CN108725620A - A kind of intelligence climbing robot and application method - Google Patents
A kind of intelligence climbing robot and application method Download PDFInfo
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- CN108725620A CN108725620A CN201810561358.XA CN201810561358A CN108725620A CN 108725620 A CN108725620 A CN 108725620A CN 201810561358 A CN201810561358 A CN 201810561358A CN 108725620 A CN108725620 A CN 108725620A
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- 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
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Abstract
A kind of intelligent climbing robot of the present invention and its method, mechanism, walking mechanism, horizontal sliding mechanism, braking exchange mechanism and power and intelligent electric control system are praised including E types rack, U-shaped rack, tote box, lifting, it is connected by horizontal sliding mechanism between U-shaped rack and E type racks, lifting praises mechanism and is embedded in E type rack corner positions, the both sides that exchange mechanism is mounted on U-shaped rack are braked, intelligent electric control system includes visual sensor, touch sensor, driving power and control circuit；Its operation method includes lifting fuselage, translates U-shaped rack, four steps such as the translation of E type racks and robot translation.One aspect of the present invention effectively solves the transport weight in the environment such as corridor, the ramp of the ancillary equipments such as no elevator and assists personnel's operation of moving difficulty, on the other hand while effectively improving climbing work operations efficiency, the stability and comfort in climbing operation process are separately effectively raised.
Description
Technical field
The present invention relates to a kind of intelligent climbing robot and application method, belongs to robotic technology field.
Background technology
In today's society, although elevator has been used commonplace, also also have many places, as the number of plies is not high
Building, old residence building, there are many more tourist attractions and some hill path ladders etc., there is no installation electricity
Ladder.This is very inconvenient for the handicapped people's trip of the people in these places, particularly the elderly, leg, and transports weight
Also extremely difficult.
For many years, people always climb machinery and the equipment etc. in building, up to the present, what these researchs had in constantly research
It is that can only be watched in the experimental stage.Although what is had has produced model machine, use aspect is also difficult to achieve the desired results.These samples
The lack of wisdom that product have, some need human assistance could be completed to climb building, be grasped when cannot put into practice or use substantially
Make difficulty, working efficiency is low, and safety and reliability are relatively poor.
In view of the above problems, there is an urgent need to develop design one kind having tactile, vision, climbed by the intelligence of intelligentized control method
Robot device.For realizing climbing corridor, hillside fields, be not required to human assistance in the course of work, can voluntarily going up or down stairway, with
Meet the needs of actual use, and creates great Social benefit and economic benefit.
Invention content
In order to solve some shortcomings on existing sorting technique, a kind of intelligent climbing robot of present invention offer and user
Method.
In order to realize effect above-mentioned, it is proposed that a kind of intelligence climbing robot and application method comprising following
Step：
A kind of intelligence climbing robot, including E types rack, U-shaped rack, tote box, lifting praise mechanism, walking mechanism,
Horizontal sliding mechanism, braking exchange mechanism and power and intelligent electric control system, wherein E types rack, U-shaped rack are coaxially divided
Cloth, and U-shaped rack is connected with each other embedded in E type rack front end faces and between E type racks by horizontal sliding mechanism, horizontal sliding machine
Structure is coaxially distributed with E types rack, U-shaped rack respectively, and with horizontal plane parallelly distribute on, lifting praise mechanism at least four, respectively
Embedded in four corner positions of E types rack, and lifting is praised mechanism axis and is distributed with horizontal plane, and braking exchange mechanism shares two
Group is separately mounted to the both sides of U-shaped rack, and is connected with each other with walking mechanism, and walking mechanism at least three is separately mounted to E
Type rack, U-shaped rack lower face, wherein U-shaped rack lower face sets at least two walking mechanisms and is connect with braking exchange mechanism,
E type racks lower face sets at least one walking mechanism, and tote box is mounted on U-shaped frame upper end face and is coaxially distributed with U-shaped rack,
Intelligent electric control system includes visual sensor, touch sensor, driving power and control circuit, wherein visual sensor,
Touch sensor several, one of visual sensor and touch sensor constitute a working group, each working group
In wherein E types rack, the front end face bottom of U-shaped rack and lower face front be all provided at least one working group, and in each working group
Visual sensor, touch sensor axis respectively with the end face vertical distribution where it, wherein E types rack lower face work
Touch sensor in group praises mechanism lower face embedded in lifting, and driving power and control circuit are installed in E type rack appearances
Mechanism, walking mechanism, horizontal sliding mechanism, braking exchange mechanism and power are praised in face, wherein control circuit with lifting respectively
With the visual sensor of intelligent electric control system, touch sensor, driving power electrical connection.
