CN110328651A - Towards old man can obstacle detouring accompany and attend to robot - Google Patents
Towards old man can obstacle detouring accompany and attend to robot Download PDFInfo
- Publication number
- CN110328651A CN110328651A CN201910687072.0A CN201910687072A CN110328651A CN 110328651 A CN110328651 A CN 110328651A CN 201910687072 A CN201910687072 A CN 201910687072A CN 110328651 A CN110328651 A CN 110328651A
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- wheel
- stump
- steering engine
- chassis
- jump
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- 239000000969 carrier Substances 0.000 claims abstract description 4
- 230000008878 coupling Effects 0.000 claims abstract description 4
- 238000010168 coupling process Methods 0.000 claims abstract description 4
- 238000005859 coupling reaction Methods 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 abstract description 7
- 230000004888 barrier function Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000036772 blood pressure Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
Abstract
Towards old man can obstacle detouring accompany and attend to robot, the robot includes chassis, chassis both ends are symmetrically installed with wheel carrier, three the first Athey wheels are separately installed on the wheel carrier, four the second Athey wheels, two third Athey wheels and crawler belt, chassis upper surface front end is equipped with preceding steering engine, preceding steering engine is equipped with preceding Stump-jump wheel by two preceding Stump-jump wheel connecting rods and front axle, chassis upper surface rear end is equipped with motor housing, the output shaft of two motors in the motor housing passes through the shaft coupling wheel axis connection with the first Athey wheel at the top of the triangle connecting rack of two wheel carriers respectively, the upper surface on the chassis is equipped with pallet by electric telescopic rod, the tail end on the chassis is equipped with rear steering engine, steering engine is equipped with rear Stump-jump wheel by the connection of Stump-jump wheel connecting rod and hind axle after two afterwards.By front and back Stump-jump wheel connecting rod with the obstacle detouring structure that Stump-jump wheel combines compared with general wheeled or crawler type mechanism, can realize obstacle detouring in the inclined situation of pallet, and then old man is helped to carry article.
Description
Technical field
The invention belongs to barrier getting over mechanism technical fields, and in particular to towards old man can obstacle detouring accompany and attend to robot.
Background technique
The phenomenon that " Empty nest elderly ", is increasingly serious, therefore, it is big as social one how properly to look after solitary the elderly
Problem.However, usually due to family's small, not at one's side, and home for destitute human attendance's higher cost is easy children
Cause old man neglected, causes many old men and led to the problem of because of that could not take care of in time.
It is existing towards old man accompany and attend to robot remind old man take medicine, exchanged with old man, monitor heart rate, blood pressure etc.
It is more perfect, but there are still a little deficiencies in terms of its mechanical structure.Such as: patent document (CN106671105A) proposes
A kind of robot of accompanying and attending to monitor heart rate, blood pressure and warning function, but its technical solution is single in terms of mechanical structure
The shortcomings that pure wheeled construction, this programme is that only have locomotive function, without obstacle climbing ability, does not adapt to the feelings of environment complexity
Condition (such as countryside) can not provide help in mechanical structure level for old man.
Summary of the invention
The invention discloses a kind of towards old man can obstacle detouring accompany and attend to robot, have in barrier getting over mechanism and the old man field of accompanying and attending to
It is innovated, by preceding Stump-jump wheel and rear Stump-jump wheel double wheel design, solves existing product in the can not achieve obstacle detouring of mechanical aspects
Function, also for barrier getting over mechanism how to reduce chassis inclination provide solution.It is in conjunction with upper electric telescopic rod and solid therewith
Fixed pallet, can old man accompany and attend to aspect realize it is more multi-functional, such as climb building, help old man carry article, assist old man etc. in.
To achieve the goals above, the invention proposes towards old man can obstacle detouring accompany and attend to robot, which includes
Chassis, wheel carrier, preceding steering engine, rear steering engine, chassis both ends are symmetrically installed with wheel carrier, and wheel carrier is by outer side frame, interior side frame and connecting cross beam
Composition, the outer side frame and interior side frame are fixedly connected by crossbeam thereon with connecting cross beam, and interior side frame and outer side frame rear end are equal
For triangle connecting rack, respectively by wheel shaft installation there are three the first Athey wheel at the position at three angles of triangle connecting rack,
Interior side frame and outer side frame front end are trapezoidal connection frame, pass through wheel shaft respectively at the position at four angles of trapezoidal connection frame and are equipped with four
The crossbeam lower surface of a second Athey wheel, interior side frame and outer side frame is respectively provided with there are two connection otic placode, the engaging lug of coaxial arrangement
Third Athey wheel is equipped with by wheel shaft between plate, three first Athey wheels, four the second Athey wheels and two thirds are carried out
Belt wheel is coupled with crawler belt, and chassis upper surface front end is equipped with preceding steering engine, and preceding steering engine is symmetrically arranged by its both ends
Steering engine arm is connect with two preceding Stump-jump wheel connecting rods, and two preceding Stump-jump wheel connecting rod front ends are equipped with front axle, and front axle both ends are stretched out
Two preceding Stump-jump wheel shaft portions are equipped with preceding Stump-jump wheel by rolling bearing, and chassis upper surface rear end is equipped with motor
Case, there are two motor, the output shafts of two motors to pass through the shaft coupling triangle with two wheel carriers respectively for the interior installation of the motor housing
The upper surface of the wheel axis connection of the first Athey wheel at the top of shape connection frame, the chassis is bolted close to motor housing one end
Electric telescopic rod is installed, the end of electric telescopic rod is fixedly installed with pallet, and is equipped on the motor cabinet of electric telescopic rod
First power switch, the tail end on the chassis are equipped with rear steering engine, and rear steering engine passes through the symmetrically arranged steering engine arm in its both ends and two
Stump-jump wheel connecting rod connection after a, the rear end of rear Stump-jump wheel connecting rod are equipped with hind axle, Stump-jump wheel after hind axle both ends stretch out two
Shaft portion is equipped with rear Stump-jump wheel by rolling bearing.
Stump-jump wheel connecting rod includes gonnecting rod body after described, and gonnecting rod body both ends offer small through hole and large through-hole, gonnecting rod body respectively
It is connect by small through hole thereon with the steering engine arm of rear steering engine, ratchet is installed, ratchet is by three spine in the large through-hole of gonnecting rod body
Tooth composition, is equipped with roller by spring in the right angle endface of ratchet, rear shaft mounting hole is offered at ratchet center, for pacifying
Fill hind axle.
The chassis is by two crossbeams, preceding upper plate, preceding lower plate, rear upper plate, rear lower plate, front end panel, connecting plate and several
Bolt composition, the upper and lower surfaces middle part of two support beams, which is bolted, is equipped with connecting plate, two supports
Crossbeam front end upper surface is equipped with preceding upper plate by bolt, and the upper surface of preceding upper plate is separately installed with preceding steering engine, controller and
Two power switches, two support beam rear end lower surfaces are equipped with preceding lower plate by bolt, and preceding lower plate upper surface is equipped with laser
Sensor is surveyed, is bolted to connection between preceding lower plate and preceding upper plate there are two front end panel, on two support beam rear ends
Surface is equipped with rear upper plate by bolt, and two support beam rear end lower surfaces are equipped with rear lower plate by bolt, rear lower plate with
It has been bolted to connection rear steering engine between rear upper plate, has offered heat release hole on two support beams and connecting plate, is located at
The connecting plate upper surface of lower section is equipped with battery, and the connecting plate upper surface being located above is equipped with electronic close to motor housing one end
Telescopic rod.
The invention has the benefit that
1, due to the one-directional rotation structure that rear Stump-jump wheel uses, will not occur to fall backward during it props chassis
Sliding phenomenon, it is rear to get over when the laser range sensor of chassis front end crawler belt position setting detects that oneself height is higher than obstacle
Barrier wheel is swung back counterclockwise, and due to one-directional rotation, rear Stump-jump wheel is stuck during swinging back, forward in face of rear Stump-jump wheel using ground
The frictional force that frictional force and crawler belt are generated with ground continues to travel forward, and after front-wheel surmounts obstacles, rear Stump-jump wheel continues
It plays a supportive role, moves on creeper truck using horizontal frictional force.
2, the obstacle detouring structure by preceding Stump-jump wheel connecting rod, rear Stump-jump wheel connecting rod in conjunction with Stump-jump wheel, it is wheeled compared with general
Or crawler type mechanism, obstacle detouring can be realized in the case where pallet inclined degree is low, help old man that article carrying is gone upstairs.Pass through
Electric telescopic rod can help old man to lift weight, to be put in eminence.
Detailed description of the invention
Fig. 1 be the present invention towards old man can obstacle detouring accompany and attend to the three dimensional structure diagram of robot；
Fig. 2 be the present invention towards old man can obstacle detouring accompany and attend to the main view of robot；
Fig. 3 be the present invention towards old man can obstacle detouring accompany and attend to the side view of robot；
Fig. 4 be the present invention towards old man can obstacle detouring accompany and attend to the top view of robot；
Fig. 5 be the present invention towards old man can obstacle detouring accompany and attend to the pedrail mechanism schematic diagram of robot；
Fig. 6 be the present invention towards old man can obstacle detouring accompany and attend to the chassis schematic diagram of robot；
Fig. 7 be the present invention towards old man can obstacle detouring accompany and attend to the rear Stump-jump wheel connecting rod schematic diagram of robot；
Fig. 8 is the obstacle detouring process schematic of the embodiment of the present invention 1；
The chassis 1-, the outer side frame of 2-, side frame in 3-, 4- connecting cross beam, the first Athey wheel of 5-, the second Athey wheel of 6-, 7- connection
Otic placode, 8- third Athey wheel, 9- crawler belt, steering engine before 10-, Stump-jump wheel connecting rod before 11-, 12- second source switch, 13- front axle,
Stump-jump wheel before 14-, 15- laser range sensor, 16- motor housing, steering engine after 17-, Stump-jump wheel connecting rod after 18-, 19- hind axle,
Stump-jump wheel after 20-, 21- electric telescopic rod, 22- pallet, 23- gonnecting rod body, 24- small through hole, 25- ratchet, 26- spring, 27- rolling
Son, shaft mounting hole after 28-, 29- support beam, upper plate before 30-, lower plate before 31-, 32- rear upper plate, 33- rear lower plate, 34- connection
Plate, 35- heat release hole, 36- front end panel, the first power switch of 37-, 38- controller, the first bar of 39-, the second bar of 40-, 41- water
Flat bar, 42- support rod.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
As shown in Figures 1 to 7, towards old man can obstacle detouring accompany and attend to robot, which includes chassis 1, wheel carrier, front rudder
Machine 10, rear steering engine 17,1 both ends of chassis are symmetrically installed with wheel carrier, and wheel carrier is made of outer side frame 2, interior side frame 3 and connecting cross beam 4, institute
State that outer side frame 2 is identical as interior 3 structure of side frame, outer side frame 2 and interior side frame 3 are solid by crossbeam and bolt thereon and connecting cross beam 4
Fixed connection, interior side frame 3 and 2 rear end of outer side frame are triangle connecting rack, are distinguished at the position at three angles of triangle connecting rack
By wheel shaft installation there are three the first Athey wheel 5, interior side frame 3 and 2 front end of outer side frame are trapezoidal connection frame, the four of trapezoidal connection frame
Respectively by wheel shaft installation there are four the second Athey wheel 6, the crossbeam lower surface of interior side frame 3 and outer side frame 2 is all provided with a angular position
It sets there are two connection otic placode 7, third Athey wheel 8 is equipped with by wheel shaft between the connection otic placode 7 of coaxial arrangement, on each wheel carrier
Third Athey wheel 8 be two, described three the first Athey wheels, 5, four the second Athey wheels 6 and two third Athey wheels 8 and carry out
Band 9 is coupled, and the wheel carrier, the first Athey wheel 5, the second Athey wheel 6, third Athey wheel 8 and crawler belt 9 form pedrail mechanism,
Steering engine 10 before the 1 upper surface front end of chassis is equipped with by bolt, preceding steering engine 10 pass through the symmetrically arranged steering engine arm in its both ends
It is connect with two preceding Stump-jump wheel connecting rods 11, two preceding 11 front ends of Stump-jump wheel connecting rod are equipped with front axle 13, and 13 both ends of front axle are stretched
Stump-jump wheel 14 before two preceding 11 parts of Stump-jump wheel connecting rod are equipped with by rolling bearing out, the chassis front end are equipped with Laser Measuring
Away from sensor 15, the 1 upper surface rear end of chassis is equipped with motor housing 16, and there are two direct currents for installation in the motor housing 16
Machine, motor housing 16 offer motor radiating hole, and the output shaft of two motors passes through the shaft coupling triangle with two wheel carriers respectively
The wheel axis connection of the first Athey wheel 5 at the top of connection frame, the upper surface middle part on the chassis 1 be bolted be equipped with it is electronic
Telescopic rod 21, the end of electric telescopic rod 21 are fixedly installed with pallet 22, by electric telescopic rod 21 by the article on pallet 22
It lifts, is picked up with facilitating, be placed on eminence, the first power switch 37 is installed on the motor cabinet of electric telescopic rod 21, first
Power switch 37 is used to control the start and stop of electric telescopic rod 21, and the elderly is avoided to bend over, can be direct by the article on pallet 22
It is taken down from robot, 1 rear end of chassis is equipped with rear steering engine 17, and rear steering engine 17 passes through the symmetrically arranged steering engine arm in its both ends
It is connect with Stump-jump wheel connecting rod 18 after two, rear Stump-jump wheel connecting rod 18 and preceding Stump-jump wheel connecting rod 11 are band angle rod, angle model
Enclosing is 30-90 °, and the rear end of rear Stump-jump wheel connecting rod 18 is equipped with hind axle 19, and Stump-jump wheel connects after 19 both ends of hind axle stretch out two
18 part of bar is equipped with rear Stump-jump wheel 20 by rolling bearing, and rear Stump-jump wheel 20 and preceding Stump-jump wheel 14 have wheel hub and rubber ring
Composition, the wheel hub periphery are set with rubber ring with one heart.
Stump-jump wheel connecting rod 18 includes gonnecting rod body 23 after described, and 23 both ends of gonnecting rod body offer small through hole 24 respectively and lead to greatly
Hole, gonnecting rod body 23 are connect with the steering engine arm of rear steering engine 17 by small through hole 24 thereon, are equipped in the large through-hole of gonnecting rod body 23
Ratchet 25, ratchet 25 are made of three ratchets, are equipped with roller 27, ratchet 25 by spring 26 in the right angle endface of ratchet
Rear shaft mounting hole 28 is offered at center, for installing hind axle 19.
The gonnecting rod body 23 includes the first bar 39, the second bar 40, horizon bar 41 and support rod 42, and 39 one end of the first bar opens up
There is small through hole 24,39 other end of the first bar and 40 one end of the second bar are integrally formed, and 40 other end of the second bar offers large through-hole, the
Be provided between one bar 39 and the second bar 40 horizon bar 41, the horizon bar 41 and the first bar 39 and the second bar 40 point of intersection it
Between be provided with support rod 42.
The chassis 1 is by two support beams 29, preceding upper plate 30, preceding lower plate 31, rear upper plate 32, rear lower plate 33, front support
If plate 36, connecting plate 34 and bolt stem composition, described two bearing crossbeams 29 are in " recessed " shape, the upper surface of two support beams 29
Connecting plate 34 is installed with being bolted in the middle part of lower surface, two 29 front end upper surfaces of support beam are installed by bolt
There is a preceding upper plate 30, the upper surface of preceding upper plate 30 is separately installed with preceding steering engine 10, controller 38 and second source switch 12, and two
Lower plate 31 before 29 rear end lower surface of support beam is equipped with by bolt, preceding 31 upper surface of lower plate is equipped with Laser Measuring sensor
15, front end panel 36, table on two 29 rear ends of support beam have been bolted to connection between preceding lower plate 31 and preceding upper plate 30
Face is equipped with rear upper plate 32 by bolt, and for rear upper plate 32 for installing motor housing 16, two 29 rear end lower surfaces of support beam are logical
It crosses bolt and rear lower plate 33 is installed, rear steering engine 17, two branch have been bolted to connection between rear lower plate 33 and rear upper plate 32
Heat release hole 35 is offered on support crossbeam 29 and connecting plate 34, underlying 34 upper surface of connecting plate is equipped with battery, position
Electric telescopic rod 21 is installed close to 16 one end of motor housing in 34 upper surface of connecting plate of top, the controller 38 respectively with
Battery, second source switch 12, the first power switch 37, laser range sensor 15, two motors, preceding steering engine 10, rear rudders
Machine 17 and electric telescopic rod 21 are connected, the model STM32 of the controller 38.
The present invention towards old man can obstacle detouring accompany and attend to the first use process of robot are as follows:
It opens second source switch 12, system initialization is first carried out after powering on, i.e., clock configuration, delay in controller 38
The initialization of required serial ports and the initialization of timer when function initialization, debugging routine；With certain frequency to laser ranging
The range data that sensor 15 measures carries out ratio control and calculates, the output that controller 38 is fed back according to laser range sensor 15
Two motor speeds (revolving speed is higher when remote from barrier) in amount control left and right, when barrier is lower than the survey of laser range sensor 15
Measure position when, i.e., laser range sensor 15 can't detect barrier, can obstacle detouring accompany and attend to robot will directly utilize wheel carrier ladder
Obstacle climbing ability brought by the front inclination angle of shape connection frame crosses barrier, when barrier is higher, such as stair, laser ranging sensing
Device 15 will measure signal of the distance less than or equal to setting value and feed back to controller 38, setting value 0-10mm, and controller 38 controls
Two motors slowly operate, while controller 38 sends instructions to preceding steering engine 10 and rear steering engine 17, preceding steering engine 10 and rear steering engine 17
It is rotated respectively by pre-set speed and direction, Stump-jump wheel connecting rod 11 is transported downwards from highest point before being driven by preceding steering engine 10
It is dynamic, and then drive preceding Stump-jump wheel 14 to be against on the upper surface of barrier by preceding Stump-jump wheel connecting rod 11, while rear steering engine 17 drives
Stump-jump wheel connecting rod 18 is moved downward from highest point afterwards, and then is against ground by Stump-jump wheel 20 after the drive of rear Stump-jump wheel connecting rod 18
On, can obstacle detouring robot of accompanying and attending to lift, when height is higher than obstacle height where laser range sensor 15, it is measured away from
From surge, controller 38 monitors after surge signal while sending instructions to two motors, preceding steering engine 10 and rear steering engine at this time
17, steering engine 10 stops operating before making, and after 2s, and the reversion of steering engine 10 drives preceding Stump-jump wheel connecting rod before the transmission instruction of controller 38 makes
11 rotate backward to initial position；Rear steering engine 17 is reversely rotated, since rear Stump-jump wheel 20 can only one-directionally rotate, therefore rear rudder
When machine 17 reversely rotates, stuck rear Stump-jump wheel 20 can bring forward frictional force to robot, and robot is made to travel forward,
Two powers of motor increase simultaneously, can also generate forward thrust by friction after the contact barrier of crawler belt 9, finally make robot
It clears the jumps, rear steering engine 17 continues to rotate backward until returning to initial position, and so far an obstacle detouring terminates, as shown in Figure 8.
Claims (3)
1. it is a kind of towards old man can obstacle detouring accompany and attend to robot, which is characterized in that the robot include chassis, wheel carrier, preceding steering engine,
Steering engine afterwards, chassis both ends are symmetrically installed with wheel carrier, and wheel carrier is made of outer side frame, interior side frame and connecting cross beam, the outer side frame and
Interior side frame is fixedly connected by crossbeam thereon with connecting cross beam, and interior side frame and outer side frame rear end are triangle connecting rack, and three
By wheel shaft installation, there are three the first Athey wheel, interior side frame and outer side frame front ends respectively at the position at three angles of Angle connection frame
For trapezoidal connection frame, by wheel shaft installation, there are four the second Athey wheel, insides respectively at the position at four angles of trapezoidal connection frame
The crossbeam lower surface of frame and outer side frame is respectively provided with there are two connection otic placode, passes through wheel shaft installation between the connection otic placode of coaxial arrangement
There is third Athey wheel, three first Athey wheels, four the second Athey wheels and two third Athey wheels and crawler belt are coupled,
Chassis upper surface front end is equipped with preceding steering engine, and preceding steering engine passes through the symmetrically arranged steering engine arm in its both ends and two preceding Stump-jump wheels
Connecting rod connection, two preceding Stump-jump wheel connecting rod front ends are equipped with front axle, and two preceding Stump-jump wheel shaft portions are stretched out at front axle both ends
Preceding Stump-jump wheel is installed by rolling bearing, chassis upper surface rear end is equipped with motor housing, is equipped in the motor housing
Two motors, the output shafts of two motors by shaft coupling respectively with the first crawler belt at the top of the triangle connecting rack of two wheel carriers
The wheel axis connection of wheel, the upper surface on the chassis is bolted close to motor housing one end is equipped with electric telescopic rod, electronic
The end of telescopic rod is fixedly installed with pallet, and the first power switch is equipped on the motor cabinet of electric telescopic rod, the chassis
Tail end rear steering engine is installed, rear steering engine is connect by the symmetrically arranged steering engine arm in its both ends with Stump-jump wheel connecting rod after two, after
The rear end of Stump-jump wheel connecting rod is equipped with hind axle, and Stump-jump wheel shaft portion is pacified by rolling bearing after hind axle both ends stretch out two
Equipped with rear Stump-jump wheel.
