between, pass through one group of moving rotary of rotating and regulating mechanism 25 between the other end of the connecting plate 24 and pedal and coordinate.Pass through
Rotating and regulating mechanism 25, can suitably adjust the angle between angle, seat 21 and the connecting plate 24 between backrest 22 and seat 21
Degree, the angle between connecting plate 24 and pedal 23 when the user is sitting on wheelchair, more comfortably, and can be adjusted directly
The structure lain low is made into, becomes a moveable bed, it is directly flat to overlie.
The connecting plate 24 includes upper plate 241, lower plate 242, and the upper plate 241 slides with lower plate 242 to be coordinated,
Provided with the 4th drive transmission device 26 for driving its Relative sliding between the upper plate 241 and lower plate 242.Connecting plate 24 is set
Length-adjustable structure is set to, wheelchair is adapted to the user of various different height leg length, while length adjustment fit angle
Adjustment, in stair climbing or obstacle-overpass, can play the effect of auxiliary cat ladder obstacle detouring.
Further, the lower end of lower plate 242 is additionally provided with scroll wheel 27, in cat ladder or obstacle detouring, realizes auxiliary walking,
Avoid friction.
Embodiment is not construed as the limitation to invention, but any spiritual improvements introduced based on the present invention, all Ying Ben
Within the protection domain of invention.
Claims (10)
1. a kind of wheel type barrier-crossing robot, including frame（4）Be arranged on frame（4）On running gear, seat system, delivery
Balance system and operating system；The running gear includes four groups of walking support feets（1）, support feet of being walked described in every group（1）
Include retractable support cylinder（11）, the second drive transmission device（12）And connector（13）；Four groups of walking support feets（1）Respectively
Pass through connector（13）It is fixed on frame（4）The corner location of bottom, the retractable support cylinder（11）Upper end be hinged on connection
Part（13）On, and pass through the second drive transmission device（12）Constitute retractable support cylinder（11）The linkage rotated along its hinged end is matched somebody with somebody
Close；It is characterized in that：The retractable support cylinder（11）It is described including some sleeves for being set with successively and sliding cooperation each other
Sleeve includes upper bush（111）, some middle sleeves, lower sleeve（112）, the upper bush（111）Upper end is provided with installation frame
（114）；Scissor-type linkage is provided with the sleeve（113）, the scissor-type linkage（113）Lower end connects lower sleeve
（112）, upper bush is stretched out in upper end（111）, and it is connected with the first drive transmission device for driving its flexible（115）, described first
Drive transmission device（115）Installed in installation frame（114）On, the installation frame（114）With connector（13）It is hinged.
2. wheel type barrier-crossing robot according to claim 1, it is characterised in that：The scissor-type linkage（113）Bag
Some scissor units are included, each scissor unit includes the first hinge bar that is arranged in a crossed manner and being hinged（1131）, the second hinge bar
（1132）, pass through the first hinge bar between adjacent scissor unit（1131）, the second hinge bar（1132）It is articulated and connected；Described first
Drive transmission device（115）Including the first servomotor（1151）, the first screw mandrel（1152）, first straight line track（1153）,
Two rectilinear orbits（1154）, the first sliding block（1155）, two the second sliding blocks（1156）；The first straight line track（1153）,
Two rectilinear orbits（1154）It is fixed on installation frame（114）On, the first straight line track（1153）Arranged along telescopic direction,
The second straight line track（1154）With first straight line track（1153）It is perpendicular, first sliding block（1155）With first straight line
Track（1153）Sliding coordinates, and connects the scissor unit of the top, second sliding block（1156）With second straight line track
（1154）Sliding coordinates, and the first hinge bar with the scissor unit of the top respectively（1131）, the second hinge bar（1132）'s
End is hinged；First screw mandrel（1152）With first straight line track（1153）Parallel arrangement, and pass through the first sliding block（1155）
Coordinate with its screw thread, first servomotor（1151）It is fixed on installation frame（114）On, and driven by the first transmission component
The first screw mandrel of dynamic connection（1152）.
