CN110314048B - Climbing device, stair climbing robot and stair climbing method thereof - Google Patents
Climbing device, stair climbing robot and stair climbing method thereof Download PDFInfo
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- CN110314048B CN110314048B CN201910384436.8A CN201910384436A CN110314048B CN 110314048 B CN110314048 B CN 110314048B CN 201910384436 A CN201910384436 A CN 201910384436A CN 110314048 B CN110314048 B CN 110314048B
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- 230000009194 climbing Effects 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title claims description 10
- 230000001360 synchronised effect Effects 0.000 claims abstract description 41
- 210000000078 claw Anatomy 0.000 claims abstract description 31
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 claims 1
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000282326 Felis catus Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/068—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps with extensible supports pushing upwards, e.g. telescopic legs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
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- Animal Behavior & Ethology (AREA)
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Abstract
A climbing device and a stair climbing robot thereof comprise climbing claws, a lower moving plate, linear bearings, a connecting fixing plate, guide rods, screw rods, an upper moving plate, a motor, a speed reducer, synchronous belts, synchronous belt wheels 111A and 111B, tension wheels, a buffer and a proximity switch; the lower moving plate is connected with the upper moving plate through a guide rod, one end of the guide rod is fixedly connected with the lower moving plate, the other end of the guide rod is fixed with the upper moving plate to form a stable frame structure, and the climbing claw is fixedly connected with the lower moving plate; the connecting and fixing plate is sleeved on the guide rod through a linear bearing to form a moving pair; the upper end of the screw rod is connected with the upper moving plate to form a revolute pair; the lower end of the screw rod is connected with the lower moving plate to form a rotating pair, and the middle part of the screw rod is in threaded connection with the connecting fixing plate to form a rotating pair.
Description
Technical Field
The invention relates to the field of equipment for old people and disabled people, in particular to a climbing device, a stair climbing robot and a stair climbing method thereof.
Background
With the increase of population in the world and the increasing aging population, the research on the robot for the old and the disabled is strengthened day by day, and meanwhile, the auxiliary equipment for the old and the disabled is increased day by day; in the field of old-age and disabled-assistant robots, equipment for assisting the elderly or disabled to go out is extremely important, and the design requirements on safety and functionality are high. So far, the stair climbing and obstacle crossing functions of the robot are particularly important. However, at the present stage, the robot for old people and disabled people belongs to a new industry, the design levels of various products are different, and many products do not have the stair climbing or obstacle crossing function, so that the functions of the products are single, the requirements on the traveling conditions are strict, and the good traveling experience of users cannot be met.
In the prior art, as in chinese patent application (application number: CN2014108270969), a composite ladder climbing robot is disclosed, which has a technical scheme including: the device consists of a frame, a motor, a sliding block, a slideway, a rotating shaft, a synchronous belt wheel, a belt wheel seat, a synchronous toothed belt, a large moving block, a small moving block, a claw connecting block and a rubber band. The frame is main supporting part, the motor is the power supply, the band pulley is fixed on the band pulley seat, thereby be connected fixedly with the frame, it is spacing to accomplish 90 degrees rotations on the connecting block of claw is installed to the claw, constitute the overall structure of claw, simultaneously through bolt and slider, the movable block is connected, translation motion just can be accomplished to whole device on the slide, corotation and reversal through the motor, the performance is the upper and lower slip of big or small movable block, the claw contacts with the ladder pipe, produce a reaction force, thereby drive the climbing of whole cat ladder mechanism completion ladder.
However, although this prior art realizes the stair climbing operation of the robot, since this prior art structure does not use the cooperation of mechanical structures such as a speed reducer, a plurality of synchronous pulleys, a guide rod, a proximity switch, a revolute pair, and a traveling pair, the function of smoothly climbing stairs or crossing obstacles cannot be achieved although the structure is simple.
In order to solve the above problems, and simultaneously to satisfy the stair climbing and obstacle crossing functions of the robot, the technical personnel in the field find that the following defects exist in the prior art when designing the climbing robot: climbing device sets up when climbing the building robot, climbing device and the installation contained angle between the moving direction are set for in the certain limit mu, lead to when climbing the connection fixed plate of device when mu is too big to remove to the top, and the building robot horizontal migration distance of climbing that is connected with the connection fixed plate is still less, and the robot wheel can't climb the step, drives the wheel when connecting the fixed plate return stroke and returns to the original position, can't climb next grade stair. If mu is too small, the friction force between the climbing claw and the ground is too small, and the phenomenon of sliding of the climbing claw backwards occurs.
