CN110329372B - Stair climbing robot - Google Patents
Stair climbing robot Download PDFInfo
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- CN110329372B CN110329372B CN201910732317.7A CN201910732317A CN110329372B CN 110329372 B CN110329372 B CN 110329372B CN 201910732317 A CN201910732317 A CN 201910732317A CN 110329372 B CN110329372 B CN 110329372B
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- stair climbing
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- 230000009194 climbing Effects 0.000 title claims abstract description 98
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 230000035939 shock Effects 0.000 claims description 16
- 239000006096 absorbing agent Substances 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000002493 climbing effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000411 inducer Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
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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
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
Abstract
The invention discloses a stair climbing robot which comprises a supporting component, a box body, a stair climbing mechanism, an auxiliary stair climbing mechanism and a travelling mechanism, wherein a first connecting piece is fixedly connected with two first supporting frames, the box body is positioned above the first connecting piece, two side plates are respectively positioned at two sides of a track chain ring, a third connecting piece is fixedly connected with a second supporting frame, is rotationally connected with the two side plates and sleeved outside the track chain ring, the second connecting piece is fixedly connected with the two side plates, is positioned between the two track components and is positioned at one side far from the third connecting piece, a first rod is rotationally connected with the second connecting piece, the second rod is rotationally connected with the first connecting piece, the first rod slides along the extending direction of the second rod, the auxiliary stair climbing mechanism is positioned between the two track components, and the two track components and the plurality of travelling mechanisms are symmetrically arranged along the first connecting piece towards a central line extending in the same direction as the first supporting frames. Realize that the robot climbs stair automatically and delivers goods to the home.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a stair climbing robot.
Background
The science and technology are the first productivity, and simultaneously, the science and technology also serve the aspects of life of people. The rapid development and the gradual maturity of online shopping are that the service idea of express delivery to home becomes one of the competing core requirements of express companies. However, most of express delivery is not realized to deliver the goods to the home, one of the main reasons is that the buyers are on high floors, stairs are the most common obstacle in artificial environments, and the most difficult obstacle to cross is also one of the most difficult obstacles, so that the express delivery is inconvenient to go up. In particular, some households living in small high floors cannot easily carry heavy objects to the residence, thus requiring some intelligent manufacturing machines to solve this problem.
Disclosure of Invention
The invention aims to provide a stair climbing robot, which aims to solve the problem that no intelligent manufacturing machine is available at present to realize the delivery of goods to a user.
In order to achieve the above purpose, the invention provides a stair climbing robot, which comprises a support assembly, a box body, a stair climbing mechanism, an auxiliary stair climbing mechanism and a travelling mechanism, wherein the support assembly comprises a first support frame, a second support frame and a first connecting piece, the number of the first support frame and the second support frame is two, the two second support frames are fixedly connected with the two first support frames in a surrounding manner and are respectively positioned between the two second support frames, the first connecting piece is fixedly connected with the two first support frames and is positioned above the two first support frames, and the box body is fixedly connected with the first connecting piece and is positioned above the first connecting piece;
the stair climbing mechanism comprises a crawler assembly, a second connecting piece and a first electric push rod, wherein the crawler assembly comprises crawler chain rings, side plates and a third connecting piece, the crawler chain rings are sleeved outside a driving device used for driving the crawler chain rings to move and are located at one side away from the first supporting frame, the number of the side plates is two, the side plates are detachably connected with the driving device used for driving the crawler chain rings to move and are located at two sides of the crawler chain rings respectively, the third connecting piece is fixedly connected with the second supporting frame and is rotationally connected with the two side plates, the crawler chain rings are sleeved outside the crawler chain rings, the number of the crawler assembly is two, the two crawler chain assemblies are arranged along the first connecting piece towards the center line of the first supporting frame, the second connecting piece is fixedly connected with the two side plates and located between the two crawler chain assemblies and located at one side away from the third connecting piece, the first electric push rod comprises a first rod and a second rod, the first rod is rotationally connected with the second rod, the second rod is symmetrically arranged along the second connecting piece towards the second supporting frame, and is symmetrically arranged along the second connecting rod, and is at least two auxiliary connecting rods.
The auxiliary stair climbing mechanism comprises a first sliding component and a second electric push rod, wherein the first sliding component is located between the two crawler components and located at one side away from the first connecting piece, the second electric push rod comprises a third rod and a fourth rod, the third rod is fixedly connected with the first sliding component, the fourth rod is rotationally connected with the first connecting piece, and the third rod slides along the extending direction of the fourth rod.