Further, the lifting praises mechanism and includes elevating screw, lifts silk braid, worm mechanism and lifting motor,
Wherein the lifting silk braid is in E type racks, and is coated on outside elevating screw, and the elevating screw and lifting silk braid
Between be intermeshed, the worm mechanism and lifting motor are installed in E type racks, and the lifting motor passes through worm screw
Mechanism is connected with each other with lifting silk braid, and the lifting motor and the control circuit of intelligent electric control system are electrically connected.
Further, the horizontal sliding mechanism include lead screw, division silk braid, division motor, stretched sheathed tube, guide post,
Sector gear group, wherein the division silk braid and stretched sheathed tube is embedded in U-shaped rack, wherein the division silk braid and U
Type rack is coaxially distributed, and is coated on outside lead screw and is intermeshed with leading screw, and the stretched sheathed tube is with division silk braid axis pair
Claim distribution, and with division silk braid axis parallelly distribute on, it is outer and be slidably connected between guide post that the stretched sheathed tube is coated on guide post,
The lead screw and guide post end is connected with each other with E type rack rear end faces, wherein after the lead screw end is located at E type racks
It is connected with each other outside end face and by sector gear group and division motor, the division motor and sector gear group are installed in E
Type rack rear end, wherein division motor and the control circuit of intelligent electric control system are electrically connected.
Further, the braking exchange mechanism includes ratchet, pawl, push-pull rod, electromagnet, wherein the ratchet
Be connected with each other with the wheel shaft of walking mechanism and be coaxially distributed, the pawl is hinged with U-shaped rack, and end by push-pull rod and
Electromagnet is connected with each other, and separately sets holddown spring between the pawl and U-shaped rack, and the holddown spring respectively with pawl and
U-shaped rack connection, the electromagnet and the control circuit of intelligent electric control system are electrically connected.
Further, the tote box lower face is evenly distributed at least four directive wheels, and by directive wheel and E type racks
End face connects.
Further, the corresponding E types frame upper end face of the directive wheel sets guided way.
Further, the control circuit is based on the automatic of any one in industrial microcontroller or programmable controller
Control circuit.
A kind of operation method of intelligence climbing robot, includes the following steps：
The first step is lifted fuselage, when encountering step in operation, first by being located at E types rack, U-shaped rack front end face work
The touch sensor of work group detects stepped locations, is then driven and is risen by control circuit according to the stepped locations and height that detect
Drop praises mechanism operation, and mechanism is praised by E types rack, U-shaped rack and setting in E types rack, U-shaped rack by lifting
Standby whole lifting, and be higher by least 5 millimeters of upper layer step upper surface, and regarded in E types rack, U-shaped rack front end face working group
After feeling that sensor detects that E types rack, U-shaped bracket height reach lifting requirement, lifting is stopped by control circuit and praises mechanism fortune
Row terminates lifting operation；
Second step translates U-shaped rack, after completing the first step, by the operation of control circuit driving horizontal sliding mechanism, by level
Slipping mechanism pushes U-shaped rack to be moved to step plane direction, in the process of running, on the one hand by the row of U-shaped rack lower face
It walks mechanism and carrying guiding is carried out to U-shaped rack, on the other hand by the working group of U-shaped rack front end face to U-shaped rack translational shifting
It sets and is positioned, and until U-shaped rack moves to rear on the step of upper layer and believed in place from working group to control circuit feedback completely
Number, the operation of horizontal sliding mechanism is then stopped by control circuit, terminates U-shaped rack translation operation, in U-shaped rack translation motion
In, the tote box positioned at U-shaped frame upper end face is moved in company with U-shaped rack on the step of upper layer, while being realized robot fuselage
Center of gravity is moved integrally onto upper layer step；
Third walks, the translation of E type racks, and after completing second step operation, the lifting in E type racks is praised mechanism in control electricity
Retracted for clearance is carried out under the driving effect of road, then by control circuit driving horizontal sliding mechanism inverted running, by horizontal sliding machine
Structure draws E types rack and U-shaped shell outside is translated and be finally coated to upper layer step, completes robot and resets, then returns again
First step operation is returned to, until completing step climbing；
4th step, robot translation makes E type racks be coated to U-shaped shell outside after completing step climbing operation, complete
It is resetted at robot, then under control circuit driving, mobile operation is carried out by walking mechanism driving robot, and encountering platform
When rank climbing operation is carried out back to the first step.
