CN110395328A - Level land based on vertical lifting mechanism is mobile to climb dual-purpose robot chassis with ladder - Google Patents
Level land based on vertical lifting mechanism is mobile to climb dual-purpose robot chassis with ladder Download PDFInfo
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- CN110395328A CN110395328A CN201910592151.3A CN201910592151A CN110395328A CN 110395328 A CN110395328 A CN 110395328A CN 201910592151 A CN201910592151 A CN 201910592151A CN 110395328 A CN110395328 A CN 110395328A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 16
- 230000001360 synchronised effect Effects 0.000 claims abstract description 40
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 4
- 239000010949 copper Substances 0.000 claims description 4
- 229910052802 copper Inorganic materials 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 15
- 229910052782 aluminium Inorganic materials 0.000 description 15
- 230000009194 climbing Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
Level land based on vertical lifting mechanism is mobile to climb dual-purpose robot chassis with ladder, is related to robot field, including main body frame, vertical lifting unit and auxiliary wheel unit；Vertical lifting unit includes driving wheel module and zigzag tread patterns module；Driving wheel module includes first motor, Mecanum wheel assembly and the first synchronous pulley component, and the first synchronous pulley component is separately connected first motor and Mecanum wheel assembly；Zigzag tread patterns module includes the second motor, gear and rack gear, the second motor connection gear, and wheel and rack engages, and rack gear is connect with Mecanum wheel assembly；Auxiliary wheel unit includes motor drive module and auxiliary wheel module；Motor drive module includes third motor and connect the second synchronous pulley component with third motor；Auxiliary wheel module includes auxiliary wheel fixing axle and auxiliary wheel assembly, and auxiliary wheel fixing axle is connect with the second synchronous pulley component and auxiliary wheel assembly respectively.Stable structure is simple, functional diversities, applied widely.
Description
Technical field
The present invention relates to robot fields, more particularly to the level land based on vertical lifting mechanism is mobile dual-purpose with ladder climbing
Robot chassis.
Background technique
Stair climbing robot not only can also cross stair in level walking, play and focus in fields such as scouting, search and rescue
The effect wanted, many different types of stair climbing robots also come into being.Existing stair climbing robot is mostly convertible
Or bionic type, convertible robot are gone upstairs the overturning of entire robot with a fulcrum, such robot, which can only realize, climbs building
Ladder, upper-layer functionality module is difficult to realize, is highly prone to damage in switching process, weakens the functionality of robot significantly；In
Occupied space is larger when overturning, if progress reconnaissance mission target is excessively obvious, smaller scope of application；And in switching process only
One fulcrum, is not sufficiently stable, also very big to the power source damage of support overturning；Furthermore, it is necessary to install sufficiently long turning-over support
Device, structure is complicated.
Summary of the invention
It is an object of the invention to solve the above problem in the prior art, the level land based on vertical lifting mechanism is provided and is moved
Dynamic to climb dual-purpose robot chassis with ladder, stable structure is simple, functional diversities, simple to operation, applied widely.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
Level land based on vertical lifting mechanism is mobile to climb dual-purpose robot chassis with ladder, including main body frame, vertical
Lifting unit and auxiliary wheel unit；The main body frame is for fixed support vertical lifting unit and auxiliary wheel unit；
The vertical lifting unit includes driving wheel module and zigzag tread patterns module；The driving wheel module includes the first electricity
Machine, the first synchronous pulley component and Mecanum wheel assembly, first motor connect the first synchronous pulley component, the first synchronous pulley
Component connects Mecanum wheel assembly；The zigzag tread patterns module includes the second motor, gear and rack gear, the second motor tooth connection
Wheel, wheel and rack engagement, rack gear are connect with Mecanum wheel assembly；
The auxiliary wheel unit is set to the bottom of main body frame, and auxiliary wheel unit includes motor drive module and auxiliary wheel model
Block；The motor drive module includes third motor and the second synchronous pulley component for connecting with third motor；The auxiliary wheel
Module includes auxiliary wheel fixing axle and auxiliary wheel assembly, and one end of the auxiliary wheel fixing axle and the second synchronous pulley component connect
It connects, the other end of auxiliary wheel fixing axle is connect by flange coupling with auxiliary wheel assembly.