Disclosure of Invention
As described in the background art, wheel type stair climbing is mostly adopted in the prior art, and the problem of skidding during stair climbing or obstacle crossing cannot be solved in the climbing process. The technical scheme is as follows:
a climbing device comprises a climbing claw 101, a lower moving plate 102, a linear bearing 103, a connecting fixing plate 104, a guide rod 105, a screw rod 106, an upper moving plate 107, a motor 108, a speed reducer 109, a synchronous belt 110, a synchronous belt pulley 111, a tension pulley 112, a buffer 113 and a proximity switch 114, wherein the synchronous belt pulley 111 comprises 2 synchronous belt pulleys (namely a synchronous belt pulley A and a synchronous belt pulley B).
The lower moving plate 102 is connected with the upper moving plate 107 through three guide rods 105, one end of each guide rod 105 is fixedly connected with the lower moving plate 102, the other end of each guide rod 105 is fixed with the upper moving plate 107 to form a stable frame structure, the climbing claw 101 is fixedly connected with the lower moving plate 102, and the lower moving plate 102, the upper moving plate 107, the guide rods 105 and the climbing claw 101 form a climbing claw assembly; the connecting and fixing plate 104 is sleeved on the guide rod 105 through the linear bearing 103 to form a moving pair; one end of the speed reducer 109 is connected with an output shaft of the motor 108, the other end of the speed reducer 109 is connected with the synchronous belt wheel 111A, and the speed reducer 109 is fixed on the lower moving plate 102; the upper end of the screw rod 106 is connected with the upper moving plate to form a revolute pair, the middle part of the screw rod is connected with the connecting fixing plate 104 through threads to form a revolute pair, the other end of the screw rod penetrates through the lower moving plate to be fixedly connected with a synchronous pulley 111B, the synchronous belt 110 is connected with two synchronous pulleys, and the climbing claw 101 is fixedly connected with the lower moving plate 102; the damper 113 and the proximity switch 114 are fixed to the lower moving plate 102, the damper 113 serves to buffer the lower moving plate from the connection fixing plate 104, and the proximity switch 114 serves to control the position.
Preferably: and the three pairs of guide rods are uniformly arranged to form a stable frame structure together with the upper moving plate and the lower moving plate.
Preferably: the motor drives the screw rod to rotate through the synchronous belt, the screw rod drives the lower moving plate to move, and the climbing claw can drive the stair climbing robot to climb stairs or barriers.
Preferably: when climbing device sets up on climbing the building robot, climbing device and moving direction between the installation contained angle mu set for certain limit.
Preferably: the installation included angle mu is set to be 30-50 degrees.
The invention also discloses a stair climbing robot which comprises any one of the climbing devices.
The invention also discloses a stair climbing method of the stair climbing robot, and the climbing device is adopted.
Advantageous effects
The problem of present climb building device appear skidding unstablely climbing the building in-process, and then realize climbing the stable climbing of device problem is solved.
Drawings
FIG. 1 is a schematic structural diagram of a climbing device of a stair climbing robot;
fig. 2 is a schematic view of a first application scenario of a climbing device of a stair climbing robot;
fig. 3 is a schematic view of an application scenario of a climbing device of a stair climbing robot.
Description of reference numerals: the climbing device comprises a climbing device 10, climbing claws 101, a lower moving plate 102, a linear bearing 103, a connecting fixing plate 104, a guide rod 105, a screw rod 106, an upper moving plate 107, a motor 108, a speed reducer 109, a synchronous belt 110, a synchronous belt wheel 111, a tension wheel 112, a buffer 113 and a proximity switch 114.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific examples, which are illustrated in figures 1-3.
As shown in fig. 1, the climbing device of the stair climbing robot comprises a climbing claw 101, a lower moving plate 102, a linear bearing 103, a connecting fixing plate 104, a guide rod 105, a screw rod 106, an upper moving plate 107, a motor 108, a speed reducer 109, a synchronous belt 110, a synchronous pulley 111A, a synchronous pulley 111B, a tension pulley 112, a buffer 113 and a proximity switch 114.