The auxiliary stair climbing mechanism further comprises a supporting piece and a surrounding piece, the supporting piece is fixedly connected with the first connecting piece and located on one side, away from the box, of the first connecting piece and located between the crawler assemblies, the surrounding piece is fixedly connected with the supporting piece and located on one side, close to the second electric push rod, of the supporting piece, and the surrounding piece is provided with a through hole, and the through hole is used for the third rod and the fourth rod to pass through.
The first sliding assembly comprises a first rotating shaft and first pulleys, the first rotating shaft is fixedly connected with the third rod, the first pulleys are rotationally connected with the first rotating shaft, the number of the first pulleys is two, and the two first pulleys are symmetrically arranged along the extending direction of the third rod.
The walking mechanism comprises a fourth connecting piece, a damping component and a Mecanum wheel, wherein the fourth connecting piece is fixedly connected with the first supporting frame and is positioned on one side, far away from the box body, of the first supporting frame, the damping component is positioned on one side, far away from the crawler component, of the fourth connecting piece, and the Mecanum wheel is positioned on one side, far away from the fourth connecting piece, of the damping component.
The shock absorption assembly comprises a speed reducing motor, a first movable part, a second movable part, universal joints and a negative pressure shock absorber, wherein the speed reducing motor is fixedly connected with a fourth connecting part and is located on one side close to the crawler assembly, the number of the first movable parts is two, the two first movable parts are rotatably connected with the fourth connecting part and are located on one side far away from the crawler assembly, the second movable parts are rotatably connected with the two first movable parts and are located between the two first movable parts, the universal joints are in transmission connection with the output end of the speed reducing motor and are in fixed connection with a transmission shaft of a Mecanum wheel and are located in surrounding areas of the first movable parts and the two second movable parts, the negative pressure shock absorber is rotatably connected with the fourth movable parts and is located between the fourth connecting parts and the second movable parts, and the number of the negative pressure shock absorber is two, and the two negative pressure shock absorbers are located on two sides of the second movable parts.
The number of the first electric pushing rods is two, and the two first electric pushing rods are symmetrically arranged along the central line of the first connecting piece extending towards the same direction as the first supporting frame.
The auxiliary stair climbing mechanism further comprises a third electric push rod and a second sliding component, wherein the third electric push rod is located between the two first electric push rods, the second sliding component is located on one side, far away from the box, of the third electric push rod, the third electric push rod comprises a fifth rod and a sixth rod, the fifth rod is rotationally connected with the first connecting piece and located on one side, far away from the box, of the sixth rod slides along the extending direction of the fifth rod, the second sliding component comprises a second rotating shaft and a second pulley, the second rotating shaft is fixedly connected with the sixth rod and located on one side, far away from the fifth rod, of the second pulley is rotationally connected with the second rotating shaft, and the number of the second pulleys is two, and the two second pulleys are symmetrically arranged along the extending direction of the fifth rod.
The stair climbing robot is fixedly connected with two first support frames in a surrounding manner through the two second support frames, and is respectively positioned between the two second support frames, the first connecting piece is positioned above the two first support frames, and the box body is positioned above the first connecting piece; the crawler belt chain ring is located away from one side of first support frame, two the curb plate is located respectively the both sides of crawler belt chain ring, the third connecting piece with second support frame fixed connection, and with two the curb plate rotates to be connected, and the cover is established crawler belt chain ring is outside, the second connecting piece with two curb plate fixed connection, and be located two between the crawler belt subassembly, and be located keeping away from one side of third connecting piece, the first pole with the second connecting piece rotates to be connected, the second pole with the first connecting piece rotates to be connected, just the first pole is followed the second pole extends the direction and slides, supplementary