CN107521576B - Robot capable of walking on ground and climbing stairs - Google Patents
Robot capable of walking on ground and climbing stairs Download PDFInfo
- Publication number
- CN107521576B CN107521576B CN201710740220.1A CN201710740220A CN107521576B CN 107521576 B CN107521576 B CN 107521576B CN 201710740220 A CN201710740220 A CN 201710740220A CN 107521576 B CN107521576 B CN 107521576B
- Authority
- CN
- China
- Prior art keywords
- foot
- auxiliary
- main
- walking
- 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.)
- 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
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
Abstract
The invention discloses a robot capable of walking on the ground and climbing stairs, which comprises a shell, a flat ground walking mechanism, a main motion foot mechanism, an auxiliary foot mechanism and a control unit, wherein the main motion foot mechanism is arranged on the shell; wherein, the top of the shell is provided with an objective table for placing goods to be moved; the flat ground walking mechanism is used for walking on flat ground and turning; the main motion foot mechanism comprises a first main foot and a second main foot which are rotatably arranged at two sides of the shell, and a main driving device which is arranged inside the shell, and the auxiliary foot mechanism comprises a first auxiliary foot and a second auxiliary foot which are telescopically arranged at the tail end of the shell, and an auxiliary driving device which is arranged inside the shell. According to the stair climbing robot, in the stair climbing process, the main motion foot mechanism and the auxiliary foot mechanism are jointly supported, and the machine body stably ascends; in the walking of level land, by the walking mechanism support of level land, can realize from this that the objective table is in the state of level in the transportation, the goods of carrying is difficult for the landing, and overall structure is simple and firm, and bearing capacity is stronger.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a robot capable of walking on the ground and climbing stairs, which has the function of transporting goods.
Background
Robots are programmable and multi-functional manipulators for handling materials, parts, tools, or specialized systems having changeable and programmable actions for performing different tasks. The intelligent robot is a robot system which simulates a human on the whole surface in terms of perception and thinking effect, and the appearance is not necessarily like a human. The comprehensive test field of the artificial intelligence technology can comprehensively examine the technology in various fields of the artificial intelligence and study the relationship between the artificial intelligence and the technology. Can also replace people to engage in dangerous work, world-wide sea, battlefield operation and the like in harmful environments. An intelligent robot should have three capabilities: the ability to perceive an environment, the ability to perform certain tasks to exert an effect on the environment, and the ability to relate perception to actions. The fundamental difference between the intelligent robot and the industrial robot is that the intelligent robot has the functions of sensing, identifying, judging and planning.
At present, in some buildings without elevators, in order to solve the problem of cargo handling between different floors, auxiliary devices are often used to replace manual labor, and a stair climbing robot is one of the auxiliary devices. In the prior art, a crawler-type and impeller-type structure is mostly adopted by a stair climbing robot, and in the stair climbing process, an inclined angle is formed on an objective table, so that carried goods can slide off the objective table, damage to the goods is caused, and potential danger exists for present personnel. And no matter the crawler-type or impeller-type structure is adopted, the whole structure is complex and the quality is heavier, the service time is long, certain damage can be caused to the stair body, such as the scratch, the breakage and the like of the surface of the porcelain block, and larger driving power is required.
Disclosure of Invention
In order to solve the problem that the object stage of the existing stair climbing robot forms a certain inclination angle in the stair climbing process and goods possibly slide off the object stage, the invention provides the stair climbing robot which has a stably ascending machine body and can walk on the ground with the carried goods always kept horizontal.
In order to solve the technical problems, the invention provides a robot capable of walking on the ground and climbing stairs, which comprises a shell, a flat ground walking mechanism, a main motion foot mechanism, an auxiliary foot mechanism and a control unit;
an objective table is arranged at the top of the shell;
the flat ground travelling mechanism is arranged at the bottom of the shell;
the main motion foot mechanism comprises a first main foot, a second main foot and a main driving device, wherein the first main foot and the second main foot are rotatably arranged at two sides of the shell, the main driving device is installed inside the shell, the first main foot and the second main foot are similar to an ellipse, and the main driving device is in transmission connection with the first main foot and is used for driving the first main foot and the second main foot to rotate;
the auxiliary foot mechanism comprises a first auxiliary foot, a second auxiliary foot and an auxiliary driving device, wherein the first auxiliary foot and the second auxiliary foot are telescopically arranged at the tail end of the shell, the auxiliary driving device is arranged in the shell and is in transmission connection with the first auxiliary foot and the second auxiliary foot and used for driving the first auxiliary foot and the second auxiliary foot to do telescopic movement;
the length of the long half shaft of the first main foot and the second main foot is larger than or equal to the maximum height of the first auxiliary foot and the second auxiliary foot;
the control unit is electrically connected with the land leveling travelling mechanism, the main driving device and the auxiliary driving device and is used for controlling the working states of the land leveling travelling mechanism, the main driving device and the auxiliary driving device;
when the walking device is in a flat ground walking state, the first auxiliary foot and the second auxiliary foot shrink to enable the bottoms of the first auxiliary foot and the second auxiliary foot to be kept at the horizontal position, and the bottoms of the first main foot and the second main foot are not lower than the bottom of the flat ground walking mechanism at the moment;
when the first auxiliary foot and the second auxiliary foot are in a stair climbing state, the bottoms of the first auxiliary foot and the second auxiliary foot are lower than the bottom of the flat ground walking mechanism, and the first main foot and the second main foot are driven to rotate.