The vertical lifting unit further includes fixed module, and the fixed module includes the upper layer set gradually from top to bottom
Fixed plate, lower layer's fixed plate and bottom clamping plate；Upper layer fixed plate and lower layer's fixed plate are fixedly connected with main body frame, the second motor
And gear is installed between upper layer fixed plate and lower layer's fixed plate, rack gear passes through upper layer fixed plate and lower layer's fixed plate and bottom presss from both sides
Rack gear seat on plate is fixedly connected, so that bottom clamping plate is vertically moved with rack gear；It is solid that the driving wheel module is installed in lower layer
It is connect below fixed board and with bottom Boards wall.
The fixed module further includes motor cabinet, and the motor cabinet is set between upper layer fixed plate and lower layer's fixed plate, electricity
The second motor is fixed in the side of base, and by the bearing in the fixed motor cabinet of bearing axis, gear is set to electricity for the other side of motor cabinet
In base, rack gear passes through motor cabinet and engages with gear, bearing and the tangent cooperation of rack gear.
The vertical lifting unit further includes sliding axle, and the sliding axle passes through upper layer fixed plate and lower layer's fixed plate passes through
Flange coupling is connect with bottom clamping plate.
The Mecanum wheel assembly includes Mecanum wheel and side plate fixing piece, and side plate fixing piece is set to Mecanum wheel
Two sides, the rotation axis of the first synchronous pulley component passes through side plate fixing piece and connect with Mecanum wheel, the bottom clamping plate
Side is connect with side plate fixing piece.
The first motor and the first synchronous pulley component are secured on side plate fixing piece, and first motor is fixed positioned at lower layer
Between plate and bottom clamping plate, the first synchronous pulley component is set to the outside of side plate fixing piece.
The driving wheel module further includes motor fixing plate, and the first motor is bolted in side plate by motor fixing plate and consolidates
Determine on part.
The vertical lifting unit further includes travel switch, and the travel switch is set on Mecanum wheel assembly.
The auxiliary wheel assembly includes auxiliary wheel and auxiliary wheel fixed plate, and the auxiliary wheel is installed in two panels auxiliary wheel and fixes
Between plate, auxiliary wheel fixing axle is connect by flange coupling with auxiliary wheel fixed plate；Copper post is used between auxiliary wheel fixed plate
It is fixed.
Compared with the existing technology, the beneficial effect that technical solution of the present invention obtains is:
1, the present invention makes robot forward travel stairs, to keep robot by the way of auxiliary wheel support
Overall structure is stablized, stair climbing form it is roughly the same in level land traveling, it can be achieved that level land with to climb building dual-purpose；Stair climbing process letter
Single easy to operate, structure is more stable simple, and cost is lower；In addition, stair climbing process safety is stablized, robot itself is not damaged
Wound, the service life is longer；
2, the present invention can increase functional module without being influenced by stair climbing on the upper layer of main body frame, realize a variety of function
Can, keep robot application range wider, function is more diversified；
3, structure of the invention is compact, and volume is smaller, occupies little space during traveling, the scope of application is wider；
4, it since the configuration of the present invention is simple is stable, easy to operate, is suitable for teaching experiment and robot training and contest etc. is living
It is dynamic；
5, the present invention is equipped with travel switch, and robot can determine whether front has stair and change according to feedback result and walk
State.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is side structure schematic diagram of the invention；
The structural schematic diagram of frame based on Fig. 3；
Fig. 4 is partial structural diagram of the invention；
Fig. 5 is the structural schematic diagram of fixed module；
Fig. 6 is one of the structural schematic diagram of driving wheel module；
Fig. 7 is the second structural representation of driving wheel module；
Fig. 8 is the structural schematic diagram of zigzag tread patterns module；
Fig. 9 is the schematic diagram of internal structure of motor cabinet；
Figure 10 is the structural schematic diagram of auxiliary wheel unit；
Figure 11 is the structural schematic diagram of motor drive module；
Figure 12 is the structural schematic diagram for assisting wheel model block.
Appended drawing reference: aluminum pipe 101~110, first motor 111, synchronous pulley 112~113, side plate fixing piece 114~
115, Mecanum wheel 116, motor fixing plate 117, the second motor 118, gear 119, rack gear 120, motor cabinet 121, bearing axis
122, sliding axle 123, upper layer fixed plate 124, lower layer's fixed plate 125, flange coupling 126, bottom clamping plate 127, rack gear seat
128, aluminum pipe 129, travel switch 130, third motor 131, synchronous pulley 132~133, motor fixing plate 134, auxiliary wheel module
Fixed plate 135, auxiliary wheel fixing axle 136, axle sleeve 137, flange coupling 138, auxiliary wheel fixed plate 139, copper post 140, auxiliary
Wheel 141, bearing 142.