climbing mechanism is located two between the crawler belt subassembly, two crawler belt subassembly and a plurality of running gear follow first connecting piece orientation with the central line symmetry setting of first support frame syntropy extension. The first connecting piece, the first electric push rod, the second connecting piece and the crawler belt component form a double-rocker mechanism, so that the first electric push rod is enabled to act, the second connecting piece and the crawler belt component correspondingly lift or fall, namely the crawler belt component is enabled to be retracted and separated from the ground, and the travelling mechanism is grounded to perform flat ground travelling or slope travelling; the crawler belt assembly is put down to land, the travelling mechanism is separated from the ground, and stairs climbing is performed, so that the robot can automatically climb stairs and deliver goods to a user.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the stair climbing robot of the present invention;
FIG. 2 is a schematic view of the stair climbing robot of the present invention with the housing removed;
FIG. 3 is a front view of FIG. 2;
FIG. 4 is a rear view of FIG. 2;
FIG. 5 is a top view of FIG. 2;
FIG. 6 is a left side view of FIG. 2;
FIG. 7 is a schematic view of the structure of the support assembly, stair climbing mechanism and auxiliary stair climbing mechanism of the present invention;
FIG. 8 is a schematic view of the structure of the running gear of the present invention;
FIG. 9 is a schematic view of the structure of FIG. 2 in another direction;
in the figure: 100-stair climbing robot, 1-support assembly, 2-case, 3-stair climbing mechanism, 4-auxiliary stair climbing mechanism, 5-traveling mechanism, 11-first support frame, 12-second support frame, 13-first connector, 31-track assembly, 32-second connector, 33-first electric putter, 41-first sliding assembly, 42-second electric putter, 43-support, 44-enclosure, 45-third electric putter, 46-second sliding assembly, 51-fourth connector, 52-shock absorbing assembly, 53-Mecanum wheel, 311-track link, 312-side plate, 313-third connector, 331-first rod, 332-second rod, 411-first rotating shaft, 412-first pulley, 421-third rod, 422-fourth rod, 441-through hole, 451-fifth rod, 452-sixth rod, 461-second rotating shaft, 462-second pulley, 521-speed reducing motor, 522-first movable member, 523-second movable member, 523-525, negative pressure universal joint.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, in the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1 to 9, the present invention provides a stair climbing robot 100, which includes a support assembly 1, a box 2, a stair climbing mechanism 3, an auxiliary stair climbing mechanism 4 and a travelling mechanism 5, wherein the support assembly 1 includes a first support frame 11, a second support frame 12 and a first connecting piece 13, the number of the first support frame 11 and the second support frame 12 is two, the two second support frames 12 are fixedly connected with the two first support frames 11 in a surrounding manner, and are respectively located between the two second support frames 12, the first connecting piece 13 is fixedly connected with the two first support frames 11 and is located above the two first support frames 11, and the box 2 is fixedly connected with the first connecting piece 13 and is located above the first connecting piece 13;
the stair climbing mechanism 3 comprises a crawler component 31, a second connecting piece 32 and a first electric push rod 33, the crawler component 31 comprises a crawler chain ring 311, side plates 312 and a third connecting piece 313, the crawler chain ring 311 is sleeved outside a driving device for driving the crawler chain ring 311 to move and is located at one side far away from the first supporting frame 11, the number of the side plates 312 is two, the two side plates 312 are detachably connected with the driving device for driving the crawler chain ring 311 to move and are respectively located at two sides of the crawler chain ring 311, the third connecting piece 313 is fixedly connected with the second supporting frame 12 and is rotatably connected with the two side plates 312 and sleeved outside the crawler chain ring 311, the number of the crawler component 31 is two, the two crawler component 31 are symmetrically arranged along a central line extending towards the first connecting piece 13 and the first supporting frame 11, the second connecting piece 32 is fixedly connected with the two side plates 312 and is located between the two crawler component 31 and is located at one side far away from the third connecting piece 313 and is rotatably connected with the second connecting piece 332 and is symmetrically arranged along the second connecting piece 332 and the first supporting frame 11, and is provided with the second connecting piece 332 and the second connecting piece 332 along the first connecting piece 33 and the second connecting piece 13 and the first connecting piece 11.