As a preferable scheme, the auxiliary driving device comprises a first transmission shaft, a second transmission shaft, a first transmission gear, a second transmission gear, an auxiliary motor and a gear seat;
one end of the first transmission shaft is fixed at one end of the first auxiliary foot, and one end of the second transmission shaft is fixed at one end of the second auxiliary foot; one of the other end of the first transmission shaft and the other end of the second transmission shaft is optionally in transmission connection with the auxiliary motor, and the other end of the first transmission shaft and the other end of the second transmission shaft are fixed on the gear seat;
the first transmission gear is arranged on the first transmission shaft, and the second transmission gear is arranged on the second transmission shaft.
Preferably, the front end face of the shell, which is positioned in the walking direction, is provided with one or more ball wheels.
Preferably, the flat ground travelling mechanism comprises rollers arranged at the bottom of the shell and a rolling motor for driving the rollers to roll so as to walk on the flat ground.
In a fourth possible implementation manner, the ground leveling travelling mechanism further includes universal wheels disposed at the bottom of the housing, and the universal wheels are disposed at front and rear sides of the rollers in the travelling direction.
As a preferable scheme, the first auxiliary leg comprises a first horizontal rod and a first rotating member, one end of the first horizontal rod is a free end, the other end of the first horizontal rod is connected with one end of the first rotating member, the other end of the first rotating member is connected with the auxiliary driving device, and the auxiliary driving device drives the first rotating member to rotate on a vertical surface and drives the first horizontal rod to do lifting motion;
the second auxiliary leg comprises a second horizontal rod and a second rotating piece, one end of the second horizontal rod is a free end, the other end of the second horizontal rod is connected with one end of the second rotating piece, the other end of the first rotating piece is connected with the auxiliary driving device, and the auxiliary driving device drives the second rotating piece to rotate on a vertical surface and drives the second horizontal rod to do lifting movement;
the first horizontal rod and the second horizontal rod are mutually far away in the ascending process and are attached to two side edges of the bottom of the shell when in the highest position, and the bottom of the first horizontal rod and the second horizontal rod is higher than the bottom of the flat ground travelling mechanism, so that the integral telescopic motion of the first auxiliary foot and the second auxiliary foot is formed.
Preferably, the two side edges of the bottom of the shell are respectively provided with a first groove capable of accommodating the first horizontal rod and a second groove capable of accommodating the second horizontal rod.
As a preferred scheme, the control unit comprises a main control module, a driving module and a distance detection module, wherein the driving module is electrically connected with the flat ground walking mechanism, the main motion foot mechanism and the auxiliary foot mechanism and is used for controlling the motion states of the flat ground walking mechanism, the main motion foot mechanism and the auxiliary foot mechanism;
the distance detection module is arranged on the front end face of the shell, which is positioned in the walking direction, and is used for detecting the distance between the robot and the stairs.
As a preferred scheme, the control unit further comprises an obstacle avoidance module electrically connected with the main control module, wherein the obstacle avoidance module is arranged at the bottom of the shell and used for detecting an obstacle and sending an obstacle signal to the main control module, and the main control module controls the robot to escape from the obstacle.
Preferably, the control unit further comprises a gyroscope sensor and an inclination sensor electrically connected with the main control module, and the gyroscope sensor and the inclination sensor are arranged in the shell.
Compared with the prior art, the robot capable of walking on the ground and climbing stairs has the beneficial effects that:
(1) In terms of functions, the object stage is arranged at the top of the shell, so that the goods to be transported can be placed, the effect of robot carrying is realized, the device is particularly suitable for carrying goods in daily use occasions of express companies and families, the labor intensity of manual carrying is reduced, and in the carrying process, the device can always keep the level of the goods and the stability of the machine body, and the goods can be effectively prevented from sliding off in the carrying process of stairs.
(2) In the aspect of structure, the robot can be driven to move forwards or bend when being supported by the flat ground travelling mechanism and keeping the body stable during flat ground travelling; in the process of climbing stairs by the stair climbing robot, when the first main foot and the second main foot start to do rotary motion, the first auxiliary foot and the second auxiliary foot also start to do stretching motion, after the first main foot, the second main foot, the first auxiliary foot and the second auxiliary foot are contacted with the ground, the ground leveling travelling mechanism leaves the ground, so that the first main foot, the second main foot, the first auxiliary foot and the second auxiliary foot support the whole robot and keep the stability of the machine body, and the friction force of the first main foot and the second main foot and the ground drives the robot to do forward motion. Therefore, whether the object stage is in a horizontal state in the stair climbing process or the flat ground walking process, the whole structure is simple and firm, and the bearing capacity is strong.
