CN110789598A - Automatic stair climbing transportation robot and transportation method thereof - Google Patents
Automatic stair climbing transportation robot and transportation method thereof Download PDFInfo
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- CN110789598A CN110789598A CN201911037399.XA CN201911037399A CN110789598A CN 110789598 A CN110789598 A CN 110789598A CN 201911037399 A CN201911037399 A CN 201911037399A CN 110789598 A CN110789598 A CN 110789598A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/02—Accessories or details specially adapted for hand carts providing for travelling up or down a flight of stairs
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Abstract
The invention discloses an automatic stair climbing transport robot and a transport method thereof, wherein the automatic stair climbing transport robot comprises a loading platform, an expansion platform and a walking wheel leg, a plurality of electric push rods are arranged at the bottoms of the loading platform and the expansion platform, a left wheel leg and a right wheel leg are arranged at the bottom of the loading platform, a driving motor drives the left wheel leg and the wheel leg to move up and down stairs, the walking motion and the lifting motion are alternately carried out, the lifting transport is realized by the extension and contraction of the electric push rods, in the walking motion and the lifting transport, four electric push rods are used for supporting and completing, the stability of the whole loading platform on a horizontal plane is kept by utilizing the stability of a quadrangle, in the stair climbing process, the loading platform is always in a horizontal state, conveyed objects cannot slide down due to inclination, and hooks are arranged on the surface of the loading platform, the fixing device is used for fixing the object, and further ensures the stability of the object.
Description
Technical Field
The invention relates to an automatic stair climbing transportation robot, in particular to an automatic stair climbing transportation robot and a transportation method thereof.
Background
In the floor that elevator space is not enough or not have the elevator, it is very painstaking to rely on the manpower to carry goods upstairs and downstairs, and the size and the weight of artifical transport article are all limited moreover, easily receive the physical limitation, and are with high costs, inefficient. In this case, the application of mechanical equipment instead of manpower can achieve the effects of high efficiency and labor saving. The stair climbing equipment is a simple mechanical device for carrying heavy and large articles up and down stairs. The stair climbing equipment disclosed by the existing literature is mostly a three-wheel rolling type stair climbing vehicle, 3 rollers of the product are uniformly distributed around a main shaft, the 3 rollers are driven by the rotation of the main shaft to sequentially contact with an upper step surface and a lower step surface of a stair, and the stair climbing action is realized by manpower traction. Although it solves to some extent the limitation in terms of the weight of manual handling, it still has the following drawbacks: 1) the device still needs the assistance of manpower when working, and can not completely liberate two hands; 2) when climbing stairs, the number of contact points between the device and the table top is only 2, the stability is poor, and certain dangerousness is realized; 3) in order to adapt to climbing stairs, the object stages of the products are all obliquely arranged, and certain limitation is imposed on the types of the carried objects.
Disclosure of Invention
The purpose of the invention is as follows: an automatic stair climbing transportation robot and a transportation method thereof are provided to solve the problems in the prior art.
The technical scheme is as follows: an automatic stair climbing transportation robot, comprising: the device comprises a carrying platform for carrying heavy objects, walking wheel legs which are fixedly arranged below the carrying platform and can walk back and forth under the control of a control unit, and a supporting mechanism which is fixedly arranged below the carrying platform and is positioned on the periphery of the walking wheel legs.
In a further example, the walking wheel leg comprises a first joint leg and a second joint leg which are installed on the object carrying platform in a rotating fit mode and located on two sides of the object carrying platform, a third joint leg which is installed at the end part of the first joint leg in a rotating fit mode, a fourth joint leg which is installed on the second joint leg in a rotating fit mode, a first supporting leg which is installed at one end of the third joint leg in a rotating fit mode, a second supporting leg which is installed at one end of the fourth joint leg in a rotating fit mode, a driving motor which is fixedly installed at the back part of the object carrying platform, a first gear which is fixedly installed at the rotating end of the driving motor, a second gear which is meshed with the first gear, a first connecting shaft which is installed on the second gear in an interference fit mode, a first cam and a second cam which are installed at two ends of the first connecting shaft in an interference fit mode, and a first cam and a second cam, And a first connecting rod which is installed together with the third joint leg in a rotating fit manner, and a second connecting rod which is installed on the second cam in a rotating fit manner and is installed together with the fourth joint leg in a rotating fit manner.
In a further example, the supporting mechanism comprises a fifth electric push rod, a sixth electric push rod, a seventh electric push rod and an eighth electric push rod which are fixedly arranged at the bottom of the loading platform and are positioned on the periphery of the walking wheel leg;
joint motors are simultaneously installed at the bottoms of the fifth electric push rod, the sixth electric push rod, the seventh electric push rod and the eighth electric push rod.
In a further example, the end part of the loading platform is connected with an expansion platform in a rotating fit mode, and a bottom lifting mechanism of the expansion platform is arranged.
In a further example, the lift mechanism is arranged quadrilateral at a bottom of the expansion platform;
the lifting mechanism comprises a steering joint which is arranged in a rectangular structure and is arranged at the bottom of the expansion platform in a rotating fit mode, and a first electric push rod, a second electric push rod, a third electric push rod and a fourth electric push rod which are arranged on the steering joint are fixedly arranged.
In a further example, two rows of U-shaped grooves are formed in the plane of the carrying platform, the side faces of the U-shaped grooves are installation faces, and hooks are arranged on the installation faces in a rotating fit mode.
In a further example, the front end of the extension platform is provided with a connecting handle, the bottom of the extension platform is provided with two groups of grooves, and the lifting mechanism is arranged in the grooves.
In a further example, the bottom of the first support leg and the bottom of the second support leg are respectively provided with an anti-slip backing plate, and the anti-slip backing plates are fixedly connected with the first support leg and the second support leg.
In a further example, an operating method of an automatic stair climbing transportation robot includes the following steps:
s1, when the stair climbing robot needs to move up and down the stairs, the stair climbing robot moves to the front of the stairs, the object needing to be moved is fixed on the object carrying platform manually, and when the size of the object needing to be moved is large, the front end expansion platform of the object carrying platform is opened, so that the object needing to be moved is fixed;
s2, when the stair climbing robot reaches a first-stage stair of a stair, the walking wheel legs are rotated by the driving motor at the initial position, and then the first gear is driven to rotate, so that the second gear meshed with the first gear is driven to rotate, and then the first connecting shaft connected with the second gear in an interference fit manner is driven to rotate;
s3, when the first gear rotates for one circle, the second gear drives the second cam to rotate to a preset angle, the second cam is fixedly connected with the second connecting rod, one end of the second connecting rod is rotatably connected with the fourth joint leg, and further drives the second support leg at one end of the fourth joint leg to be lifted to the pedal surface of a second stair, so that the climbing motion of the robot body is simulated to climb upwards, the four first electric push rods at the bottom of the expansion platform extend out to abut against the stairs, meanwhile, the joint motors at the bottoms of the fifth electric push rod, the sixth electric push rod, the seventh electric push rod and the eighth electric push rod act, and two walking wheel legs are bent backwards to be folded to prepare for the next stair;
s4, when the electric push rod at the bottom of the production expansion platform extends to the first-stage pedal surface to serve as a supporting leg at the next moment, the driving motor rotates to drive the walking wheel leg to be lifted to the middle position of the second pedal surface, the first supporting leg is tightly abutted against the pedal surface, at the moment, the first electric push rod contracts, the second supporting leg falls on the third pedal surface, at the moment, the transition stage from the flat ground to the stairs is finished, and the stair climbing stage is started;
s5, circulating the following processes according to the number of steps of the stairs;
s6, the walking wheel legs are lifted by about the height of one step, at the moment, the stair climbing robot is supported by the walking wheel legs, the first electric push rod, the third electric push rod, the fifth electric push rod and the sixth electric push rod, a plurality of electric push rod supports are distributed in a rectangular shape, and the stair climbing robot cannot be unstable;
s7, the wheel legs are bent forwards, the wheel legs move forward to the middle position of a third step, at the moment, the first electric push rod, the third electric push rod, the fifth electric push rod and the sixth electric push rod are contracted to be shortest, at the moment, the stair climbing is supported by the second electric push rod, the fourth electric push rod, the seventh electric push rod and the eighth electric push rod, the wheel legs are also distributed in a quadrilateral mode, and the stability of the stair climbing robot is guaranteed;
and S8, circulating S6 to S7 until the last stair, and finishing the stair climbing stage.