In this embodiment, the stair climbing robot 100 includes a controller, a plurality of motors, a sensor, and a remote controller, where the controller is located in the first connector 13, the plurality of motors, the sensor, and the remote controller are electrically connected to the controller, and the controller refers to a master device that changes wiring of a main circuit or a control circuit and changes resistance values in the circuit according to a predetermined sequence to control starting, speed regulation, braking, and reversing of the motors. The stair climbing robot 100 system consists of a program counter, an instruction register, an instruction decoder, a time sequence generator and an operation controller, wherein the program counter, the instruction register, the instruction decoder, the time sequence generator and the operation controller are "decision mechanisms" for issuing commands, namely, the operation of the whole stair climbing robot 100 system is coordinated and commanded, and the model is LFE10; the sensor is an infrared sensor, the infrared sensor is a measuring device using infrared rays as a medium, the model is EST600-400A, a NRF24L012.4G wireless module is adopted for communication, and the sensor is positioned in the second support frame 12 and used for detecting obstacles. The support assembly 1 is a structural frame for supporting the whole stair climbing robot 100, the box 2 is used for containing transported goods, the stair climbing mechanism 3 is used for realizing stair climbing actions, the auxiliary stair climbing mechanism 4 is used for assisting in realizing stair climbing actions, the stair climbing robot 100 is more stable, and the travelling mechanism 5 is used for enabling the stair climbing robot 100 to travel on a slope or a flat ground. The two first supporting frames 11 and the two second supporting frames 12 are enclosed and fixed to form a rectangular frame, the first connecting piece 13 is formed by symmetrically and integrally forming two inverted L-shaped plates, the first connecting piece 13 spans across the two oppositely arranged first supporting frames 11 and is fixedly connected with the two first supporting frames 11 and is positioned above the rectangular frame, and the box body 2 filled with cargoes is fixedly connected with the first connecting piece 13 and is positioned above the first connecting piece 13; the two crawler belt components 31 are symmetrically arranged below the rectangular frame, the crawler belt links 311 are sleeved outside a driving device for driving the crawler belt links 311 to move, the driving device for driving the crawler belt links 311 to move is an existing driving device and comprises a driving wheel, a loading wheel, an inducer and a towing wheel, the crawler belt links 311 are meshed with the driving wheel, the loading wheel, the inducer and the towing wheel, the motor drives the driving wheel to act, so that the crawler belt links 311 are driven to act, running on a flat ground or a slope is achieved, the two side plates 312 are detachably connected with the driving device for driving the crawler belt links 311 to move and are respectively positioned on two sides of the crawler belt links 311, the third connecting piece 313 is formed by two inverted L-shaped plates symmetrically and integrally, the third connecting piece 313 is fixedly connected with the second supporting frame 12 and is rotatably connected with the two side plates 312, the second connecting piece 32 is fixedly connected with the two side plates 312 and is positioned between the two crawler belt links 31, the side plates are far away from the third connecting piece 313 and are positioned on one side of the adjacent to the slope surface 311, the slope is beneficial to being connected with the second slope surface 311, and the slope is beneficial to being connected with the slope surface 311 of the crawler belt links. The first electric pushrod 33 is electrically connected to the motor, and the first electric pushrod 33 is an electric driving device for converting the rotation motion of the motor into the linear reciprocating motion of the pushrod, and the model is NKLA65. The first electric push rod 33 includes a first rod 331 and a second rod 332, the first rod 331 is rotatably connected to the second connector 32, the second rod 332 is rotatably connected to the first connector 13, and the first rod 331 slides along the extending direction of the second rod 332.
The specific flow is as follows: the stair climbing robot 100 is locked in an unoperated state, so that misoperation is avoided, an operator performs unlocking remote control, after unlocking is successful, the stair climbing robot 100 waits for receiving an instruction signal, the operator places goods to be transported in the box body 2, a goods transportation program is executed, the infrared sensor detects whether stairs exist, if not, a flat ground running program action is executed, the running mechanism 5 is grounded, and the stair climbing mechanism 3 and the auxiliary stair climbing mechanism 4 are separated from the ground to perform flat ground or slope running; if yes, executing the program action of going up and down stairs;
when the stair climbing robot 100 moves up, the side of the track link 311 with the inclined surface approaches the stair, the motor acts to drive the first rod 331 to slide along the extending direction of the second rod 332 towards the side far away from the first connecting piece 13, and further drive the first rod 331 to rotate around the second connecting piece 32 towards the side far away from the first connecting piece 13, and because the first connecting piece 13 is rotationally connected with the second rod 332, the box 2 is fixedly connected with the first connecting piece 13, the track link 311 is rotationally connected with the third connecting piece 313 through the side plate 312, the third connecting piece 313 is fixedly connected with the second supporting frame 12, the second support frame 12, the first support frame 11, the first connecting piece 13, the box 2 fixed connection, running gear 5 with first support frame 11 is connected, according to two rocker