(3) Furthermore, the road condition planning system has good adaptability on complex road conditions, and the obstacle avoidance module can be utilized to avoid obstacles autonomously and plan an optimal path automatically.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of a stair climbing robot capable of walking on the ground and climbing stairs according to the invention.
Fig. 2 is a schematic diagram of a robot walking on the ground and climbing stairs in a flat ground.
FIG. 3 is a schematic view of an auxiliary foot mechanism of a stair climbing robot capable of walking on the ground.
Fig. 4 is a schematic view showing a part of a robot capable of walking on the ground and climbing stairs according to the invention.
Fig. 5 is a schematic rear view of a robot foot mechanism for walking on the ground and climbing stairs in a contracted state according to the invention.
Fig. 6 is a schematic rear view of a stair climbing robot with an extended auxiliary foot mechanism.
Fig. 7 is a schematic rear view of the robot foot mechanism for walking on the ground and climbing stairs in the telescopic movement process.
Fig. 8 is a control schematic diagram of a preferred embodiment of a robot capable of walking on the ground and climbing stairs according to the invention.
Fig. 9 is a schematic diagram of a stair climbing state of a robot capable of walking on the ground and climbing stairs according to the invention.
Fig. 10 is a second schematic view of a stair climbing state of a robot capable of walking on the ground and climbing stairs according to the invention.
Fig. 11 is a schematic diagram III of a stair climbing state of a robot capable of walking on the ground and climbing stairs.
Fig. 12 is a schematic view showing a stair climbing state of a robot capable of walking on the ground and climbing stairs according to the invention.
In the figure: 1. the device comprises a shell, 2, a first main foot, 3, a second main foot, 4, a first auxiliary foot, 401, a first rotating piece, 402, a first horizontal rod, 5, a second auxiliary foot, 501, a second rotating piece, 502, a second horizontal rod, 6, a flat ground walking mechanism, 601, rollers, 602, universal wheels, 7, balls, 8, a first transmission shaft, 9, a second transmission shaft, 10, a first transmission gear, 11, a second transmission gear, 12, a gear seat, 13, a main motor, 14, an auxiliary motor, 15, a roller motor, 16, a distance detection module, 17, a barrier avoidance module, 18, a main control module, 19, a power supply module, 20, a driving module, 21, a gyroscope sensor and an inclination angle sensor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the term "connected" should be interpreted broadly, and for example, it may be a fixed connection, a removable connection or an integral connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 to 12, a preferred embodiment of the present invention provides a robot capable of walking on the ground and climbing stairs, comprising: the housing 1, the ground-levelling running gear 6, the main sport foot mechanism, the auxiliary foot mechanism and the control unit (not shown in the figures). Wherein the main foot movement mechanism comprises a first main foot 2, a second main foot 3 and a main driving device, and the auxiliary foot mechanism comprises a first auxiliary foot 4 and a second auxiliary foot 5. The top of casing 1 is equipped with the objective table, can be used to place the goods of required transportation, and first main leg 2 and second main leg 3 shape are the ellipse shape, and rotationally set up respectively on casing 1's both sides face, under main drive arrangement's drive, first main leg 2 and second main leg 3 can be around the intersection point of ellipse shape planar major axis and minor axis as center 360 rotary motion. The main driving device comprises two main motors 13 which are respectively connected with the first main foot 2 and the second main foot 3 in a transmission way, and the main motors 13 rotate to drive the first main foot 2 and the second main foot 3 to do rotary motion.
Referring to fig. 5 to 7, the first auxiliary leg 4 and the second auxiliary leg 5 are telescopically disposed on the rear end surfaces of the housing 1 opposite to the walking direction, and as shown in fig. 5, under the driving of the auxiliary driving device, the first auxiliary leg 4 and the second auxiliary leg 5 are separated to perform a shrinking motion near the bottom of the housing, and when the shrinking motion is completed, an included angle α formed by the two is maximum on a vertical plane, and as shown in fig. 6, under the driving of the auxiliary driving device, the first auxiliary leg 4 and the second auxiliary leg 5 can be folded to perform an extending motion far from the bottom of the housing, and finally, the included angle formed by the two on the vertical plane is 0 °, and at this time, the first auxiliary leg 4 and the first auxiliary leg 5 also form a maximum height. Fig. 7 shows the first auxiliary leg 4 and the second auxiliary leg 5 in a retracted or extended movement, and the first auxiliary leg 4 and the second auxiliary leg 5 are moved in a telescopic movement away from the bottom of the housing 1 or toward the bottom of the housing 1 by the auxiliary driving means, as shown in fig. 5 to 7. The first auxiliary foot 4 and the second auxiliary foot 5 do not affect forward movement, but also serve to assist the first main foot 2 and the second main foot 3 in supporting the robot.