As shown in fig. 1, the lower moving plate 102 is connected with the upper moving plate 107 through three guide rods 105, one end of each guide rod 105 is fixedly connected with the lower moving plate 102, the other end of each guide rod 105 is fixedly connected with the upper moving plate 107 to form a stable frame structure, the climbing claw 101 is fixedly connected with the lower moving plate 102, and the lower moving plate 102, the upper moving plate 107, the guide rods 105 and the climbing claw 101 form a climbing claw assembly; the connecting and fixing plate 104 is sleeved on the guide rod 105 through the linear bearing 103 to form a moving pair; one end of the speed reducer 109 is connected with an output shaft of the motor 108, the other end of the speed reducer 109 is connected with the synchronous belt wheel 111A, and the speed reducer 109 is fixed on the lower moving plate 102; the upper end of the screw rod 106 is connected with the upper moving plate 107 to form a revolute pair, the middle part of the screw rod 106 is in threaded connection with the connecting fixing plate 104 to form a revolute pair, the other end of the screw rod 106 penetrates through the lower moving plate 102 to be fixedly connected with a synchronous pulley 111B, and the synchronous pulley 111A is connected with the synchronous pulley 111B through a synchronous belt 110; the damper 113 and the proximity switch 114 are fixed to the lower moving plate 102, the damper 113 serves to buffer the space between the lower moving plate 102 and the connection fixing plate 104, and the proximity switch 114 serves to control the position.
As shown in fig. 3, when the climbing device is arranged on the stair climbing robot, the installation included angle μ between the climbing device and the moving direction is set within a certain range (such as 30-50 degrees), when μ is too large, the horizontal moving distance of the stair climbing robot connected with the connecting fixing plate 104 is still small, and the wheels of the robot cannot climb up the steps, and when the connecting fixing plate 104 returns to the original position, the wheels are driven to return to the original position, and the next-level stairs cannot be climbed. If mu is too small, the friction force between the climbing claw 101 and the ground is too small, the phenomenon of sliding of the climbing claw 101 backwards occurs, and the device solves the problem that the current stair climbing device is unstable in sliding in the stair climbing process by utilizing the stair climbing robot.
The working principle is as follows:
when the robot climbs a building, the connecting and fixing plate 104 is located at the lower part of the screw rod 106, when the robot climbs the building, the climbing claws are in contact with the horizontal plane of the step and are supported by the horizontal plane of the step, the motor 108 drives the synchronous belt pulley 111A to rotate through the speed reducer 109, the synchronous belt pulley 111B is driven to rotate under the action of the synchronous belt 110, the synchronous belt pulley 111B drives the screw rod 106 to rotate, the screw rod 106 drives the connecting and fixing plate 104 to move upwards through the threads of the connecting and fixing plate 104 matched with the screw rod 106, so that the building climbing robot connected with the connecting and fixing plate 104 is lifted, and is locked when the connecting and fixing plate 104 ascends to the maximum position, the motor receives an instruction to rotate reversely, the screw rod 106 drives the climbing claw assembly to return downwards through the nut of the connecting and fixing plate 104.
In the previous description, numerous specific details were set forth in order to provide a thorough understanding of the present invention. The foregoing description is only a preferred embodiment of the invention, which can be embodied in many different forms than described herein, and therefore the invention is not limited to the specific embodiments disclosed above. And that those skilled in the art may, using the methods and techniques disclosed above, make numerous possible variations and modifications to the disclosed embodiments, or modify equivalents thereof, without departing from the scope of the claimed embodiments. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the scope of the technical solution of the present invention.