mechanism principles, the box 2 will be lifted, running gear 5 breaks away from ground, track chain link 311 lands, supplementary stair climbing mechanism 4 with first connecting piece 13 fixed connection, and be located two between track assembly 31, in order to make track chain link 311 contact the first level step of stair, supplementary stair climbing mechanism 4 lands, after will track chain link 311 is raised, stair climbing robot 100 continues to advance, in order to keep the automobile body balanced, supplementary stair climbing mechanism 4 is lifted to with box 2 is parallel with the ground when leaving the ground. The stair climbing robot 100 continues to advance, the inclination of the box body 2 is continuously adjusted every time one step of stairs is advanced, so that the box body 2 is parallel to the ground until the track chain ring 311 is completely contacted with the stairs, when the gravity center of the track chain ring 311 of the stair climbing robot 100 passes over the last step of stairs, the auxiliary stair climbing mechanism 4 is put down, the stair climbing robot 100 advances at the same time, the auxiliary stair climbing mechanism 4 is gradually retracted in the advancing process until the box body 2 is completely parallel to the ground, and the stair climbing process of the stair climbing robot 100 is finished;
when going down stairs, the stair climbing robot 100 backs up and goes down stairs, and is similar to going up stairs, the motor drives the first rod 331 to slide in the extending direction of the second rod 332 towards the side far away from the first connecting piece 13, the box 2 is lifted up by the principle of a double rocker mechanism, the track chain ring 311 lands, the stair climbing robot 100 moves forward by the track chain ring 311, when the track chain ring 311 stretches out a part, the auxiliary stair climbing mechanism 4 supports the stair climbing robot 100 in a landing manner, the track chain ring 311 continues to move forward, the auxiliary stair climbing mechanism 4 is gradually retracted, the box 2 is lifted up to keep balance, then the stair climbing robot 100 depends on the track chain ring 311 to move forward continuously, when the stair climbing robot 100 is ready to leave the last step, the box 2 is lowered down a part, the auxiliary stair climbing mechanism 4 is lowered down, the stair climbing robot 100 moves forward until the auxiliary stair climbing mechanism 4 is completely separated, and the stair climbing robot 100 moves down.
According to the stair climbing robot 100, the two second support frames 12 are fixedly connected with the two first support frames 11 in a surrounding manner, the two second support frames 12 are respectively positioned between the two first support frames 12, the first connecting piece 13 is positioned above the two first support frames 11, and the box body 2 is positioned above the first connecting piece 13; the track link 311 is located away from one side of the first support frame 11, two side plates 312 are respectively located at two sides of the track link 311, a third connecting member 313 is fixedly connected with the second support frame 12 and is rotationally connected with two side plates 312, the second connecting member 32 is fixedly connected with two side plates 312 and is located between two track assemblies 31 and is located at one side away from the third connecting member 313, a first rod 331 is rotationally connected with the second connecting member 32, a second rod 332 is rotationally connected with the first connecting member 13, the first rod 331 slides along the extending direction of the second rod 332, an auxiliary stair climbing mechanism 4 is located between two track assemblies 31, and two track assemblies 31 and a plurality of travelling mechanisms 5 are symmetrically arranged along the first connecting member 13 towards a central line extending along the same direction as the first support frame 11. The first connecting piece 13, the first electric push rod 33, the second connecting piece 32 and the crawler belt assembly 31 form a double-rocker mechanism, so that the first electric push rod 33 acts, the second connecting piece 32 and the crawler belt assembly 31 correspondingly lift or fall, namely, the crawler belt assembly 31 is retracted and separated from the ground, and the travelling mechanism 5 lands on the ground to perform flat ground travelling or slope travelling; the crawler belt assembly 31 is put down to the ground, the travelling mechanism 5 is separated from the ground, and the stair climbing is carried out, so that the robot can automatically climb stairs and deliver goods to the home.
Further, the auxiliary stair climbing mechanism 4 includes a first sliding component 41 and a second electric push rod 42, the first sliding component 41 is located between the two crawler components 31 and is located at one side far away from the first connecting piece 13, the second electric push rod 42 includes a third rod 421 and a fourth rod 422, the third rod 421 is fixedly connected with the first sliding component 41, the fourth rod 422 is rotationally connected with the first connecting piece 13, and the third rod 421 slides along the extending direction of the fourth rod 422. In this embodiment, the second electric putter 42 is electrically connected to the motor, and the second electric putter 42 is an electric drive device, which converts the rotational motion of the motor into the linear reciprocating motion of the putter, and is of the type NKLA65. When the third rod 421 slides along the fourth rod 422 towards the direction close to one side of the first connecting piece 13, the auxiliary stair climbing mechanism 4 is retracted, so that the box body 2 is put down, when the third rod 421 slides along the fourth rod 422 towards the side close to the first sliding component 41, the auxiliary stair climbing mechanism 4 is put down, so that the box body 2 is lifted, the first sliding component 41 is in contact with the ground for rolling friction when the auxiliary stair climbing mechanism 4 is put down, moves along with the movement of the track link 311, is not easy to damage, and moves flexibly.
Further, the auxiliary stair climbing mechanism 4 further includes a supporting member 43 and a closing member 44, the supporting member 43 is fixedly connected with the first connecting member 13, and is located on one side of the first connecting member 13 away from the box 2, and is located between the crawler assemblies 31, the closing member 44 is fixedly connected with the supporting member 43, and is located on one side of the second electric push rod 42, the closing member 44 has a through hole 441, and the through hole 441 is used for the third rod 421 and the fourth rod 422 to pass through. In this embodiment, the supporting member 43 is configured to support the second electric putter 42, to enhance structural stability, and the enclosing member 44 encloses the third rod 421 and the fourth rod 422, so that the third rod 421 is prevented from connecting with the ground at an excessively large included angle between the first sliding assembly 41 and the ground, resulting in insufficient supporting force of the stair climbing robot 100 and poor overall stability.
Further, the first sliding assembly 41 includes a first rotating shaft 411 and a first pulley 412, the first rotating shaft 411 is fixedly connected with the third rod 421, the first pulley 412 is rotatably connected with the first rotating shaft 411, the number of the first pulleys 412 is two, and the two first pulleys 412 are symmetrically arranged along the extending direction of the third rod 421. In this embodiment, the first pulley 412 is a small wheel with a groove on the periphery and capable of rotating around the first rotation axis 411, so as to realize rolling friction with the ground, and two first pulleys 412 are symmetrically arranged to enhance stability.
Further, the running mechanism 5 includes a fourth connecting member 51, a damping member 52, and a mecanum wheel 53, where the fourth connecting member 51 is fixedly connected with the first supporting frame 11 and located on a side of the first supporting frame 11 away from the box 2, the damping member 52 is located on a side of the fourth connecting member 51 away from the crawler assembly 31, and the mecanum wheel 53 is located on a side of the damping member 52 away from the fourth connecting member 51. In this embodiment, the fourth connection member 51 is used to connect the support assembly 1 and the shock absorbing assembly 52, the shock absorbing assembly 52 reduces the external impact force of the stair climbing robot 100, enhances the flexibility of the stair climbing robot 100, and increases the off-road performance, and the Mecanum wheel 53 is based on the principle of a central wheel having a plurality of wheel axles located at the periphery of the wheels, and the angled peripheral wheel axles convert a part of the wheel steering force to a wheel normal force. Depending on the direction and speed of the respective wheel, the final combination of these forces creates a resultant force vector in any desired direction, thereby ensuring that the platform can move freely in the direction of the final resultant force vector without changing the direction of the wheel itself. A plurality of small rollers are obliquely distributed on the rim of the wheel, so that the wheel can slide transversely. The generatrix of the small rollers is very specific, and when the wheel rotates around the fixed wheel spindle, the envelope of each small roller is a cylindrical surface, so that the wheel can roll forward continuously. The Mecanum wheel 53 is compact in structure and flexible in movement.
Further, the damping assembly 52 includes a reducing motor 521, a first movable member 522, a second movable member 523, a universal joint 524, and a negative pressure shock absorber 525, where the reducing motor 521 is fixedly connected with the fourth connecting member 51 and is located at a side close to the track assembly 31, the number of the first movable members 522 is two, the two first movable members 522 are rotatably connected with the fourth connecting member 51 and are located at a side far from the track assembly 31, the second movable member 523 is rotatably connected with the two first movable members 522 and is located between the two first movable members 522, the universal joint 524 is in transmission connection with an output end of the reducing motor 521 and is fixedly connected with a transmission shaft of the mecanum wheel 53, and is located at a surrounding area of the first movable member 522 and the two second movable members 523, the negative pressure shock absorber 523 is rotatably connected with the fourth connecting member 51 and the second movable member 523 and is located between the fourth connecting member 51 and the second movable member 525, and the negative pressure shock absorber 523 is located at two sides of the two movable members 523. In this embodiment, the speed reducing motor 521 is an integrated body of a speed reducer and a motor, and is 5IK90A-CF, and the speed reducing motor 521 drives the mecanum wheel 53 to realize running on a road surface without obstacles, such as a flat ground, a slope, etc.; the universal joint 524, i.e., a universal joint, is a mechanism for achieving variable angle power transmission. The fourth connecting piece 51, the first movable piece 522, the second movable piece 523 and the negative pressure shock absorber 525 are connected, so that flexibility of movement of the stair climbing robot 100 is achieved, and the model of the negative pressure shock absorber 525 is JKA-S114.