Reference is made to fig. 5. When in the ground-levelling walking state, i.e. when the retraction movement of the first auxiliary foot 4 and the second auxiliary foot 5 is completed, the bottoms of the first auxiliary foot 4 and the second auxiliary foot 5 thereof are in relation to the bottom of the ground-levelling walking mechanism 6 of the ground Gao Yuping, the robot is supported by the ground-levelling walking mechanism 6 in contact with the ground and can perform a forward walking movement or a cornering movement, while at the same time the bottoms of the first main foot 4 and the second main foot 5 are also in relation to the bottom of the ground-levelling walking mechanism 6 of the ground Gao Yuping, the movement of the ground-levelling walking mechanism 6 cannot be hindered.
Referring to fig. 6 and 7, when the stair climbing robot is in a stair climbing state, the first main foot 2 and the second main foot 3 start to perform a rotational motion around the center, the first auxiliary foot 4 and the second auxiliary foot 5 also start to perform an extending motion, the ground penetrating robot 6 is far away from the ground, and the first main foot 2, the second main foot 3, the first auxiliary foot 4 and the second auxiliary foot 5 contact the ground, that is, the bottoms of the first main foot 2, the second main foot 3, the first auxiliary foot 4 and the second auxiliary foot 5 are opposite to the bottom of the ground penetrating robot 6 at the first moment, so that the stair climbing robot is supported by the four points of the first main foot 2, the second main foot 3, the first auxiliary foot 4 and the second auxiliary foot 5 together. When reaching a certain height, the first main foot 2 and the second main foot 3 are mainly contacted with the ground, friction with the ground drives the stair climbing robot to advance, as shown in fig. 6, when the stair climbing robot rises to the highest point, the length directions of the first main foot 2 and the second main foot 3 are vertical directions, the first auxiliary foot 4 and the second auxiliary foot 5 also reach the maximum height, and the length of the long half shafts of the first main foot 2 and the second main foot 3 is larger than or equal to the maximum height of the first auxiliary foot 4 and the first auxiliary foot 5, so that the robot body is prevented from tilting forward, and the motion of the next step is affected.
Referring to fig. 3, the auxiliary driving device includes a first transmission shaft 8, a second transmission shaft 9, a first transmission gear 10, a second transmission gear 11, an auxiliary motor 14, and a gear seat 12. The first transmission shaft 8 is used as a driving shaft, the second transmission shaft 9 is a driven shaft, one end of the first transmission shaft 8 is fixed at one end of the first auxiliary leg 4, and the other end of the first transmission shaft is in transmission connection with the auxiliary motor 14; one end of the second transmission shaft 9 is fixed at one end of the second auxiliary leg 5, and the other end is fixed at one end of the gear seat 12; the other end of the gear seat is fixedly arranged on the shell through a nut bolt, so that the disassembly is convenient; the first transmission gear 10 is arranged on the first transmission shaft 8, the second transmission gear 11 is arranged on the second transmission shaft 9, and under the driving of the auxiliary motor 14, the driving shaft rotates to drive the first auxiliary foot 4 and the first transmission gear 10 to rotate, and the first transmission gear 10 and the second transmission gear 11 are meshed to drive the second auxiliary foot 5 to rotate through the driven shaft, so that the first auxiliary foot 4 and the second auxiliary foot 5 can do telescopic motion.
In another equivalent embodiment, the second transmission shaft 9 may be a driving shaft, and the first transmission shaft 8 may be a driven shaft. One end of the first transmission shaft 8 is fixed at one end of the first auxiliary foot 4, and the other end is fixed at one end of the gear seat 12; one end of the second transmission shaft 9 is fixed at one end of the second auxiliary leg 5, and the other end is in transmission connection with the auxiliary motor 14; the other end of the gear seat is fixedly arranged on the shell through a nut bolt, so that the disassembly is convenient; the first transmission gear 10 is arranged on the first transmission shaft 8, the second transmission gear 11 is arranged on the second transmission shaft 9, the driving shaft rotates under the driving of the auxiliary motor 14 to drive the second auxiliary foot 5 and the second transmission gear 11 to rotate, and the second transmission gear 11 and the first transmission gear 10 are meshed to drive the first auxiliary foot 4 to rotate through the driven shaft, so that the first auxiliary foot 4 and the second auxiliary foot 5 do telescopic motion.
In this embodiment, referring to fig. 1 and 2, three ball wheels 8 are further disposed on the plane of the front end of the housing 1 in the running direction, and detachable connection with the plane can be achieved by means of threads, bolts, clamping and the like. In the stair climbing process, the ball 8 wheels are utilized to move along the vertical plane of the stairs, so that the purpose of assisting the stair climbing robot to smoothly ascend can be achieved, and the phenomenon that the front end face of the shell directly rubs with the vertical plane of the stairs to damage the shell is avoided.