Specific embodiment
In order to be clearer and more clear technical problems, technical solutions and advantages to be solved, tie below
Drawings and examples are closed, the present invention is described in further details.
As shown in figures 1-4, the embodiment of the present invention includes main body frame, vertical lifting unit and auxiliary wheel units.
As shown in figure 3, the main body frame is made of aluminum pipe 101~110, main body frame is for fixed support vertical lift
Unit and auxiliary wheel unit, the design of main body frame is reasonable, and stable structure is secured, and aluminum pipe 101 can be used to install upper-layer functionality mould
Block, such as crawl, projectile, make robot functional diversities.
As shown in Fig. 1~8, the vertical lifting unit includes driving wheel module, zigzag tread patterns module, fixed module, cunning
Moving axis 123 and travel switch 130；
As shown in fig. 6, the driving wheel module includes first motor 111, the first synchronous pulley component and Mecanum wheel
Component, first motor 111 connect the first synchronous pulley component, and the first synchronous pulley component connects Mecanum wheel assembly；First
Synchronous pulley component includes synchronous pulley 112~113, and first motor 111 drives synchronous pulley 112, and synchronous pulley 113 drives wheat
Mecanum wheel 116 in Ke Namu wheel assembly rotates, and this driving method can make structure more compact, is convenient for stair climbing；
As shown in figure 8, the zigzag tread patterns module includes the second motor 118, gear 119 and rack gear 120, the second motor
118 connection gears 119, gear 119 are engaged with rack gear 120, and rack gear 120 is connect with Mecanum wheel assembly；By the second motor 118
Band moving gear 119 rotates, 119 driving rack 120 of gear, so that Mecanum wheel assembly be driven to move up and down, realizes stair climbing
Function, this structure movement speed is fast, damages to motor small, only needs the movement on vertical direction, and high-efficient and while moving accounts for
It is small with space；
As shown in Fig. 1 and Fig. 4~5, the fixed module include the upper layer fixed plate 124 set gradually from top to bottom, under
Layer fixed plate 125 and bottom clamping plate 127；It is fixed that upper layer fixed plate 124 is fixed on 102~103 upper and lower layers of fixed plate of aluminum pipe 125
On aluminum pipe 104~105, the second motor 118 and gear 119 are installed between upper layer fixed plate 124 and lower layer's fixed plate 125,
Rack gear 120 passes through upper layer fixed plate 124 and lower layer's fixed plate 125 is fixedly connected with the rack gear seat 128 on bottom clamping plate 127, with
Vertically move bottom clamping plate 127 with rack gear 120；The driving wheel module be installed in the lower section of lower layer's fixed plate 125 and with bottom
Portion's clamping plate 127 is fixedly connected；
More specifically, the fixed module further includes motor cabinet 121, the motor cabinet 121 is set to 124 He of upper layer fixed plate
Between lower layer's fixed plate 125, ruggedized construction keeps overall structure more stable.
As shown in figure 9, the second motor 118 is fixed in the side of motor cabinet 121, the other side of motor cabinet 121 passes through bearing axis
Bearing 142 in 122 fixed motor cabinets 121, gear 119 are set in motor cabinet 121, and rack gear 120 passes through motor cabinet 121 and gear
119 engagements, bearing 142 and the tangent cooperation of rack gear 120, bearing 142 can limit the position of rack gear 120, make rack gear 120 and gear
119 cooperations are close, prevent from skidding.
As shown in figure 5, the sliding axle 123 passes through upper layer fixed plate 124 and lower layer's fixed plate 125 passes through flange coupling
126 connect with bottom clamping plate 127, in this way, reinforcing overall structure.
As described above, the fixed module can both fix the second motor 118, and it can also be with stationary rack 120, fixed motor
Upper layer fixed plate 124 and lower layer's fixed plate 125 be connected with main body frame, so that the holding of the second motor 118 is stablized motionless, fixed tooth
The bottom clamping plate 127 of item 120 can be mobile with rack gear 120, this simple and compact for structure, deft design.