3. wheel type barrier-crossing robot according to claim 1, it is characterised in that：The scissor-type linkage（113）With
Lower sleeve（112）Between be provided with resilient snubber.
4. wheel type barrier-crossing robot according to claim 1, it is characterised in that：The retractable support cylinder（11）Bottom is also set
There is traveling wheel mechanism（116）, the traveling wheel mechanism（116）Including support frame（1161）, roller（1162）, the second servomotor
（1163）, support frame as described above（1161）It is fixed on lower sleeve（112）Bottom, the roller（1162）Rotatably pacified by rotating shaft
Mounted in support frame（1161）On, second servomotor（1163）By the second transmission component drive connection rotating shaft, rolling is driven
Wheel（1162）Synchronous rotary.
5. wheel type barrier-crossing robot according to claim 1, it is characterised in that：Second drive transmission device（12）Bag
Include the 3rd servomotor（121）, curved rack（122）, the first travelling gear（123）, the curved rack（122）It is fixedly mounted
In installation frame（114）Outside, the 3rd servomotor（121）Pass through the 3rd the first travelling gear of transmission component drive connection
（123）, first travelling gear（123）With curved rack（122）It is meshed.
6. wheel type barrier-crossing robot according to claim 1, it is characterised in that：The carry balancing system（3）Including
Three rectilinear orbits（31）, mounting bracket（32）, balance weight assembly（33）；3rd rectilinear orbit（31）It is fixedly mounted on frame（4）
Bottom, and arrange along the longitudinal direction, the balance weight assembly（33）Installed in mounting bracket（32）On, the mounting bracket（32）With the 3rd
Rectilinear orbit（31）Sliding coordinates, and passes through the 3rd drive transmission device（34）Composition is driven along the 3rd rectilinear orbit（31）It is past
Polyslip is acted.
7. wheel type barrier-crossing robot according to claim 6, it is characterised in that：3rd drive transmission device（34）Bag
Include linear gear rack（341）, the 4th servomotor（342）, the linear gear rack（341）With the 3rd rectilinear orbit（31）Parallel cloth
Put, the 4th servomotor（342）It is fixedly mounted on mounting bracket（32）, its output end is connected with the second travelling gear（343）,
Second travelling gear（343）With linear gear rack（341）It is meshed.
8. wheel type barrier-crossing robot according to claim 7, it is characterised in that：3rd rectilinear orbit（31）, install
Frame（32）, balance weight assembly（33）, the 3rd drive transmission device（34）It is equipped with 2 groups, and along frame（4）The symmetrical cloth of bottom centerline
Put.
9. wheel type barrier-crossing robot according to claim 7, it is characterised in that：The balance weight assembly（33）For balancing weight.
10. wheel type barrier-crossing robot according to claim 7, it is characterised in that：The balance weight assembly（33）For flexible branch
Support cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710628444.3A CN107307950A (en) | 2017-07-28 | 2017-07-28 | A kind of wheel type barrier-crossing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710628444.3A CN107307950A (en) | 2017-07-28 | 2017-07-28 | A kind of wheel type barrier-crossing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107307950A true CN107307950A (en) | 2017-11-03 |
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ID=60174971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710628444.3A Pending CN107307950A (en) | 2017-07-28 | 2017-07-28 | A kind of wheel type barrier-crossing robot |
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| CN (1) | CN107307950A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109157338A (en) * | 2018-11-02 | 2019-01-08 | 潘云龙 | The hospital bed that can be walked on uneven road surface |
| CN109966066A (en) * | 2019-03-27 | 2019-07-05 | 上海工程技术大学 | A kind of four-footed troop robot |
| CN110151414A (en) * | 2019-05-09 | 2019-08-23 | 哈工大机器人（合肥）国际创新研究院 | A kind of stair-climbing wheel chair and climb building method |
| CN110169880A (en) * | 2019-06-20 | 2019-08-27 | 浙江科技学院 | A kind of combined type self-balancing electric wheel chair and its application method |
| CN111227564A (en) * | 2020-01-15 | 2020-06-05 | 青岛黄海学院 | Robot seat capable of automatically walking |
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