2. it is according to claim 1 towards old man can obstacle detouring accompany and attend to robot, it is characterised in that: Stump-jump wheel connects after described
Bar includes gonnecting rod body, and gonnecting rod body both ends offer small through hole and large through-hole respectively, and gonnecting rod body passes through small through hole and rear rudder thereon
The steering engine arm of machine connects, and is equipped with ratchet in the large through-hole of gonnecting rod body, ratchet is made of three ratchets, in the right angle end face of ratchet
Place is equipped with roller by spring, rear shaft mounting hole is offered at ratchet center, for installing hind axle.
3. it is according to claim 1 towards old man can obstacle detouring accompany and attend to robot, it is characterised in that: the chassis is by two
Crossbeam, preceding upper plate, preceding lower plate, rear upper plate, rear lower plate, front end panel, if connecting plate and bolt stem composition, two support beams
It is bolted in the middle part of upper and lower surfaces and connecting plate is installed, two support beam front end upper surfaces are pacified by bolt
Equipped with preceding upper plate, the upper surface of preceding upper plate is separately installed with preceding steering engine, controller and second source and switchs, after two support beams
End lower surface is equipped with preceding lower plate by bolt, and preceding lower plate upper surface is equipped with Laser Measuring sensor, preceding lower plate and preceding upper plate it
Between be bolted to connection there are two front end panel, two support beam rear ends upper surface is equipped with rear upper plate by bolt,
Two support beam rear end lower surfaces are equipped with rear lower plate by bolt, are bolted to connection between rear lower plate and rear upper plate
There is rear steering engine, heat release hole is offered in two support beams and connecting plate, underlying connecting plate upper surface is equipped with storage
Battery, the connecting plate upper surface being located above are equipped with electric telescopic rod close to motor housing one end.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910687072.0A CN110328651A (en) | 2019-07-29 | 2019-07-29 | Towards old man can obstacle detouring accompany and attend to robot |
| PCT/CN2019/101665 WO2021017048A1 (en) | 2019-07-29 | 2019-08-21 | Obstacle-crossing accompanying robot for elderly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910687072.0A CN110328651A (en) | 2019-07-29 | 2019-07-29 | Towards old man can obstacle detouring accompany and attend to robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110328651A true CN110328651A (en) | 2019-10-15 |
Family
ID=68147917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910687072.0A Pending CN110328651A (en) | 2019-07-29 | 2019-07-29 | Towards old man can obstacle detouring accompany and attend to robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110328651A (en) |
| WO (1) | WO2021017048A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112008683A (en) * | 2020-08-28 | 2020-12-01 | 燕山大学 | Rotary multi-track grapple type stair climbing obstacle crossing robot |
| TWI772182B (en) * | 2021-09-13 | 2022-07-21 | 國家中山科學研究院 | Wheel-track composite vehicle |
| CN117226804A (en) * | 2023-11-13 | 2023-12-15 | 广东电网有限责任公司东莞供电局 | Self-balancing obstacle-surmounting stair climbing intelligent robot carrying platform |
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| CN112008683A (en) * | 2020-08-28 | 2020-12-01 | 燕山大学 | Rotary multi-track grapple type stair climbing obstacle crossing robot |
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