Specifically, as shown in fig. 6, the Mecanum wheel assembly include Mecanum wheel 116 and side plate fixing piece 114~
115, side plate fixing piece 114~115 is set to the two sides of Mecanum wheel 116, and the rotation axis of the first synchronous pulley component passes through side
Plate fixing piece is connect with Mecanum wheel 116, and the side of the bottom clamping plate 127 is equipped with aluminum pipe 129 as support, aluminum pipe 129
It is connect with side plate fixing piece, keeps structure more stable；
As shown in fig. 7, the travel switch 130 is set on side plate fixing piece；Whether travel switch 130 is for judging front
There is step, when Mecanum wheel 116 is close to step, travel switch 130 detects the step in front, just feeds back to robot
Control system, robot control system issues instruction change gait and starts stair climbing, thus completes level land and climb the conversion in building, real
Existing robot is full-automatic.
As shown in figures 4-6, the first motor 111 and the first synchronous pulley component are secured on side plate fixing piece, and first
For motor 111 between lower layer's fixed plate 125 and bottom clamping plate 127, the first synchronous pulley component is set to the outer of side plate fixing piece
Side；The driving wheel module further includes motor fixing plate 117, and the first motor 111 is bolted in side by motor fixing plate 117
On plate fixing piece.
As shown in Figure 10~12, the auxiliary wheel unit is set to the bottom of main body frame, and auxiliary wheel unit includes that motor drives
Dynamic model block and auxiliary wheel module；
The motor drive module includes third motor 131 and the second synchronous pulley component for connecting with third motor 131,
Second synchronous pulley component includes synchronous pulley 132~133；Cooperated using motor synchronous pulley, can reduce motor institute stress
Square increases motor service life, keeps overall structure more stable；
The auxiliary wheel module include auxiliary wheel fixing axle 136 and auxiliary wheel assembly, the one of the auxiliary wheel fixing axle 136
End is connect with the second synchronous pulley component, and the other end of auxiliary wheel fixing axle 136 passes through flange coupling 138 and auxiliary wheel assembly
Connection；
Specifically, third motor 131 is fixed on aluminum pipe 110 by motor fixing plate 134, and auxiliary wheel fixing axle 136 is by auxiliary
Wheel module fixed plate 135 is helped to be fixed on aluminum pipe 110.
Third motor 131 drives synchronous pulley 132 to rotate, and synchronous pulley 133 drives auxiliary wheel fixing axle 136 to rotate, from
And auxiliary wheel assembly rotation is driven, assist wheel assembly to put down in stair climbing, level land assists wheel assembly to pack up when driving, small in size
Other function is not influenced, structure is simply exquisite.
In the present embodiment, the auxiliary wheel assembly includes auxiliary wheel 141 and auxiliary wheel fixed plate 139, the auxiliary wheel 141
It is installed between two panels auxiliary wheel fixed plate 139, and limits the position of auxiliary wheel 141 with axle sleeve 137, move it from controlling
It is dynamic；Fixation is supported using copper post 140 between auxiliary wheel fixed plate 139；Auxiliary wheel fixing axle 136 passes through flange coupling
138 connect with auxiliary wheel fixed plate 139.
Aluminum pipe 107,106 can limit the position of auxiliary wheel assembly, prevent its rotation angle from spending greatly above auxiliary wheel assembly
And can not be contacted with step, strengthen stability.
The structural attachments of the embodiment of the present invention are mostly that bolt is fixed, and guarantee that stable structure is accurate.The embodiment of the present invention
Length range is within 800mm, and width range is within 700mm.
The vertical lift module realizes that the structure to move up and down and principle are as follows:
Side plate fixing piece 114~115 is bolted on together in aluminum pipe 129, and the second motor 118 is with moving gear 119
When rotation, rack gear 120 is moved up and down, since rack gear 120 is fixed on rack gear seat 128, rack gear seat 128, bottom clamping plate 127, aluminium
Pipe 129, side plate fixing piece 114~115 are secured to each other respectively, thus rack gear 120 move up and down when, rack gear seat 128,
Bottom clamping plate 127, aluminum pipe 129, side plate fixing piece 114~115 can move up and down together therewith；Due to Mecanum wheel 116 with
Side plate fixing piece 114~115 is fixed together, so can also move therewith, can realize that rack gear 120 drives Mike to receive as a result,
Nurse wheel 116 moves up and down, and the up and down motion of Mecanum wheel 116 can be controlled with the second motor 118；
Since upper layer fixed plate 124 and lower layer's fixed plate 125 are connected with main body frame, they are not moved with rack gear 120, institute
With when rack gear 120 drives Mecanum wheel 116 to move up and down, main body frame is remained stationary, and just realizes Mecanum wheel 116
Leg is fallen with after the lift leg and stairs when the relative motion, i.e. stair climbing of main body frame.
The auxiliary wheel assembly realizes that flexible structure and principle are as follows:
Auxiliary wheel assembly is fixed in auxiliary wheel fixing axle 136, as the second synchronous pulley component rotates, i.e., with third
Motor 131 rotates.When auxiliary wheel assembly inwardly turns, it can be withdrawn, when turning outward, just be extended.Assist wheel model
Auxiliary wheel fixing axle 136 is once again secured on aluminum pipe 108 by block fixed plate 135, keeps auxiliary wheel module more stable.Assist wheel model
Block is divided in two parts, in this way, front and back auxiliary wheel 141 can be made to climb up step respectively.
The present invention realizes that the structure for climbing building and principle are as follows:
Level land when driving, third motor 131 rotate, auxiliary wheel assembly rotate inward withdrawal, four Mecanum wheels 116
Normally travel on the ground.When there is step in front, travel switch 130 detects step and feeds back to robot control system, machine
Device people's control system issues instruction and changes gait, and third motor 131 rotates, and auxiliary wheel assembly rotates outward the support that trails
Onto step；The rotation of second motor 118, Mecanum wheel 116 travels upward and out ground, before robot is with auxiliary wheel 141
Wheel is stood on step；Third motor 131 rotates again, and auxiliary wheel assembly rotates inward withdrawal, and robot is at this time with auxiliary wheel
141 rotate for fulcrum, and the second motor 118 rotates again after climbing up step, and Mecanum wheel 116 moves downward and ground face contact,
Robot first half climbs up step completely at this time.It moves on until rear-wheel encounters step, travel switch 130 detects again
Step repeats above step by the latter half of rear-wheel and auxiliary wheel assembly, rear-wheel is made to climb up step.
Claims (10)
1. the level land based on vertical lifting mechanism is mobile to climb dual-purpose robot chassis with ladder, it is characterised in that: including main body
Frame, vertical lifting unit and auxiliary wheel unit；The main body frame is for fixed support vertical lifting unit and auxiliary wheel list
Member；
The vertical lifting unit includes driving wheel module and zigzag tread patterns module；The driving wheel module include first motor,
First synchronous pulley component and Mecanum wheel assembly, first motor connect the first synchronous pulley component, the first synchronous pulley group
Part connects Mecanum wheel assembly；The zigzag tread patterns module includes the second motor, gear and rack gear, the second motor tooth connection
Wheel, wheel and rack engagement, rack gear are connect with Mecanum wheel assembly；
The auxiliary wheel unit is set to the bottom of main body frame, and auxiliary wheel unit includes motor drive module and auxiliary wheel module；
The motor drive module includes third motor and the second synchronous pulley component for connecting with third motor；The auxiliary wheel module
Including auxiliary wheel fixing axle and auxiliary wheel assembly, one end of the auxiliary wheel fixing axle is connect with the second synchronous pulley component, auxiliary
The other end of wheel fixing axle is helped to connect by flange coupling with auxiliary wheel assembly.
2. the level land based on vertical lifting mechanism is mobile as described in claim 1 climbs dual-purpose robot chassis with ladder, special
Sign is: the vertical lifting unit further includes fixed module, and the fixed module includes the upper layer set gradually from top to bottom
Fixed plate, lower layer's fixed plate and bottom clamping plate；Upper layer fixed plate and lower layer's fixed plate are fixedly connected with main body frame, the second motor
And gear is installed between upper layer fixed plate and lower layer's fixed plate, rack gear passes through upper layer fixed plate and lower layer's fixed plate and bottom presss from both sides
Rack gear seat on plate is fixedly connected, so that bottom clamping plate is vertically moved with rack gear；It is solid that the driving wheel module is installed in lower layer
It is connect below fixed board and with bottom Boards wall.