Has the advantages that: the invention discloses an automatic stair climbing transportation robot, which is characterized in that a plurality of electric push rods are arranged at the bottoms of a loading platform and an expansion platform, a left wheel leg and a right wheel leg are arranged at the bottom of the loading platform, a driving motor drives the left wheel leg and the right wheel leg to move up and down stairs, walking motion and lifting motion are alternately carried out, lifting and transporting are realized by stretching and retracting of the electric push rods, four electric push rods are used for supporting and completing the walking motion and the lifting and transporting, the stability of the whole loading platform on a horizontal plane is maintained by utilizing the stability of a quadrilateral, the loading platform is always in a horizontal state in the stair climbing process, conveyed objects cannot slide down due to inclination, and hooks are arranged on the surface of the loading platform and used for fixing the objects, so that the stability of the objects is further ensured.
Drawings
Fig. 1 is an overall structural view of the present invention.
Fig. 2 is a partial enlarged view of a U-shaped groove of the present invention.
Fig. 3 is a bottom view of the expansion platform of the present invention.
Fig. 4 is a structural schematic of the walking wheel leg of the present invention.
The reference signs are: the loading platform comprises a loading platform 1, a walking wheel leg 2, a supporting mechanism 3, a first joint leg 203, a second joint leg 204, a third joint leg 205, a fourth joint leg 206, a first supporting leg 207, a second supporting leg 208, a driving motor 209, a first gear 210, a second gear 211, a first connecting shaft 212, a first cam 213, a second cam 214, a first connecting rod 215, a second connecting rod 216, a fifth electric push rod 4, a sixth electric push rod 5, a seventh electric push rod 6, an eighth electric push rod 7, an expansion platform 8, a steering joint 9, a first electric push rod 10, a U-shaped groove 11, a mounting surface 12, a hook 13, a connecting handle 14, a groove 15, an anti-skid gasket 16, a joint motor 17, a second electric push rod 18, a third electric push rod 19 and a fourth electric push rod 20.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Through the research and analysis of the applicant, the stair climbing equipment of the prior art is mostly a three-wheel rolling type stair climbing vehicle, 3 rollers of the product are uniformly distributed around a main shaft, and the 3 rollers are driven by the rotation of the main shaft to sequentially contact with the upper step surface and the lower step surface of the stair, and the stair climbing action is realized by manpower traction. Although it solves to some extent the limitation in terms of the weight of manual handling, it still has the following drawbacks: 1) the device still needs the assistance of manpower when working, and can not completely liberate two hands; 2) when climbing stairs, the number of contact points between the device and the table top is only 2, the stability is poor, and certain dangerousness is realized; 3) in order to adapt to climbing stairs, the object stages of the products are all obliquely arranged, the types of the carried objects are limited to a certain extent, and according to the problems, the applicant provides an automatic stair climbing transportation robot and a transportation method thereof, and the specific scheme is as follows.
As shown in fig. 1, an automatic stair climbing transportation robot comprises a loading platform 1, a walking wheel set, a supporting mechanism 3 and an expansion platform; the walking wheel legs 2 are fixedly arranged at the bottom of the loading platform 1, and the supporting mechanism 3 is fixedly arranged below the loading platform 1 and can ensure that the loading platform 1 is always kept in a horizontal state; the control unit controls the walking wheel legs 2 to pass through the front and back stairs and the stairs up and down, and when the walking wheel legs 2 climb up and down the stairs, the axial supporting mechanism 3 of the walking wheel legs 2 ensures that the loading platform 1 is kept in a horizontal state through the action of deep retraction.