Referring to fig. 2 and 4, the walking mechanism 6 includes a roller 601 provided at the bottom of the housing 1 and a rolling motor 15 for driving the roller to roll and walk on the ground. As shown in the figure, the number of the rollers 601 is 2, the rollers are respectively arranged at the left side and the right side of the bottom of the shell 1, the bottom of the rollers is lower than the bottom of the shell 1 and used for walking on a horizontal plane, turning of the robot can be realized by controlling the rotating speeds of the two rollers 601, meanwhile, universal wheels 602 are further arranged at the front and back positions of the bottom of the shell 1, the bottoms of the universal wheels are flush with the rollers 601, and the stair climbing robot is supported by the rollers 601 and the universal wheels 602 jointly and kept balanced under the state of walking on the flat ground and resting. In addition, the universal wheels 602 can also assist the roller 601 to walk and bend on the flat ground, so that the movement of the roller is smoother.
Referring to fig. 3, the first auxiliary leg 4 includes a first horizontal rod 402 and a first rotating member 401, one end of the first horizontal rod 402 is used as a free end, the other end of the first horizontal rod is connected with one end of the first rotating member 401 through a rotatable shaft, when the first auxiliary leg 4 performs telescopic motion, the first horizontal rod 402 can perform rolling motion on the ground, damage caused by friction between the first auxiliary leg 4 and the ground is reduced, the other end of the first rotating member 401 is connected with an auxiliary driving device, and the first rotating member 401 can rotate on a vertical plane and drive the first horizontal rod 402 to perform lifting motion under the driving of the auxiliary driving device; similarly, the second auxiliary leg 5 includes a second horizontal rod 502 and a second rotating member 501, one end of the second horizontal rod 502 is a free end, the other end of the second horizontal rod 502 is connected with one end of the second rotating member 501 through a rotatable shaft, when the second auxiliary leg 5 performs telescopic motion, the second horizontal rod 502 can perform rolling motion on the ground, damage caused by friction between the first auxiliary leg 5 and the ground is reduced, the other end of the second rotating member 501 is connected with an auxiliary driving device, and under the driving of the auxiliary driving device, the second rotating member 501 can rotate on a vertical plane and drive the second horizontal rod 502 to perform lifting motion.
Referring to fig. 3 and 5, the first auxiliary leg 4 and the second auxiliary leg 5 are spaced apart from each other during the lifting process and attached to both side edges of the bottom of the housing 1 at the highest position when in the overall contraction movement, and the bottom thereof must be higher than the bottom of the level ground traveling mechanism 6 in order not to affect the movement of the level ground traveling mechanism; the two side edges of the bottom of the shell 1 are respectively provided with a first groove and a second groove, when the first auxiliary leg 4 and the second auxiliary leg 5 complete the contraction movement, the first horizontal rod 402 and the second horizontal rod 502 are placed in the first groove and the second groove respectively, so that the structure is more optimized, and the structure is more attractive as a whole.
Referring to fig. 3 and 6, when the first auxiliary leg 4 and the second auxiliary leg 5 are integrally extended, the first horizontal bar 402 and the second horizontal bar 502 approach each other during the descent, and the first main leg 2, the second main leg 3, the first auxiliary leg 4 and the second auxiliary leg 5 support the entire robot together, so that the bottoms of the first horizontal bar 402 and the second horizontal bar 502 are lower than the bottom of the level ground traveling mechanism 6 in the lowermost position, that is, the bottoms of the first horizontal bar 402 and the second horizontal bar 502 contact the ground in the lowermost position, and the bottom of the level ground traveling mechanism 6 is far away from the ground.
Fig. 8 is a schematic diagram of a control unit of the stair climbing robot according to the present invention, in this embodiment, the control unit includes a power module 19, a main control module 18, a driving module 20, a distance detection module 16, an obstacle avoidance module 17, a gyro sensor and an inclination sensor 21, the power module 19 is electrically connected to the main control module 18, wherein the main control module 18 receives signals from the distance detection module 16, the obstacle avoidance module 17, the gyro and the inclination sensor 21, processes the signals, and sends corresponding control instructions to the driving module 20 according to the processing results. The distance detection module 16 is arranged on the front end face of the shell 1 in the walking direction and is used for detecting the distance between the robot and the stairs and sending a distance signal to the main control module 18, the main control module 18 makes a decision whether to climb the stairs or not, and when the need of climbing the stairs is detected, the main control module 18 starts a signal to the driving module 20 so that the robot can make corresponding actions. The driving module 20 is electrically connected with the roller motor 15, the main motor 13 of the main motion foot mechanism and the auxiliary motor 14 of the auxiliary foot mechanism in the flat ground walking mechanism 6 and is used for controlling the motion states of the flat ground walking mechanism, the main motion foot mechanism and the auxiliary foot mechanism.
The gyroscope sensor and the inclination sensor 21 are commonly used tools for measuring angular velocity and acceleration, and double integration is carried out on the acceleration and the angular velocity, so that the moving distance and the rotating angle of the robot can be solved, the position coordinates of the mobile robot can be obtained, the gyroscope sensor and the inclination sensor 21 are generally used in a complementary mode, and the signals of the gyroscope sensor and the inclination sensor 21 are used for adjusting the position of the gravity center so that the stair climbing robot can keep balance in different states. The obstacle avoidance module 17, which may be an ultrasonic module, is disposed at the bottom of the housing 1, and is configured to detect whether an obstacle is located in front of walking, and send a signal thereof to the main control module 18 for processing, so as to make a decision to bypass the obstacle. The whole control system takes the power supply module 19 as a power supply energy source, the power supply module 19 can comprise a storage battery, in addition, wireless power supply can be used for replacing the power supply module 19, and a wireless power supply technology is utilized for providing power energy source for the robot.