Structure of the invention is simpler, and comparison is easy, at low cost, easy to install and use, integrated, the degree of automation
Height, bearing capacity, adaptive capacity to environment and versatility are good, on the one hand effectively solve the ancillary equipments such as no elevator corridor,
Personnel's operation of middle transport weight and assistance moving difficulty in the environment such as ramp, another aspect bearing capacity is good, and power output is flat
It is slow to stablize, while effectively improving climbing work operations efficiency, separately effectively raise the stabilization in climbing operation process
Property and comfort, avoid caused by vibrations cargo from being undermined the increase of human body sense of discomfort.
Description of the drawings
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments；
Fig. 1 is side schematic view of the present invention；
Fig. 2 is positive structure schematic of the present invention；
Fig. 3 is D of the present invention to structural schematic diagram；
Fig. 4 is N-N of the present invention to structural schematic diagram；
Fig. 5 is braking exchange mechanism structural schematic diagram
Fig. 6 the method for the present invention flow charts.
Specific implementation mode
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, with reference to
Specific implementation mode, the present invention is further explained.
A kind of intelligent climbing robot as described in Fig. 1-5, including E types rack 1, U-shaped rack 2, tote box 3, lifting lift
Lift mechanism 4, walking mechanism 5, horizontal sliding mechanism 6, braking exchange mechanism 7 and power and intelligent electric control system, wherein E
Type rack 1, U-shaped rack 2 are coaxially distributed, and U-shaped rack 2 is embedded in 1 front end face of E types rack and sliding by level between E types rack 1
Telephone-moving structure 6 is connected with each other, horizontal sliding mechanism 6 respectively with E types rack 1, the coaxial distribution of U-shaped rack 2, and parallel with horizontal plane point
Mechanism 4 at least four is praised in cloth, lifting, is embedded in 1 four corner positions of E types rack respectively, and 4 axis of mechanism and water are praised in lifting
Plane vertical distribution, braking exchange mechanism 7 share two groups, are separately mounted to the both sides of U-shaped rack 2, and mutual with walking mechanism 5
Connection, walking mechanism 5 at least three is separately mounted to E types rack 1,2 lower face of U-shaped rack, wherein 2 lower face of U-shaped rack is set
At least two walking mechanisms 5 are simultaneously connect with braking exchange mechanism 7, and 1 lower face of E types rack sets at least one walking mechanism 5, loading
Case 3 be mounted on 2 upper surface of U-shaped rack and with the coaxial distribution of U-shaped rack 2, intelligent electric control system include visual sensor 8,
Touch sensor 9, driving power 10 and control circuit 11, wherein visual sensor 8, touch sensor 9 it is equal several, wherein one
A visual sensor 8 and touch sensor 9 constitute a working group, wherein E types rack 1, U-shaped rack 2 in each working group
Front end face bottom and lower face front be all provided at least one working group, and the visual sensor 8 in each working group, tactile sensing
For 9 axis of device respectively with the end face vertical distribution where it, the wherein touch sensor 9 in 1 lower face working group of E types rack is embedding
Mechanism lower face is praised in lifting, driving power 10 and control circuit 11 are installed in 1 outer surface of E types rack, wherein control electricity
Mechanism 4, walking mechanism 5, horizontal sliding mechanism 6, braking exchange mechanism 7 and power and intelligence electricity are praised with lifting respectively in road 11
Visual sensor 8, touch sensor 9, the driving power 10 of gas control system are electrically connected.
In the present embodiment, the lifting praise mechanism 4 include elevating screw 41, lifting silk braid 42, worm mechanism 43 and
Lifting motor 44 wherein the lifting silk braid 42 is embedded in E types rack 1, and is coated on outside elevating screw 41, and the liter
It is intermeshed between drop lead screw 41 and lifting silk braid 42, the worm mechanism 43 and lifting motor 44 are installed in E types rack 1
On, and the lifting motor 44 is connected with each other by worm mechanism 43 and lifting silk braid 42, the lifting motor 44 and intelligence
The control circuit 11 of energy electric control system is electrically connected.