As shown in fig. 4, the walking wheel leg 2 includes a first joint leg 203, a second joint leg 204, a third joint leg 205, a fourth joint leg 206, a first foot 207, a second foot 208, a driving motor 209, a first gear 210, a second gear 211, a first connecting shaft 212, a first cam 213, a second cam 214, a first connecting rod 215, and a second connecting rod 216; the first joint leg 203 is installed on the object carrying platform 1 in a rotating fit manner and located at the left side of the object carrying platform 1, the second joint leg 204 is installed on the object carrying platform 1 in a rotating fit manner and located at the right side of the object carrying platform 1, the third joint leg 205 is installed at the end of the first joint leg 203 in a rotating fit manner, the second joint leg 204 is installed at the end of the second joint leg 204 in a rotating fit manner, the first supporting leg 207 is installed at one end of the third joint leg 205 in a rotating fit manner, the second supporting leg 208 is installed at one end of the fourth joint leg 206 in a rotating fit manner, the driving motor 209 is fixedly installed at the back of the object carrying platform 1, the first gear 210 is fixedly installed at the rotating end of the driving motor 209, the second gear 211 is engaged with the first gear 210, and the first connecting shaft 212 is installed in an interference fit manner, And passes through the center of the second gear 211, the first cam 213 is installed at one end of the first connecting shaft 212 in an interference fit manner, the second cam 214 is installed at the other end of the first connecting shaft 212 in an interference fit manner, two ends of the first connecting rod 215 are installed on the first cam 213 in a rotation fit manner, the other end of the first connecting rod is installed together with the third joint leg 205 in a rotation fit manner, one end of the second connecting rod 216 is installed on the second cam 214 in a rotation fit manner, and the other end of the second connecting rod is installed on the fourth joint leg 206 in a rotation fit manner.
Preferably, the first joint leg 203, the third joint leg 205, the first connecting rod 215 and the first supporting leg 207 are assembled into a left wheel leg in a rotating fit manner, the second joint leg 204, the fourth joint leg 206, the second supporting leg 208 and the second connecting rod 216 are assembled into a right wheel leg in a rotating fit manner, when the stair climbing robot goes up and down stairs, the rotation of the driving motor 209 drives the second gear 211 engaged with the first gear 210 to rotate, simultaneously, the central position of the second gear 211 is connected with the first connecting shaft 212 in an interference fit manner, and then drives the first connecting shaft 212 to rotate, simultaneously, one end of the first connecting shaft 212 is connected with the first cam 213 in an interference fit manner, the other end of the first connecting shaft is connected with the second cam 214 in an interference fit manner, and then the first cam 213 and the second cam 214 are simultaneously driven to rotate, when the first cam 213 rotates, when the stair climbing mechanism rotates to a preset angle, the first connecting rod 215 is driven to rotate to further drive the third joint leg 205 to be lifted to the height of a stair step, further the top rotating installation point of the first joint leg 203 is driven to rotate forwards as a rotating point, further the first supporting leg 207 is synchronously lifted to the pedal surface of the first step, when a left wheel leg falls down, the left wheel leg is lifted to step towards the second step, the motion principle of the right wheel leg is the same as that of the left wheel leg, the left wheel leg and the right wheel leg are matched with each other, the stair climbing action of a human is simulated, the stair climbing is more stable, the left wheel leg and the right wheel leg have three degrees of freedom respectively, the lifting and the direction can be easily realized, meanwhile, the static friction is not the dynamic friction, and the motion is more stable.
The supporting mechanism 3 comprises a fifth electric push rod 4, a sixth electric push rod 5, a seventh electric push rod 6, an eighth electric push rod 7 and a joint motor 17; the fifth electric push rod 4 is fixedly installed at the bottom of the object carrying platform 1 and is located at the circumferential position of the walking wheel leg, the sixth electric push rod 5 is fixedly installed at the bottom of the object carrying platform 1 and is located at the right side of the fifth electric push rod 4, the seventh electric push rod 6 is fixedly installed at the bottom of the object carrying platform 1 and is located at the front position of the fifth electric push rod 4, the eighth electric push rod 7 is fixedly installed at the bottom of the object carrying platform 1 and is located at the right side of the seventh electric push rod 6 and is located at the front side of the sixth electric push rod 5, the fifth electric push rod 4, the sixth electric push rod 5, the seventh electric push rod 6 and the eighth electric push rod 7 are arranged at the bottom of the object carrying platform 1 in the positive direction, and the joint motor 17 is connected to the fifth electric push rod 4, the sixth electric push rod 4 and the eighth electric push rod 7, The bottoms of the sixth electric push rod 5, the seventh electric push rod 6 and the eighth electric push rod 7; the fifth electric push rod 4, the sixth electric push rod 5, the seventh electric push rod 6 and the eighth electric push rod 7 are automatically combined in a telescopic manner as required, so that the vertical lifting movement for climbing stairs is completed.
In order to adapt to the carrying of objects with different volume sizes, an expansion platform 8 is connected at the end part of the loading platform 1 in a rotating fit manner, a bottom lifting mechanism of the expansion platform 8 is arranged in a quadrilateral manner, the lifting mechanism comprises a steering joint 9, a first electric push rod 10, a second electric push rod 18, a third electric push rod 19, a fourth electric push rod 20 and a connecting handle 14, two rows of grooves 15 are arranged at the bottom of the expansion platform 8 in order to realize the folding and storage of the lifting mechanism, the lifting mechanism is arranged in the grooves 15, the steering joint 9 is rotatably matched at the bottom of the expansion platform 8 and is positioned inside the grooves 15, the steering joint 9 is arranged in the grooves 15 in a rectangular manner, two steering joints 9 are arranged in each groove 15, the first electric push rod 10 is fixedly arranged on the steering joint 9, a second electric push rod 18 is fixedly attached to an upper surface of the steering joint 9 and positioned in front of the first electric push rod 10, a third electric push rod 19 is fixedly attached to an upper surface of the steering joint 9 and positioned on a right side of the first electric push rod 10, a fourth electric push rod 20 is fixedly attached to an upper surface of the steering joint 9 and positioned on a front side of the third electric push rod 19 and a right side of the second electric push rod 18, and the connection handle 14 is fixedly attached to an end portion of the extension platform 8.
In order to fix the object when the transportation be provided with two rows of UU type grooves 11 on objective platform 1's the plane, the side in UU type groove 11 is installation face 12, the higher authority normal running fit of installation face 12 is equipped with couple 13, and fixed connection point as the rope through the pendant is firmly fixed the object above objective platform 1, need not accomodate couple 13 simultaneously in UU type groove 11, has liberated the support of both hands, has improved the security simultaneously. Meanwhile, in order to prevent the ground from sliding during the lifting and falling of the walking wheel leg 2, the bottoms of the first supporting leg 207 and the second supporting leg 208 are respectively provided with an anti-slip gasket 16, and the anti-slip gasket 16 is fixedly connected with the first supporting leg 207 and the second supporting leg 208.
As a preferable scheme, when the object needs to be carried up and down stairs, the stair climbing robot moves to the front of the stairs, the object needing to be carried is manually fixed on the object carrying platform 1, and when the object needing to be carried is large in size, the front end expansion platform 8 of the object carrying platform 1 is opened, so that the object needing to be carried is fixed; when the stair climbing robot reaches a first-stage stair of a stair, at the moment, the walking wheel legs 2 are rotated by the driving motor 209 at the initial position, and then the first gear 210 is driven to rotate, so that the second gear 211 meshed with the first gear 210 is driven to rotate, and then the first connecting shaft 212 connected with the second gear 211 in an interference fit manner is driven to rotate; when the first gear 210 rotates for one circle, the second gear 211 drives the second cam 214 to rotate to a predetermined angle, the second connecting rod 216 is fixedly connected to the upper surface of the second cam 214, one end of the second connecting rod 216 is rotatably connected to the fourth joint leg 206, and the second supporting leg 208 at one end of the fourth joint leg 206 is further driven to be lifted to the pedal surface of the second stair, so that the machine body simulates the climbing action of a human body to climb upwards, the four first electric push rods 10 at the bottom of the expansion platform 8 extend out to abut against the stairs, meanwhile, the fifth electric push rod 4, the sixth electric push rod 5, the seventh electric push rod 6 and the joint motor 17 at the bottom of the eighth electric push rod 7 act, and the two walking wheel legs 2 are bent backwards to be folded to prepare for the next step of the stair; when the electric push rod at the bottom of the production expansion platform extends to the first-stage pedal surface to serve as a supporting leg at the next moment, the driving motor 209 rotates to drive the walking wheel legs 2 to be lifted to the middle position of the second