Claims (3)
1. A climbing device comprises a climbing claw, a lower moving plate, a linear bearing, a connecting fixing plate, a guide rod, a screw rod, an upper moving plate, a motor, a speed reducer, a synchronous belt wheel A, a synchronous belt wheel B, a tension wheel, a buffer and a proximity switch; it is characterized in that: the lower moving plate is connected with the upper moving plate through a guide rod, one end of the guide rod is fixedly connected with the lower moving plate, the other end of the guide rod is fixed with the upper moving plate to form a stable triangular frame structure, and the climbing claw is fixedly connected with the lower moving plate; the lower moving plate, the upper moving plate, the guide rod and the climbing claw form a climbing claw component together; the connecting and fixing plate is sleeved on the guide rod through a linear bearing to form a moving pair; one end of the speed reducer is connected with an output shaft of the motor, the other end of the speed reducer is connected with the synchronous belt pulley A, and the speed reducer is fixed on the lower moving plate; the upper end of the screw rod is connected with the upper moving plate to form a revolute pair, the middle part of the screw rod is in threaded connection with the connecting fixing plate to form a revolute pair, the other end of the screw rod penetrates through the lower moving plate to be fixedly connected with the synchronous pulley B, and the synchronous pulley A is connected with the synchronous pulley B through a synchronous belt; the buffer and the proximity switch are fixed on the lower moving plate, the buffer plays a role in buffering between the lower moving plate and the connecting and fixing plate, and the proximity switch plays a role in position control; when the climbing device is arranged on the stair climbing robot, the installation included angle mu between the climbing device and the moving direction is set within a certain range, when the mu is too large, the horizontal moving distance of the stair climbing robot connected with the connecting fixing plate is still small when the connecting fixing plate moves to the top end, the wheels of the stair climbing robot cannot climb up steps, and when the connecting fixing plate returns to the original position, the wheels cannot climb up the next-level stairs, and the installation included angle mu is set within the range of 30-50 degrees; the guide rods are three pairs and are uniformly arranged to form a stable frame structure with the upper moving plate and the lower moving plate; the motor drives the screw rod to rotate through the synchronous belt, the screw rod drives the lower moving plate to move, and the climbing claw can drive the stair climbing robot to climb stairs; when the level land, the connection fixed plate is located the lower part of lead screw, when climbing the building, climb claw and step horizontal plane contact to use the step horizontal plane as the support, the motor passes through the reduction gear and drives synchronous pulley A and rotate, drive synchronous pulley under the effect of hold-in range and rotate, synchronous pulley B drive lead screw rotates, the lead screw drives through the screw thread of being connected the fixed plate with it complex and is connected the fixed plate rebound, thereby make and be connected the building robot that climbs that the fixed plate is connected and promote, locked when connecting the fixed plate and rise to the maximum position, the instruction reversal is received to the motor, the lead screw drives through the nut of connecting the fixed plate and climbs claw subassembly return downwards, therefore reachs last grade step, so relapse, the drive climbs building robot and climbs stair or barrier.
2. A stair climbing robot characterized by: comprising a climbing device according to claim 1.
3. A stair climbing method of a stair climbing robot is characterized in that: a climbing device as claimed in claim 1 is employed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910384436.8A CN110314048B (en) | 2019-05-09 | 2019-05-09 | Climbing device, stair climbing robot and stair climbing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910384436.8A CN110314048B (en) | 2019-05-09 | 2019-05-09 | Climbing device, stair climbing robot and stair climbing method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110314048A CN110314048A (en) | 2019-10-11 |
| CN110314048B true CN110314048B (en) | 2020-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910384436.8A Active CN110314048B (en) | 2019-05-09 | 2019-05-09 | Climbing device, stair climbing robot and stair climbing method thereof |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9045177B2 (en) * | 2013-02-27 | 2015-06-02 | National Taiwan University | Omni-directional terrain crossing mechanism |
| CN203754353U (en) * | 2014-03-18 | 2014-08-06 | 苏州赛腾精密电子有限公司 | Lifting-type feeding mechanism |
| CN104527829B (en) * | 2014-12-25 | 2017-02-22 | 哈尔滨工程大学 | Combined ladder climbing robot |
| CN106672104B (en) * | 2015-11-10 | 2018-11-06 | 中国人民解放军军械工程学院 | A kind of flat polypody pedestrian system of terrain self-adaptive based on phase difference |
| CN207596084U (en) * | 2017-11-20 | 2018-07-10 | 深圳市正善电子有限公司 | A kind of lifting gear of unloader |
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Effective date of registration: 20221024 Address after: 230601 406, Building 3, Zone C, Intelligent Equipment Science Park, No. 3963, Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Hefei Hagong cijian Intelligent Technology Co.,Ltd. Address before: 230601 intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee before: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION |