CN109773741A - A kind of balancing device of track type climbing-building robot - Google Patents
A kind of balancing device of track type climbing-building robot Download PDFInfo
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- CN109773741A CN109773741A CN201910154239.7A CN201910154239A CN109773741A CN 109773741 A CN109773741 A CN 109773741A CN 201910154239 A CN201910154239 A CN 201910154239A CN 109773741 A CN109773741 A CN 109773741A
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- type climbing
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Abstract
The object of the present invention is to provide a kind of solution track type climbing-building robot equilibrium problems, the program is relatively traditional to be for example also easier using relatively simple implement of scheme of complicated algorithm realization balance, and automatic adjustable balance, response is rapid, strong antijamming capability is not easily susceptible to the interference of extraneous condition.Inclination angle is mainly measured by obliquity sensor, it is then transferred to PLC, the corresponding program launches high-speed pulse of PLC execution makes stepper motor drive ball screw that rotation is converted to translation to drive the up and down motion of promotion crossbeam finally iron case to be allowed to keep equilibrium state by shaft coupling to stepper motor.
Description
Technical field
The present invention relates to a kind of track type climbing-building robot fields, and in particular to a kind of balance of track type climbing-building robot
Device.
Background technique
With the development of modern society, robot plays increasingly important role in human society.As therein
One kind, track type climbing-building robot also play various important roles under various conditions.For example, disabled person is in no elevator
In the case where, it is necessary to a caterpillar type robot helps it easily to go upstairs, and is also exactly similarly to need when transporting object
Track type climbing-building robot.Relate among these one it is important in terms of, that is, the equilibrium problem of caterpillar type robot.It passes
The crawler type equilibrium problem of system keeps the balance of robot against complicated algorithm, more complicated.The present invention then devises one kind
Relatively simple device realizes the equilibrium problem of caterpillar type robot.
Summary of the invention
The object of the present invention is to provide a kind of solution track type climbing-building robot equilibrium problem, the relatively traditional examples of the program
It such as realizes that relatively simple implement of scheme of balance is also easier using complicated algorithm, and automatic adjustable balance, rings
Should rapidly, strong antijamming capability is not easily susceptible to the interference of extraneous condition, is transmitted to PLC by the data that obliquity sensor measures,
PLC makes iron case keep balance according to corresponding program to stepper motor transmitting high-speed pulse driving ball screw promotion.
The present invention realizes that goal of the invention adopts the following technical scheme that
To achieve the goals above, the present invention adopts the following technical scheme: robot includes chassis, crawler belt, stepper motor,
Ball screw etc..Mounted angle sensor on the robot chassis, the chassis are fixed in crawler belt with four pieces of reinforcing ribs
On baffle.The guide rail of the vertical ball screw is fixed on guiderail base, and the support end is fixed on guiderail base, the screw rod
Support base is fixed on guiderail base, and the shaft coupling is connected on ball screw, and the stepper motor is connected on shaft coupling.
The ball screw is mounted on by bearing and is supported between end and lead screw support base.The ballscrew nut fitting is covered in ball wire
On bar, the mobile sliding block is connected on guide rail, and the carrier frame plate is fixed on mobile sliding block, and the connecting plate is fixed on guide rail
On pedestal, the stepper motor is fixed on connecting plate, and the fixing seat is fixed on carrier frame plate.The promotion crossbeam is fixed on
In two fixing seats.The fixed link is fixed on bottom plate end by support frame, and iron bottom face middle section is by lift lever
Support, one end is connected on fixed cross beam turnablely.The crawler belt is connected to crawler belt baffle side, the driving motor connection
In the crawler belt baffle other side.
Preferably, Zhong Zhong track type climbing-building robot provided by the invention balancing device, it is characterised in that: iron case
It (20) is that contact promotes crossbeam (22).
Preferably, kind track type climbing-building robot balancing device, fixing seat (10) are fixed on carrier frame plate (5).
Preferably, kind track type climbing-building robot balancing device, promoted crossbeam (22) by ball screw drive promoted Lai
Iron case is set to keep equilibrium state.
Compared with prior art, beneficial effects of the present invention are as follows:
(1) can adjust balance fast and automatically, in real time, and response is fast.
(2) material required for is less, implements simple.
(3) is because of stepper motor self-characteristic, strong antijamming capability.
(4) it being placed among crossbeam among iron bottom portion, direction of improvement and pedestal remain vertically when promoting crossbeam in this way,
It can calculate that be promoted to horizontality be the distance advanced of ball screw needs by formula.
(5) .PLC drives ball screw band movable slider to move upwards by transmitting high-speed pulse, and precision is high, and balance is accurate.
Working principle: when caterpillar type robot starts stair climbing, the inclination angle on robot bottom plate and ground is constantly to become
Change.The inclination angle of variation can be measured by obliquity sensor.Since the distance of lift lever and fixed link is fixed, it is assumed that
Fixed link and the horizontal distance of horizon bar are L, and the inclination angle of this time obliquity sensor detection is β, last obliquity sensor detection
Inclination angle is α, then it is Δ h=L × (tan β-tan α) that this time ball screw, which needs the height promoted,.Obliquity sensor can will be examined
The inclination value of survey sends PLC to.PLC can go out inclination angle by program calculation to be changed every time, the height promoted required for ball screw
Degree.The height that ball screw is promoted is controlled by PLC, and PLC emits high-speed pulse, and stepper motor, which receives high-speed pulse, to be turned
It is dynamic.By constantly send high-speed pulse promoted or decline ball screw height, wherein the transmitting of high-speed pulse by
SMB67.7 control is enabled, and SMW68 controls pulse period, the pulse number of SMD72 control transmitting.In this way, opening in stair climbing
When the beginning, although inclination angle constantly changes, obliquity sensor constantly detects the variation at inclination angle, according to inclination angle before with
And present inclination angle constantly can drive ball screw movement by PLC instruction stepper motor, and rotation is converted to Vertical Square
To movement.
Detailed description of the invention:
Fig. 1 is 3-D view of the invention；
Fig. 2 is cross-sectional view of the invention；
Fig. 3 is the balanced adjustment schematic diagram of stair climbing of the invention.
In figure: 1- obliquity sensor；2- reinforcing rib；3- supports end；4- guiderail base；5- carrier frame plate；6- connecting plate；7- connection
Axis device；8- screw mandrel support seat；9- ballscrew nut fitting；10- fixing seat；11- guide rail；12- ball screw；13- fixed cross beam；
14- support frame；15- crawler belt baffle；16- crawler belt；17- driving motor；The chassis 18-；19- bearing；20- iron case；21- stepping electricity
Machine；22- promotes crossbeam；23- moves sliding block.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, and mainly detects caterpillar type robot when advancing by obliquity sensor (1) in attached drawing 1 and attached drawing 2
Constantly detect the variation at inclination angle, according to the distance in chassis (18) direction for promoting crossbeam (22) and fixed cross beam (13) and
The variation at inclination angle calculates the height that ball screw (12) need to be promoted.Each obliquity sensor (1) detects the variation at inclination angle, all
PLC can be transferred data to.PLC is given stepper motor (21) by programming capable of emitting high-speed pulse, and driving stepper motor passes through connection
Axis device (7) drives ball screw (12) to convert rotational motion into linear motion, to pass through fixing seat (10) and mobile cunning
Block (23) will promote crossbeam (22) and be promoted to corresponding position, so that iron case (20) keeps balance.Attached drawing 3 describes crawler type machine
The equilibrium process of device people movement.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (4)
1. a kind of track type climbing-building robot balancing device, it is characterised in that: robot includes chassis (18), crawler belt (16), step
Into motor (21), ball screw (12) etc..Mounted angle sensor (1) on robot chassis (18), chassis (18) are added with four pieces
Strengthening tendons (2) are fixed on crawler belt baffle (15).Guiderail base (4) is fixed on chassis (18), the guide rail of ball screw (12)
(11) it is fixed on guiderail base (4), supports end (3) to be fixed on guiderail base (4), screw mandrel support seat (8) is fixed on guide rail
On pedestal (4), stepper motor (21) is connected on ball screw (12) by shaft coupling (7).Ball screw (12) passes through bearing
(19) it is mounted on and supports between end (3) and lead screw support base (8).Ballscrew nut fitting (9) covers on ball screw (12), moves
Movable slider (23) is connected on guide rail (11), and carrier frame plate (5) is fixed on mobile sliding block (23), and connecting plate (6) is fixed on guide rail
On pedestal (4), stepper motor (21) is fixed on connecting plate (6), and fixing seat (10) is fixed on carrier frame plate (5).Promote crossbeam
(22) it is fixed on two fixing seats (10), fixed cross beam (13) is fixed on chassis (18) end, iron case by support frame (14)
(20) bottom surface middle section is supported by promotion crossbeam (22), and one end is connected to turnablely on fixed cross beam (13), crawler belt (16)
It is connected on crawler belt baffle (15), driving motor (17) is connected to chassis (18) below.