In this implementation, in combination with fig. 9 to 12, a stair climbing robot climbs a stair with a step, which is mainly divided into four parts:
(1) The robot starts the preparation phase.
As shown in fig. 9, when the stair climbing robot walks to the stairs, the distance detection module 16 detects that a certain distance is reached from the vertical plane of the stairs, the main control module 18 sends out a signal, the first main foot 2 and the second main foot 3 start to make a rotary motion around the center under the drive of the main driving device, and at the same time, the first auxiliary foot 4 and the second auxiliary foot 5 also make an extending motion under the drive of the auxiliary driving device.
(2) And a robot ascending stage.
As shown in fig. 10, the first main foot 2, the second main foot 3, the first auxiliary foot 4 and the second auxiliary foot 5 start to contact the ground, the ground leveling mechanism 6 is far away from the ground, the first main foot 2, the second main foot 3, the first auxiliary foot 4 and the second auxiliary foot 5 support the whole robot, when the first main foot 2 and the second main foot 3 rotate to a certain angle, the robot has a tendency of forward movement under the driving of the friction force between the first main foot 2 and the second main foot 3 and the ground, the ball wheel 7 at the front end of the shell 1 touches the vertical plane of the ladder, the ball wheel 7 rolls with the vertical plane of the ladder, and the robot is assisted to ascend integrally.
(3) The robot rises to the highest point stage.
As shown in fig. 11, when the robot reaches the highest point, the length direction of the first main leg 2 and the second main leg 3 is vertical, the first auxiliary leg 4 and the second auxiliary leg 5 also reach the maximum height, the bottom of the horizontal walking mechanism 6 is higher than the horizontal plane of the next step, and at this time, the robot is driven by the first main leg 2 and the second main leg 3 to move forward as a whole.
(4) The robot reverts to the start state phase.
As shown in fig. 12, the robot continues to move forward, the universal wheel 602 at the front end of the bottom of the housing 1 contacts the horizontal plane of the next step, and then the roller 601 in the ground leveling mechanism 6 contacts the horizontal plane of one step, and the robot is driven by the roller motor to move forward. At this time, the first main leg 2, the second main leg 3, the first auxiliary leg 4 and the second auxiliary leg 5 start to leave the ground, the first main leg 2 and the second main leg 3 slowly rotate to the horizontal position, the first auxiliary leg 4 and the second auxiliary leg 5 also perform the shrinkage motion, and finally the first horizontal bar 401 and the second horizontal bar 501 are placed in the grooves corresponding to the edges of the two sides of the bottom of the shell, and complete one cycle of motion in the same state as the initial preparation stage.
The four phases of movement are combined, and the stair climbing robot can climb stairs through circulating the four phases of movement, so that one step is completed, and the final purpose of stair climbing of the robot is achieved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A robot capable of walking on the ground and climbing stairs, comprising: the device comprises a shell, a flat ground walking mechanism, a main motion foot mechanism, an auxiliary foot mechanism and a control unit;
an objective table is arranged at the top of the shell;
the flat ground travelling mechanism is arranged at the bottom of the shell;
the main motion foot mechanism comprises a first main foot, a second main foot and a main driving device, wherein the first main foot and the second main foot are rotatably arranged at two sides of the shell, the main driving device is installed inside the shell, the first main foot and the second main foot are similar to an ellipse, and the main driving device is in transmission connection with the first main foot and the second main foot and is used for driving the first main foot and the second main foot to rotate;
the auxiliary foot mechanism comprises a first auxiliary foot, a second auxiliary foot and an auxiliary driving device, wherein the first auxiliary foot and the second auxiliary foot are telescopically arranged at the tail end of the shell, the auxiliary driving device is arranged in the shell and is in transmission connection with the first auxiliary foot and the second auxiliary foot and used for driving the first auxiliary foot and the second auxiliary foot to do telescopic movement;
the length of the long half shaft of the first main foot and the second main foot is larger than or equal to the maximum height of the first auxiliary foot and the second auxiliary foot;
the control unit is electrically connected with the land leveling travelling mechanism, the main driving device and the auxiliary driving device and is used for controlling the working states of the land leveling travelling mechanism, the main driving device and the auxiliary driving device;
when the first auxiliary foot and the second auxiliary foot are in a flat ground walking state, the bottoms of the first auxiliary foot and the second auxiliary foot are higher than the bottom of the flat ground walking mechanism, the first main foot and the second main foot are kept in horizontal positions, and the bottoms of the first main foot and the second main foot are not lower than the bottom of the flat ground walking mechanism at the moment;
when the first auxiliary foot and the second auxiliary foot are in a stair climbing state, the bottoms of the first auxiliary foot and the second auxiliary foot are lower than the bottom of the flat ground travelling mechanism, and the first main foot and the second main foot are driven to rotate;
wherein, the front end face of the shell, which is positioned in the walking direction, is provided with one or more ball wheels; the first auxiliary foot comprises a first horizontal rod and a first rotating piece, one end of the first horizontal rod is a free end, the other end of the first horizontal rod is connected with one end of the first rotating piece, the other end of the first rotating piece is connected with the auxiliary driving device, and the auxiliary driving device drives the first rotating piece to rotate on a vertical surface and drives the first horizontal rod to do lifting movement;
the second auxiliary leg comprises a second horizontal rod and a second rotating piece, one end of the second horizontal rod is a free end, the other end of the second horizontal rod is connected with one end of the second rotating piece, the other end of the first rotating piece is connected with the auxiliary driving device, and the auxiliary driving device drives the second rotating piece to rotate on a vertical surface and drives the second horizontal rod to do lifting movement;
the first horizontal rod and the second horizontal rod are mutually far away in the ascending process and are attached to two side edges of the bottom of the shell when in the highest position, and the bottom of the first horizontal rod and the second horizontal rod is higher than the bottom of the flat ground travelling mechanism, so that the integral telescopic motion of the first auxiliary foot and the second auxiliary foot is formed.