In the present embodiment, 41 lower face of elevating screw sets positioning sucker disk 45.
In the present embodiment, the horizontal sliding mechanism 6 includes lead screw 61, division silk braid 62, division motor 63, extension set
Pipe 64, guide post 65, sector gear group 66, wherein the division silk braid 62 and stretched sheathed tube 64 is embedded in U-shaped rack 2,
Described in division silk braid 62 and the coaxial distribution of U-shaped rack 2, and it is outer and be intermeshed with leading screw 61 to be coated on lead screw 61, described
Stretched sheathed tube 64 with 62 axisymmetrical of division silk braid be distributed, and with 62 axis parallelly distribute on of division silk braid, the extension set
It is outer and be slidably connected between guide post 65 that pipe 64 is coated on guide post 65, the lead screw 61 and 65 end of guide post with after E types rack 1
End face is connected with each other, wherein 61 end of lead screw is located at outside 1 rear end face of E types rack and passes through sector gear group 66 and division
Motor 63 is connected with each other, and the division motor 63 and sector gear group 66 are installed in 1 rear end of E types rack, wherein division electricity
Machine 63 and the control circuit 11 of intelligent electric control system are electrically connected.
In the present embodiment, the braking exchange mechanism 7 includes ratchet 71, pawl 72, push-pull rod 73, electromagnet 74,
Described in ratchet 71 and the wheel shaft of walking mechanism 5 be connected with each other and be coaxially distributed, the pawl 72 and U-shaped rack 2 hinge
It connects, and end is connected with each other by push-pull rod 73 and electromagnet 74, and holddown spring is separately set between the pawl 72 and U-shaped rack 2
75, and the holddown spring 75 is connect with pawl 72 and U-shaped rack 2 respectively, the electromagnet 74 is controlled with intelligent electric
The control circuit 11 of system is electrically connected.
In the present embodiment, 3 lower face of tote box is evenly distributed at least four directive wheels 12, and passes through directive wheel 12 and E
1 upper surface of type rack is hinged.
In the present embodiment, 12 corresponding 1 upper surface of E types rack of directive wheel sets guided way 13.
In the present embodiment, the control circuit 11 is based on any one in industrial microcontroller or programmable controller
Automatic control circuit.
As shown in Fig. 2, a kind of operation method of intelligence climbing robot, includes the following steps：
The first step is lifted fuselage, when encountering step in operation, first by being located at E types rack, U-shaped rack front end face work
The touch sensor of work group detects stepped locations, is then driven and is risen by control circuit according to the stepped locations and height that detect
Drop praises mechanism operation, and mechanism is praised by E types rack, U-shaped rack and setting in E types rack, U-shaped rack by lifting
Standby whole lifting, and be higher by least 5 millimeters of upper layer step upper surface, and regarded in E types rack, U-shaped rack front end face working group
After feeling that sensor detects that E types rack, U-shaped bracket height reach lifting requirement, lifting is stopped by control circuit and praises mechanism fortune
Row terminates lifting operation；
Second step translates U-shaped rack, after completing the first step, by the operation of control circuit driving horizontal sliding mechanism, by level
Slipping mechanism pushes U-shaped rack to be moved to step plane direction, in the process of running, on the one hand by the row of U-shaped rack lower face
It walks mechanism and carrying guiding is carried out to U-shaped rack, on the other hand by the working group of U-shaped rack front end face to U-shaped rack translational shifting
It sets and is positioned, and until U-shaped rack moves to rear on the step of upper layer and believed in place from working group to control circuit feedback completely
Number, the operation of horizontal sliding mechanism is then stopped by control circuit, terminates U-shaped rack translation operation, in U-shaped rack translation motion
In, the tote box positioned at U-shaped frame upper end face is moved in company with U-shaped rack on the step of upper layer, while being realized robot fuselage
Center of gravity is moved integrally onto upper layer step；
Third walks, the translation of E type racks, and after completing second step operation, the lifting in E type racks is praised mechanism in control electricity
Retracted for clearance is carried out under the driving effect of road, then by control circuit driving horizontal sliding mechanism inverted running, by horizontal sliding machine
Structure draws E types rack and U-shaped shell outside is translated and be finally coated to upper layer step, completes robot and resets, then returns again
First step operation is returned to, until completing step climbing；
4th step, robot translation makes E type racks be coated to U-shaped shell outside after completing step climbing operation, complete
It is resetted at robot, then under control circuit driving, mobile operation is carried out by walking mechanism driving robot, and encountering platform
When rank climbing operation is carried out back to the first step.