3. the level land based on vertical lifting mechanism is mobile as claimed in claim 2 climbs dual-purpose robot chassis with ladder, special
Sign is: the fixed module further includes motor cabinet, and the motor cabinet is set between upper layer fixed plate and lower layer's fixed plate, motor
The second motor is fixed in the side of seat, and by the bearing in the fixed motor cabinet of bearing axis, gear is set to motor for the other side of motor cabinet
In seat, rack gear passes through motor cabinet and engages with gear, bearing and the tangent cooperation of rack gear.
4. the level land based on vertical lifting mechanism is mobile as claimed in claim 2 climbs dual-purpose robot chassis with ladder, special
Sign is: the vertical lifting unit further includes sliding axle, and the sliding axle passes through upper layer fixed plate and lower layer's fixed plate passes through
Flange coupling is connect with bottom clamping plate.
5. the level land based on vertical lifting mechanism is mobile as claimed in claim 2 climbs dual-purpose robot chassis with ladder, special
Sign is: the Mecanum wheel assembly includes Mecanum wheel and side plate fixing piece, and side plate fixing piece is set to Mecanum wheel
Two sides, the rotation axis of the first synchronous pulley component passes through side plate fixing piece and connect with Mecanum wheel, the bottom clamping plate
Side is connect with side plate fixing piece.
6. the level land based on vertical lifting mechanism is mobile as claimed in claim 5 climbs dual-purpose robot chassis with ladder, special
Sign is: the first motor and the first synchronous pulley component are secured on side plate fixing piece, and first motor is fixed positioned at lower layer
Between plate and bottom clamping plate, the first synchronous pulley component is set to the outside of side plate fixing piece.
7. the level land based on vertical lifting mechanism is mobile as claimed in claim 6 climbs dual-purpose robot chassis with ladder, special
Sign is: the driving wheel module further includes motor fixing plate, and the first motor is bolted in side plate by motor fixing plate and consolidates
Determine on part.
8. the level land based on vertical lifting mechanism is mobile as described in claim 1 climbs dual-purpose robot chassis with ladder, special
Sign is: the vertical lifting unit further includes travel switch, and the travel switch is set on Mecanum wheel assembly.
9. the level land based on vertical lifting mechanism is mobile as described in claim 1 climbs dual-purpose robot chassis with ladder, special
Sign is: the auxiliary wheel assembly includes auxiliary wheel and auxiliary wheel fixed plate, and the auxiliary wheel is installed in two panels auxiliary wheel and fixes
Between plate, auxiliary wheel fixing axle is connect by flange coupling with auxiliary wheel fixed plate.
10. the level land based on vertical lifting mechanism is mobile as claimed in claim 9 climbs dual-purpose robot chassis with ladder, special
Sign is: being fixed between the auxiliary wheel fixed plate using copper post.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910592151.3A CN110395328A (en) | 2019-07-02 | 2019-07-02 | Level land based on vertical lifting mechanism is mobile to climb dual-purpose robot chassis with ladder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910592151.3A CN110395328A (en) | 2019-07-02 | 2019-07-02 | Level land based on vertical lifting mechanism is mobile to climb dual-purpose robot chassis with ladder |
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|---|---|
| CN110395328A true CN110395328A (en) | 2019-11-01 |
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|---|---|---|---|
| CN201910592151.3A Pending CN110395328A (en) | 2019-07-02 | 2019-07-02 | Level land based on vertical lifting mechanism is mobile to climb dual-purpose robot chassis with ladder |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169555A (en) * | 2020-01-06 | 2020-05-19 | 北京理工大学 | Movable robot with gear rack structure and bounced function |
| CN112572641A (en) * | 2020-12-30 | 2021-03-30 | 华南理工大学 | Chassis capable of going up and down steps and using method |
| CN113734318A (en) * | 2021-10-12 | 2021-12-03 | 南京福亿智能机器人科技有限公司 | Intelligent walking equipment and stair climbing method thereof |
| WO2024040970A1 (en) * | 2022-08-25 | 2024-02-29 | 上海建工七建集团有限公司 | Intelligent hot work inspection robot for construction site security |
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| CN112572641A (en) * | 2020-12-30 | 2021-03-30 | 华南理工大学 | Chassis capable of going up and down steps and using method |
| CN113734318A (en) * | 2021-10-12 | 2021-12-03 | 南京福亿智能机器人科技有限公司 | Intelligent walking equipment and stair climbing method thereof |
| WO2024040970A1 (en) * | 2022-08-25 | 2024-02-29 | 上海建工七建集团有限公司 | Intelligent hot work inspection robot for construction site security |
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