pedal surface, the first supporting leg 207 is tightly abutted against the pedal surface, at the moment, the first electric push rod 10 contracts, the second supporting leg 208 falls on the third pedal surface, at the moment, the transition stage from the flat ground to the stairs is finished, and the stair climbing stage is started; circulating the following processes according to the number of steps of the stairs; the walking wheel legs 2 are lifted by about the height of one step, at the moment, the stair climbing robot is supported by the walking wheel legs 2, the first electric push rod 10, the third electric push rod 19, the fifth electric push rod 4 and the sixth electric push rod 5, a plurality of electric push rod supports are distributed in a rectangular shape, and the stair climbing robot cannot be unstable; the wheel legs are bent forwards and move forward to the middle position of a third step, at the moment, the first electric push rod 10, the third electric push rod 19, the fifth electric push rod 4 and the sixth electric push rod 5 are contracted to be shortest, at the moment, the climbing stair is supported by the second electric push rod 18, the fourth electric push rod 20, the seventh electric push rod 6 and the eighth electric push rod 7, and the climbing stair is also distributed in a quadrilateral way, so that the stability of the climbing robot is ensured; and circulating until the last stair, and finishing the stage of carrying and climbing stairs.
As a preferred scheme, the small objects are transported, but the small objects are heavy, the expansion platform can be rotated 180 degrees to be overlapped with the loading platform, meanwhile, the lifting mechanism is accommodated in the groove, the objects are fixed on the expansion platform, and meanwhile, the walking wheel legs and the supporting mechanism are matched to drive the objects to be transported upwards.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (9)
1. An automatic stair climbing transportation robot, comprising: the device comprises a carrying platform for carrying heavy objects, walking wheel legs which are fixedly arranged below the carrying platform and can walk back and forth under the control of a control unit, and a supporting mechanism which is fixedly arranged below the carrying platform and is positioned on the periphery of the walking wheel legs.
2. An automatic stair climbing transportation robot as claimed in claim 1, wherein: the walking wheel leg comprises a first joint leg and a second joint leg which are arranged on the object carrying platform in a rotating fit mode and are positioned on two sides of the object carrying platform, the third joint leg is arranged at the end part of the first joint leg in a rotating fit mode, the fourth joint leg is arranged at the end part of the second joint leg in a rotating fit mode, the first support leg is arranged at one end of the third joint leg in a rotating fit mode, the second support leg is arranged at one end of the fourth joint leg in a rotating fit mode, a driving motor is fixedly arranged at the back part of the object carrying platform, a first gear is fixedly arranged at the rotating end of the driving motor, the second gear is meshed with the first gear, a first connecting shaft is arranged on the second gear in an interference fit mode, a first cam and a second cam are arranged at two ends of the first connecting shaft in an interference fit mode, and a second cam is arranged on the first cam in a, And a first connecting rod which is installed together with the third joint leg in a rotating fit manner, and a second connecting rod which is installed on the second cam in a rotating fit manner and is installed together with the fourth joint leg in a rotating fit manner.
3. An automatic stair climbing transportation robot as claimed in claim 1, wherein: the supporting mechanism comprises a fifth electric push rod, a sixth electric push rod, a seventh electric push rod and an eighth electric push rod which are fixedly arranged at the bottom of the loading platform and are positioned in the circumferential direction of the right wheel leg;
joint motors are simultaneously installed at the bottoms of the fifth electric push rod, the sixth electric push rod, the seventh electric push rod and the eighth electric push rod.
4. An automatic stair climbing transportation robot as claimed in claim 1, wherein: the end part of the loading platform is connected with an expansion platform in a rotating fit mode, and the bottom of the expansion platform is provided with a lifting mechanism.