Structure of the invention is simpler, and comparison is easy, at low cost, easy to install and use, integrated, the degree of automation
Height, bearing capacity, adaptive capacity to environment and versatility are good, on the one hand effectively solve the ancillary equipments such as no elevator corridor,
Personnel's operation of middle transport weight and assistance moving difficulty in the environment such as ramp, another aspect bearing capacity is good, and power output is flat
It is slow to stablize, while effectively improving climbing work operations efficiency, separately effectively raise the stabilization in climbing operation process
Property and comfort, avoid caused by vibrations cargo from being undermined the increase of human body sense of discomfort.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (8)
1. a kind of intelligence climbing robot, it is characterised in that：The intelligent climbing robot include E types rack, U-shaped rack,
Tote box, lifting praise mechanism, walking mechanism, horizontal sliding mechanism, braking exchange mechanism and power and intelligent electric control
System, wherein the E types rack, U-shaped rack are coaxially distributed, and the U-shaped rack is embedded in E type rack front end faces and and E
It is connected with each other by horizontal sliding mechanism between type rack, the horizontal sliding mechanism is coaxial with E types rack, U-shaped rack respectively
Distribution, and with horizontal plane parallelly distribute on, the lifting praises mechanism at least four, is embedded in four apex angle positions of E types rack respectively
It sets, and the lifting is praised mechanism axis and is distributed with horizontal plane, the braking exchange mechanism shares two groups, pacifies respectively
It is connected with each other mounted in the both sides of U-shaped rack, and with walking mechanism, the walking mechanism at least three is separately mounted to E type machines
Frame, U-shaped rack lower face, wherein the U-shaped rack lower face sets at least two walking mechanisms and connects with braking exchange mechanism
It connects, the E type racks lower face sets at least one walking mechanism, and the tote box is mounted on U-shaped frame upper end face and and U
Type rack is coaxially distributed, and the intelligent electric control system includes visual sensor, touch sensor, driving power and control
Circuit, wherein the visual sensor, touch sensor several, one of visual sensor and a tactile sensing
Device constitutes a working group, in each working group wherein E types rack, the front end face bottom of U-shaped rack and lower face front be all provided with to
A few working group, and the visual sensor in each working group, touch sensor axis are respectively vertical with the end face where it
Distribution, the wherein touch sensor in the working group of E types rack lower face praise mechanism lower face, driving electricity embedded in lifting
Source and control circuit are installed in E type racks outer surface, wherein the control circuit praises mechanism, vehicle with walking machine with lifting respectively
Structure, horizontal sliding mechanism, braking exchange mechanism and the visual sensor of power and intelligent electric control system, tactile sensing
Device, driving power electrical connection.
2. a kind of intelligent climbing robot according to claim 1, it is characterised in that：Mechanism is praised in the lifting
Elevating screw, lifting silk braid, worm mechanism and lifting motor, wherein the lifting silk braid is embedded in E type racks, and are coated on
It outside elevating screw, and is intermeshed between the elevating screw and lifting silk braid, the worm mechanism and lifting motor are pacified
In E type racks, and the lifting motor by worm mechanism with lifting silk braid be connected with each other, the lifting motor with
The control circuit of intelligent electric control system is electrically connected.
3. a kind of intelligent climbing robot according to claim 1, it is characterised in that：The horizontal sliding mechanism includes
Lead screw, division silk braid, division motor, stretched sheathed tube, guide post, sector gear group, wherein the division silk braid and stretched sheathed tube
Be embedded in U-shaped rack, wherein the division silk braid is coaxially distributed with U-shaped rack, and be coated on lead screw outside and with leading screw phase
Mutually engagement, the stretched sheathed tube with division silk braid axisymmetrical be distributed, and with division silk braid axis parallelly distribute on, described prolongs
Stretching casing, to be coated on guide post outer and be slidably connected between guide post, the lead screw and guide post end with E type rack rear end face phases
It connects, wherein the lead screw end is located at outside E type racks rear end face and is mutually interconnected by sector gear group and division motor
It connects, the division motor and sector gear group are installed in E type racks rear end, and wherein division motor is with intelligent electric control
The control circuit of system is electrically connected.