2. The robot of claim 1, wherein the auxiliary drive device comprises a first drive shaft, a second drive shaft, a first drive gear, a second drive gear, an auxiliary motor, and a gear seat;
one end of the first transmission shaft is fixed at one end of the first auxiliary foot, and one end of the second transmission shaft is fixed at one end of the second auxiliary foot; one of the other end of the first transmission shaft and the other end of the second transmission shaft is optionally in transmission connection with the auxiliary motor, and the other end of the first transmission shaft and the other end of the second transmission shaft are fixed on the gear seat;
the first transmission gear is arranged on the first transmission shaft, and the second transmission gear is arranged on the second transmission shaft.
3. The robot of claim 1, wherein the walking mechanism comprises rollers at the bottom of the housing and a rolling motor for driving the rollers to roll for walking on the flat ground.
4. The robot of claim 3, wherein the walking mechanism further comprises universal wheels at the bottom of the housing, the universal wheels being disposed at the front and rear sides of the rollers in the walking direction.
5. The robot of claim 1, wherein the two side edges of the bottom of the housing are respectively provided with a first groove capable of accommodating the first horizontal rod and a second groove capable of accommodating the second horizontal rod.
6. The robot of claim 1, wherein the control unit comprises a main control module, a driving module and a distance detection module, wherein the driving module is electrically connected with the land leveling mechanism, the main motion foot mechanism and the auxiliary foot mechanism and is used for controlling the motion states of the land leveling mechanism, the main motion foot mechanism and the auxiliary foot mechanism;
the distance detection module is arranged on the front end face of the shell, which is positioned in the walking direction, and is used for detecting the distance between the robot and the stairs.
7. The robot of claim 6, wherein the control unit further comprises an obstacle avoidance module electrically connected to the main control module, the obstacle avoidance module being disposed at the bottom of the housing for detecting an obstacle and transmitting an obstacle signal to the main control module, the main control module controlling the robot to escape from the obstacle.
8. The stair traversing and walking robot according to claim 6, wherein the control unit further comprises a gyro sensor and an inclination sensor electrically connected to the main control module, the gyro sensor and the inclination sensor being disposed in a housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710740220.1A CN107521576B (en) | 2017-08-24 | 2017-08-24 | Robot capable of walking on ground and climbing stairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710740220.1A CN107521576B (en) | 2017-08-24 | 2017-08-24 | Robot capable of walking on ground and climbing stairs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107521576A CN107521576A (en) | 2017-12-29 |
| CN107521576B true CN107521576B (en) | 2023-09-05 |
Family
ID=60682107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710740220.1A Active CN107521576B (en) | 2017-08-24 | 2017-08-24 | Robot capable of walking on ground and climbing stairs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107521576B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109720430A (en) * | 2018-11-20 | 2019-05-07 | 天津职业技术师范大学 | Ring robot with device of going up on the stage and its method of going up on the stage |
| CN109227573B (en) * | 2018-11-21 | 2021-08-24 | 青岛市中心医院 | AI robot for hospital outpatient service |
| CN113334384B (en) * | 2018-12-05 | 2024-03-01 | 北京百度网讯科技有限公司 | Mobile robot control method, device, equipment and storage medium |
| CN109907695B (en) * | 2019-03-29 | 2024-02-20 | 深圳市杉川机器人有限公司 | Mobile device, control method thereof and indoor cleaning robot |
| CN110219440A (en) * | 2019-06-27 | 2019-09-10 | 佛山市突破机械制造有限公司 | A kind of plastering machine assisting walking |
| CN110562338B (en) * | 2019-08-23 | 2023-12-22 | 山西农业大学资源环境学院(山西省农业科学院农业环境与资源研究所) | Remote control climbing express delivery transportation balance car |