5. An automatic stair climbing transportation robot as claimed in claim 4, wherein: the lifting mechanism is arranged at the bottom of the expansion platform in a quadrilateral way;
the lifting mechanism comprises a steering joint which is arranged in a rectangular structure and is arranged at the bottom of the expansion platform in a rotating fit mode, and a first electric push rod, a second electric push rod, a third electric push rod and a fourth electric push rod which are arranged on the steering joint are fixedly arranged.
6. An automatic stair climbing transportation robot as claimed in claim 1, wherein: two rows of U-shaped grooves are formed in the plane of the carrying platform, the side faces of the U-shaped grooves are installation faces, and hooks are arranged on the installation faces in a rotating fit mode.
7. An automatic stair climbing transportation robot according to claim 5, characterized in that: the front end of the extension platform is provided with a connecting handle, the bottom of the extension platform is provided with two groups of grooves, and the lifting mechanism is arranged in the grooves.
8. An automatic stair climbing transportation robot as claimed in claim 2, wherein: the bottom of the first support leg and the bottom of the second support leg are respectively provided with an anti-skid base plate, and the anti-skid base plates are fixedly connected with the first support leg and the second support leg.
9. A working method of an automatic stair climbing transportation robot is characterized by comprising the following steps:
s1, when the stair climbing robot needs to move up and down the stairs, the stair climbing robot moves to the front of the stairs, the object needing to be moved is fixed on the object carrying platform manually, and when the size of the object needing to be moved is large, the front end expansion platform of the object carrying platform is opened, so that the object needing to be moved is fixed;
s2, when the stair climbing robot reaches a first-stage stair of a stair, the walking wheel legs are rotated by the driving motor at the initial position, and then the first gear is driven to rotate, so that the second gear meshed with the first gear is driven to rotate, and then the first connecting shaft connected with the second gear in an interference fit manner is driven to rotate;
s3, when the first gear rotates for one circle, the second gear drives the second cam to rotate to a preset angle, the second cam is fixedly connected with the second connecting rod, one end of the second connecting rod is rotatably connected with the fourth joint leg, and further drives the second support leg at one end of the fourth joint leg to be lifted to the pedal face of the second stair, so that the climbing action of the robot body is simulated to climb upwards, the four electric push rods at the bottom of the expansion platform extend to abut against the pedal face of the stair, meanwhile, the joint motors at the bottoms of the fifth electric push rod, the sixth electric push rod, the seventh electric push rod and the eighth electric push rod act, and the walking wheel legs bend backwards and are folded to prepare for the next stair;
s4, when the electric push rod at the bottom of the production expansion platform extends to the first-stage pedal surface to serve as a supporting leg at the next moment, the driving motor rotates to drive the walking wheel leg to be lifted to the middle position of the second pedal surface, the first supporting leg is tightly abutted against the pedal surface, at the moment, the first electric push rod contracts, the second supporting leg falls on the third pedal surface, at the moment, the transition stage from the flat ground to the stairs is finished, and the stair climbing stage is started;
s5, circulating the following processes according to the number of steps of the stairs;
s6, the walking wheel legs are lifted by about the height of one step, at the moment, the stair climbing robot is supported by the walking wheel legs, the first electric push rod, the third electric push rod, the fifth electric push rod and the sixth electric push rod, a plurality of electric push rod supports are distributed in a rectangular shape, and the stair climbing robot cannot be unstable;
s7, the wheel legs are bent forwards, the wheel legs move forward to the middle position of a third step, at the moment, the first electric push rod, the third electric push rod, the fifth electric push rod and the sixth electric push rod are contracted to be shortest, at the moment, the stair climbing is supported by the second electric push rod, the fourth electric push rod, the seventh electric push rod and the eighth electric push rod, the wheel legs are also distributed in a quadrilateral mode, and the stability of the stair climbing robot is guaranteed;
and S8, circulating S6 to S7 until the last stair, and finishing the stair climbing stage.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111361659A (en) * | 2020-03-06 | 2020-07-03 | 中国南方电网有限责任公司超高压输电公司广州局 | Wheel-leg obstacle crossing mechanism and obstacle crossing robot |
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Application publication date: 20200214 |