Further, the number of the first electric pushing rods 33 is two, and the two first electric pushing rods 33 are symmetrically arranged along the first connecting piece 13 towards a center line extending in the same direction as the first supporting frame 11. In the present embodiment, the provision of two first electric pushers 33 increases the stability of the stair climbing robot 100 moving along with the movement of the first electric pushers 33.
Further, the auxiliary stair climbing mechanism further comprises a third electric push rod 45 and a second sliding assembly 46, the third electric push rod 45 is located between the two first electric push rods 33, the second sliding assembly 46 is located at one side, away from the case 2, of the third electric push rod 45, the third electric push rod 45 comprises a fifth rod 451 and a sixth rod 452, the fifth rod 451 is rotatably connected with the first connecting piece 13 and located at one side, away from the case 2, the sixth rod 452 slides along the extending direction of the fifth rod 451, the second sliding assembly 46 comprises a second rotating shaft 461 and a second pulley 462, the second rotating shaft is fixedly connected with the sixth rod 452 and located at one side, away from the fifth rod 451, the second pulley 462 is rotatably connected with the second rotating shaft 461, the number of the second pulleys 462 is two, and the two second pulleys 462 are symmetrically arranged along the extending direction of the fifth rod 451.
In this embodiment, the third electric putter 45 is electrically connected to the motor, and the third electric putter 45 is an electric drive device, which converts a rotational motion of the motor into a linear reciprocating motion of the putter, and is of the type NKLA65. The motor drives the sixth rod 452 to slide along the extending direction of the fifth rod 451 to realize the extension and shortening of the whole third electric push rod 45, when the stair climbing robot 100 does not climb stairs, the sixth rod 452 slides in a direction away from the first connecting piece 13, so that the two second pulleys 462 land, and support can be provided for the stair climbing robot 100 running on a flat ground; when the stair climbing robot 100 climbs the first stairs, the sixth rod 452 slides in a direction away from the first connector 13, so that the two second pulleys 462 are grounded away from the stairs, and the stair climbing robot 100 is supported during climbing; when the body of the stair climbing robot 100 climbs onto the stairs smoothly, the sixth rod 452 slides in a direction approaching the first connector 13, and is separated from the ground and the stairs, so as to continue climbing the stairs. The third electric push rod 45 and the second sliding assembly 46 are added to conveniently adjust the adaptation angle of the whole car, adapt to different angles of stairs with different heights, weaken the structural problems to a greater extent, enable the box body 2 to keep a horizontal state all the time through the cooperation of the sixth rod 452 and the fifth rod 451, and ensure unnecessary loss of objects in the box body 2 caused by shaking and angle change.
The above disclosure is only a preferred embodiment of the present invention, and it should be understood that the scope of the invention is not limited thereto, and those skilled in the art will appreciate that all or part of the procedures described above can be performed according to the equivalent changes of the claims, and still fall within the scope of the present invention.
Claims (6)
1. A stair climbing robot is characterized in that,
the stair climbing device comprises a supporting component, a box body, a stair climbing mechanism, an auxiliary stair climbing mechanism and a travelling mechanism, wherein the supporting component comprises a first supporting frame, a second supporting frame and a first connecting piece, the number of the first supporting frame and the number of the second supporting frame are two, the two second supporting frames are fixedly connected with the two first supporting frames in a surrounding manner and are respectively positioned between the two second supporting frames, the first connecting piece is fixedly connected with the two first supporting frames and is positioned above the two first supporting frames, and the box body is fixedly connected with the first connecting piece and is positioned above the first connecting piece;
the stair climbing mechanism comprises a crawler belt assembly, a second connecting piece and a first electric push rod, wherein the crawler belt assembly comprises crawler belt chain rings, side plates and a third connecting piece, the crawler belt chain rings are sleeved outside a driving device for driving the crawler belt chain rings to move and are positioned at one side far away from the first supporting frame, the number of the side plates is two, the two side plates are detachably connected with the driving device for driving the crawler belt chain rings to move and are respectively positioned at two sides of the crawler belt chain rings, the third connecting piece is fixedly connected with the second supporting frame and is rotationally connected with the two side plates and sleeved outside the crawler belt chain rings, the number of the crawler belt assemblies is two, the two crawler belt assemblies are symmetrically arranged along the central line of the first connecting piece, the second connecting piece is fixedly connected with the two side plates and is positioned between the two crawler belt assemblies and at one side far away from the third connecting piece, the first electric push rod comprises a first rod and a second rod, the first rod is rotationally connected with the second rod, the second rod is symmetrically arranged along the central line of the first supporting frame, and the second rod is symmetrically connected with the second supporting frame, and the first electric push rod is symmetrically arranged along the central line of the second connecting rod, and the second rod is symmetrically arranged along the central line of the first connecting rod, and the second connecting rod is symmetrically arranged along the second connecting rod, and extends along the second direction, and extends along the second directions and along at least two directions;