2. a kind of according to claim 1, track type climbing-building robot balancing device, it is characterised in that: iron case (20) is
Contact promotes crossbeam (22).
3. according to claim 1, a kind of track type climbing-building robot balancing device, fixing seat (10) is fixed on carrier frame plate
(5) on.
4. a kind of according to claim 1, track type climbing-building robot balancing device promotes crossbeam (22) by ball screw
It drives and is promoted to make iron case keep equilibrium state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910154239.7A CN109773741A (en) | 2019-02-28 | 2019-02-28 | A kind of balancing device of track type climbing-building robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910154239.7A CN109773741A (en) | 2019-02-28 | 2019-02-28 | A kind of balancing device of track type climbing-building robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109773741A true CN109773741A (en) | 2019-05-21 |
Family
ID=66487289
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910154239.7A Pending CN109773741A (en) | 2019-02-28 | 2019-02-28 | A kind of balancing device of track type climbing-building robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315557A (en) * | 2019-06-28 | 2019-10-11 | 希格斯动力科技（珠海）有限公司 | Article carrying platform level-regulating system, control method and device |
| CN110435780A (en) * | 2019-09-06 | 2019-11-12 | 中国科学院合肥物质科学研究院 | A kind of compound climbing stairs cargo plane of wheel shoe |
| CN110562338A (en) * | 2019-08-23 | 2019-12-13 | 华电中自(北京)科技有限公司 | Remote control climbing express delivery transports balance car |
| WO2021017048A1 (en) * | 2019-07-29 | 2021-02-04 | 东北大学 | Obstacle-crossing accompanying robot for elderly |
| CN113371086A (en) * | 2021-07-28 | 2021-09-10 | 中铁电气化局集团有限公司 | Freight vehicle |
| CN114030538A (en) * | 2021-11-05 | 2022-02-11 | 深圳优地科技有限公司 | Balancing device, robot and self-balancing adjusting method |
| CN115071855A (en) * | 2022-07-07 | 2022-09-20 | 中国恩菲工程技术有限公司 | Large-angle stair upstairs and downstairs ascending and descending device for four-foot mechanical dog and using method of large-angle stair ascending and descending device |
| CN116750069A (en) * | 2023-08-17 | 2023-09-15 | 应急管理部上海消防研究所 | Stair climbing transportation robot and working method |
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| US20140202777A1 (en) * | 2011-10-04 | 2014-07-24 | Siu Lun Lee | Electric wheelchair |
| CN102602261A (en) * | 2012-03-27 | 2012-07-25 | 上海电力学院 | Control method based on hydraulic adjustable suspension balance acceleration |
| CN205524568U (en) * | 2016-02-05 | 2016-08-31 | 福州凯和电子有限公司 | Automatic horizontal robot in slope |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315557A (en) * | 2019-06-28 | 2019-10-11 | 希格斯动力科技（珠海）有限公司 | Article carrying platform level-regulating system, control method and device |
| WO2021017048A1 (en) * | 2019-07-29 | 2021-02-04 | 东北大学 | Obstacle-crossing accompanying robot for elderly |
| CN110562338A (en) * | 2019-08-23 | 2019-12-13 | 华电中自(北京)科技有限公司 | Remote control climbing express delivery transports balance car |
| 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 |
| CN110435780A (en) * | 2019-09-06 | 2019-11-12 | 中国科学院合肥物质科学研究院 | A kind of compound climbing stairs cargo plane of wheel shoe |
| CN113371086A (en) * | 2021-07-28 | 2021-09-10 | 中铁电气化局集团有限公司 | Freight vehicle |
| CN114030538A (en) * | 2021-11-05 | 2022-02-11 | 深圳优地科技有限公司 | Balancing device, robot and self-balancing adjusting method |
| CN115071855A (en) * | 2022-07-07 | 2022-09-20 | 中国恩菲工程技术有限公司 | Large-angle stair upstairs and downstairs ascending and descending device for four-foot mechanical dog and using method of large-angle stair ascending and descending device |
| CN115071855B (en) * | 2022-07-07 | 2023-08-04 | 中国恩菲工程技术有限公司 | Large-angle stair upstairs and downstairs device for four-foot mechanical dog and application method of large-angle stair upstairs and downstairs device |
| CN116750069A (en) * | 2023-08-17 | 2023-09-15 | 应急管理部上海消防研究所 | Stair climbing transportation robot and working method |
| CN116750069B (en) * | 2023-08-17 | 2023-10-17 | 应急管理部上海消防研究所 | Stair climbing transportation robot and working method |
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Application publication date: 20190521 |