4. a kind of intelligent climbing robot according to claim 1, it is characterised in that：The braking exchange mechanism includes
Ratchet, pawl, push-pull rod, electromagnet, wherein the wheel shaft of the ratchet and walking mechanism is connected with each other and is coaxially distributed, it is described
Pawl and U-shaped rack it is hinged, and end is connected with each other by push-pull rod and electromagnet, another between the pawl and U-shaped rack
If holddown spring, and the holddown spring is connect with pawl and U-shaped rack respectively, the electromagnet is controlled with intelligent electric
The control circuit of system is electrically connected.
5. a kind of intelligent climbing robot according to claim 1, it is characterised in that：The tote box lower face is uniformly distributed
At least four directive wheels, and connect with E type frame upper ends face by directive wheel.
6. a kind of intelligent climbing robot according to claim 5, it is characterised in that：The corresponding E types of the directive wheel
Frame upper end face sets guided way.
7. a kind of intelligent climbing robot according to claim 1, it is characterised in that：The control circuit is based on work
The automatic control circuit of any one in industry microcontroller or programmable controller.
8. a kind of operation method of intelligence climbing robot, it is characterised in that：The operation method of the intelligent climbing robot
Include the following steps：
The first step is lifted fuselage, when encountering step in operation, first by being located at E types rack, U-shaped rack front end face working group
Touch sensor detect stepped locations, lifting lift is then driven by control circuit according to the stepped locations that detect and height
Mechanism operation is lifted, it is whole by E types rack, U-shaped rack and equipment in E types rack, U-shaped rack to praise mechanism by lifting
Body is lifted, and is higher by least 5 millimeters of upper layer step upper surface, and is passed in E types rack, the vision of U-shaped rack front end face working group
After sensor detects that E types rack, U-shaped bracket height reach lifting requirement, lifting is stopped by control circuit and praises mechanism operation, knot
Beam is lifted operation；
Second step translates U-shaped rack, after completing the first step, by the operation of control circuit driving horizontal sliding mechanism, by horizontal sliding
Mechanism urges U-shaped rack is moved to step plane direction, in the process of running, on the one hand by the vehicle with walking machine of U-shaped rack lower face
Structure carries out carrying guiding to U-shaped rack, on the other hand by the working group of U-shaped rack front end face to U-shaped rack translate position into
Row positioning, and until U-shaped rack moves to rear on the step of upper layer and feeds back signal in place from working group to control circuit completely, so
The operation of horizontal sliding mechanism is stopped by control circuit afterwards, terminates U-shaped rack translation operation and is located in U-shaped rack translation motion
The tote box in U-shaped frame upper end face is moved in company with U-shaped rack on the step of upper layer, while being realized robot body nodal point is whole
It is moved on the step of upper layer；
Third walks, the translation of E type racks, after completing second step operation, mechanism is praised in the lifting in E type racks and is driven in control circuit
Action carries out retracted for clearance under, and then by control circuit driving horizontal sliding mechanism inverted running, by horizontal sliding, mechanism is led
Draw E types rack and U-shaped shell outside is translated and be finally coated to upper layer step, completes robot and reset, then again return to
First step operation, until completing step climbing；
4th step, robot translation make E type racks be coated to U-shaped shell outside, complete machine after completing step climbing operation
Device people resets, and then under control circuit driving, carries out mobile operation by walking mechanism driving robot, and when encountering step
Climbing operation is carried out back to the first step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810561358.XA CN108725620A (en) | 2018-06-04 | 2018-06-04 | A kind of intelligence climbing robot and application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810561358.XA CN108725620A (en) | 2018-06-04 | 2018-06-04 | A kind of intelligence climbing robot and application method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108725620A true CN108725620A (en) | 2018-11-02 |
Family
ID=63931591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810561358.XA Withdrawn CN108725620A (en) | 2018-06-04 | 2018-06-04 | A kind of intelligence climbing robot and application method |
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| Country | Link |
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| CN (1) | CN108725620A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111660310A (en) * | 2020-06-14 | 2020-09-15 | 湖南三湘银行股份有限公司 | Voice robot suitable for bank |
-
2018
- 2018-06-04 CN CN201810561358.XA patent/CN108725620A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111660310A (en) * | 2020-06-14 | 2020-09-15 | 湖南三湘银行股份有限公司 | Voice robot suitable for bank |
| CN111660310B (en) * | 2020-06-14 | 2021-09-28 | 湖南三湘银行股份有限公司 | Voice robot suitable for bank |
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