the auxiliary stair climbing mechanism comprises a first sliding component and a second electric push rod, the first sliding component is positioned between the two crawler components and is positioned at one side far away from the first connecting piece, the second electric push rod comprises a third rod and a fourth rod, the third rod is fixedly connected with the first sliding component, the fourth rod is rotationally connected with the first connecting piece, and the third rod slides along the extending direction of the fourth rod;
the walking mechanism comprises a fourth connecting piece, a damping component and a Mecanum wheel, wherein the fourth connecting piece is fixedly connected with the first supporting frame and is positioned on one side, far away from the box body, of the first supporting frame, the damping component is positioned on one side, far away from the crawler component, of the fourth connecting piece, and the Mecanum wheel is positioned on one side, far away from the fourth connecting piece, of the damping component.
2. The stair climbing robot according to claim 1, wherein,
the auxiliary stair climbing mechanism further comprises a supporting piece and a surrounding piece, wherein the supporting piece is fixedly connected with the first connecting piece and is located on one side, away from the box, of the first connecting piece and located between the crawler assemblies, the surrounding piece is fixedly connected with the supporting piece and located on one side, close to the second electric push rod, of the supporting piece, and the surrounding piece is provided with a through hole used for the third rod and the fourth rod to pass through.
3. The stair climbing robot according to claim 2, wherein,
the first sliding assembly comprises a first rotating shaft and first pulleys, the first rotating shaft is fixedly connected with the third rod, the first pulleys are rotationally connected with the first rotating shaft, the number of the first pulleys is two, and the two first pulleys are symmetrically arranged along the extending direction of the third rod.
4. The stair climbing robot according to claim 1, wherein,
the shock-absorbing assembly comprises a speed reducing motor, a first movable part, a second movable part, universal joints and a negative pressure shock absorber, wherein the speed reducing motor is fixedly connected with a fourth connecting part and is located near one side of the crawler assembly, the number of the first movable parts is two, the two first movable parts are rotatably connected with the fourth connecting part and are located far away from one side of the crawler assembly, the second movable parts are rotatably connected with the two first movable parts and are located between the two first movable parts, the universal joints are in transmission connection with the output ends of the speed reducing motor and are located in surrounding areas of the Mecanum wheels, the negative pressure shock absorber is rotatably connected with the fourth connecting part and the second movable parts and is located between the fourth connecting part and the second movable parts, and the number of the negative pressure shock absorber is two, and the two negative pressure shock absorbers are located on two sides of the second movable parts.
5. The stair climbing robot according to claim 1, wherein,
the number of the first electric pushing rods is two, and the two first electric pushing rods are symmetrically arranged along the central line of the first connecting piece extending towards the same direction as the first supporting frame.
6. The stair climbing robot according to claim 5, wherein,
the auxiliary stair climbing mechanism further comprises a third electric push rod and a second sliding component, wherein the third electric push rod is located between the two first electric push rods, the second sliding component is located on one side, far away from the box body, of the third electric push rod, the third electric push rod comprises a fifth rod and a sixth rod, the fifth rod is rotationally connected with the first connecting piece and located on one side, far away from the box body, the sixth rod slides along the extending direction of the fifth rod, the second sliding component comprises a second rotating shaft and a second pulley, the second rotating shaft is fixedly connected with the sixth rod and located on one side, far away from the fifth rod, of the second pulley is rotationally connected with the second rotating shaft, the number of the second pulleys is two, and the two second pulleys are symmetrically arranged along the extending direction of the fifth rod.
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| CN201910732317.7A CN110329372B (en) | 2019-08-09 | 2019-08-09 | Stair climbing robot |
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| CN112849009A (en) * | 2021-02-25 | 2021-05-28 | 中国人民解放军国防科技大学 | Shared transport robot system |
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