| CN111387882B (en) * | 2020-04-15 | 2021-10-29 | 蔚蓝计划(北京)科技有限公司 | Floor sweeping robot with stair climbing function, connecting structure and electromagnet |
| CN112224305A (en) * | 2020-11-09 | 2021-01-15 | 安徽工程大学 | Stair climbing robot based on electromagnetic adsorption steering |
| CN112389560B (en) * | 2020-12-10 | 2022-10-28 | 杭州柯雷沃科技有限公司 | Fixed goods mechanism of stair climbing robot with lubricating function |
| CN113812266A (en) * | 2021-08-25 | 2021-12-21 | 蔡冬林 | Thresher suitable for terraced fields |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200724122A (en) * | 2005-12-28 | 2007-07-01 | Ind Tech Res Inst | Assistant device for electric wheelchair |
| CN101583530A (en) * | 2006-11-13 | 2009-11-18 | 雷神萨科斯公司 | Tracked robotic crawler having a moveable arm |
| CN204798168U (en) * | 2015-07-30 | 2015-11-25 | 张耀 | Can climb stair wheelchair |
| CN105798875A (en) * | 2016-05-27 | 2016-07-27 | 佐扶智能科技（上海）有限公司 | Continuous jumping type step climbing robot and step adaptive climbing method |
| JP2017003383A (en) * | 2015-06-09 | 2017-01-05 | 三菱電機株式会社 | Step detection device and step getting-over device |
| CN106419761A (en) * | 2016-12-18 | 2017-02-22 | 遂宁市长丰机械科技有限公司 | Floor sweeping robot equipped stairs climbing device |
| CN207274808U (en) * | 2017-08-24 | 2018-04-27 | 广州南洋理工职业学院 | Stair climbing robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8849451B2 (en) * | 2011-04-11 | 2014-09-30 | Boston Dynamics, Inc. | Hopping robot |
-
2017
- 2017-08-24 CN CN201710740220.1A patent/CN107521576B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200724122A (en) * | 2005-12-28 | 2007-07-01 | Ind Tech Res Inst | Assistant device for electric wheelchair |
| CN101583530A (en) * | 2006-11-13 | 2009-11-18 | 雷神萨科斯公司 | Tracked robotic crawler having a moveable arm |
| JP2017003383A (en) * | 2015-06-09 | 2017-01-05 | 三菱電機株式会社 | Step detection device and step getting-over device |
| CN204798168U (en) * | 2015-07-30 | 2015-11-25 | 张耀 | Can climb stair wheelchair |
| CN105798875A (en) * | 2016-05-27 | 2016-07-27 | 佐扶智能科技（上海）有限公司 | Continuous jumping type step climbing robot and step adaptive climbing method |
| CN106419761A (en) * | 2016-12-18 | 2017-02-22 | 遂宁市长丰机械科技有限公司 | Floor sweeping robot equipped stairs climbing device |
| CN207274808U (en) * | 2017-08-24 | 2018-04-27 | 广州南洋理工职业学院 | Stair climbing robot |
Non-Patent Citations (1)
| Title |
|---|
| 自主移动机器人运动机制探析;申耀武;机电一体化;第21卷(第5期);3-10 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107521576A (en) | 2017-12-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107521576B (en) | Robot capable of walking on ground and climbing stairs | |
| CN207274808U (en) | Stair climbing robot | |
| WO2020034973A1 (en) | All-road-condition multi-caster platform robot | |
| JP5978423B2 (en) | Crawler traveling search robot | |
| JP2006247802A (en) | Moving robot | |
| WO2020034974A1 (en) | Multi-legged wheeled robot | |
| JP2006326739A (en) | Leg wheel separation type robot | |
| KR101912806B1 (en) | Exploration robot with improved movement ability | |
| JP2003266337A (en) | Bipedal walking robot | |
| US10146107B2 (en) | Autonomous traveling apparatus | |
| CN109641628A (en) | Chassis vehicle | |
| JP2019059460A (en) | Robot for load-carrying platform conveyance | |
| CN109094673A (en) | A kind of platform-type crawler belt stairs-mover and method for automatically leveling | |
| US20190290514A1 (en) | Vehicle wheel assembly | |
| CN108674513B (en) | Variable-configuration wheel leg moving action robot | |
| US20220062075A1 (en) | Low-profile and high-load ball-balancing rolling system | |
| CN110271622B (en) | Wheel-foot type structure and wheel-foot type robot | |
| Hunt et al. | A rapidly reconfigurable robot for assistance in urban search and rescue | |
| KR101677983B1 (en) | Moving robot having wheel and track | |
| Imadu et al. | Walking guide interface mechanism and navigation system for the visually impaired | |
| KR20160003497A (en) | Mobile platform of robot equipped with flipper | |
| JP2003205480A (en) | Caster type mobile robot | |
| CN112158273B (en) | Step self-adaptive walking method and device | |
| CN210764164U (en) | Remove chassis and transfer robot | |
| CN212047631U (en) | All-round horizontal gesture stair climbing robot mechanical system |
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 |