CN111267994A - Stair climbing robot - Google Patents
Stair climbing robot Download PDFInfo
- Publication number
- CN111267994A CN111267994A CN201811472384.1A CN201811472384A CN111267994A CN 111267994 A CN111267994 A CN 111267994A CN 201811472384 A CN201811472384 A CN 201811472384A CN 111267994 A CN111267994 A CN 111267994A
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- wheel
- robot
- stair
- stair climbing
- climbing robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
Abstract
The invention discloses a stair climbing robot, which comprises a travelling mechanism, a frame mechanism driven by four wheel sets, a sensing unit and a drive control unit, wherein the frame mechanism is driven by the four wheel sets; the sensing unit is used for sensing the robot posture, the front stairs and the parameters of the peripheral walls and transmitting the parameters to the driving control unit, and the driving control unit is used for driving the deformable wheels in the advancing mechanism to walk and turn; the invention adopts the design of a modularized and dynamic gear type advancing mechanism, carries out parameter detection during level ground and stair climbing based on a multi-sensor fusion method, realizes the free switching of the wheel set on the level ground and the stair state, has good environmental adaptability, selects a four-wheel type robot suspension mechanism taking a four-bar mechanism as a basic motion unit, has good geometric trafficability, reasonable design of a driving circuit, easy control and good cruising ability, and can be widely applied to articles such as luggage cases, baby strollers, large garbage cans and the like.
Description
The technical field is as follows:
the invention relates to the field of robots, in particular to a stair climbing robot.
Background art:
in recent years, buildings are higher and higher along with the rapid development of economy, and elevators are used more and more frequently, but in buildings without elevators, stairs such as overpasses and tourist attractions are still inconvenient to carry up and down. At present, various structures of stair climbing robots are designed at home and abroad, basic structures of the stair climbing robots comprise crawler-type, wheel-type, foot-type and composite types, most of the mechanisms are complex in structure and expensive in manufacturing cost, are limited by size, weight, stability and the like, and are not widely applied to actual life at present.
For example, the existing four-footed stair climbing robot mechanism with the patent application number of CN201310244311.8 and the obstacle surmounting robot with the patent application number of CN201620066524.5 have the advantages that the foot type stair climbing device has stable motion when climbing stairs, but has high requirements on control, complex operation and slow movement, and the latter adopts a spherical integral structure, although the obstacle surmounting robot mechanism has excellent obstacle surmounting capability, the structure is complex and has large mass, and the bearing capability, the stability and the safety are poor. In order to solve the problem that the stair climbing robot is limited in use, the invention provides the stair climbing robot which has the advantages of flat ground walking and ladder climbing, simple structure, higher efficiency, relative easiness in control and obstacle crossing and obstacle avoiding functions.
The invention content is as follows:
the technical problem is as follows: the invention aims to overcome the defects in the prior art and provide a stair climbing robot to solve the problem that a building without an elevator, such as an overpass and a tourist attraction, is inconvenient to carry up and down.
The technical scheme is as follows: the invention relates to a stair climbing robot, which comprises a travelling mechanism, a frame mechanism driven by four wheel sets, a sensing unit and a driving control unit, wherein the frame mechanism is driven by the four wheel sets; the sensing unit and the driving control unit are arranged on the frame mechanism, the sensing unit is used for sensing the robot posture, the front stairs and the parameters of the peripheral walls and feeding the parameters back to the driving control unit, and the driving control unit is used for driving the deformable wheels in the advancing mechanism to walk and turn.
The further technical proposal is that the advancing mechanism comprises a wheel body, a wheel hub, a wheel seat and a micro shock absorber; the deformable wheel body adopts a telescopic spoke design and comprises a rim, an inner spoke and an outer spoke, wherein the inner spoke is fixed and is arranged in 12 units at equal intervals by taking the hub as the center of a circle; the unit is radially provided with the same number of micro shock absorbers which are embedded in the wheel seat in a threaded connection mode; and a miniature driving motor is arranged on the outer side of the hub.
A further technical scheme lies in, outer spoke is between spoke and rim including, the rim adopts the modularized design, is equipped with the goat's horn line cover tire on the rim under the wheel goes up and down the stair state, the sufficient contact step edge of any step wheel of wheel, and outer spoke all can be sunken back in the spoke until this edge is touched to next step wheel foot in going back, and the sunken department blocks the step and climbs.
The further technical proposal is that the frame mechanism driven by the four wheel sets comprises a load platform, a chassis and a suspension mechanism; the suspension mechanism comprises four first support rods, two second supports, eight first connecting rods and four second connecting rods; the load platform is fixedly connected with the suspension mechanism, the lower ends of the first supporting rods are hinged to the wheel hubs, the upper ends of the first supporting rods are hinged to the outer ends of the two parallel first connecting rods, the inner ends of the two parallel first connecting rods are hinged to the load platform through the second connecting rod, the first supporting rods, the first connecting rods and the second connecting rods form a right-angle trapezoidal frame, and the upper ends of the two first supporting rods between the wheel axles are hinged through the second supporting rods.
The further technical scheme is that the load platform comprises a bearing platform and a load carrier; the carrier is arranged on the bearing platform, the bearing platform is carried on the chassis through two shock absorbers, and the carrier adopts a cross-shaped elastic clamping groove and is suitable for various bearing objects.
The sensing unit comprises a laser ranging sensor, a forward looking sonar sensor and an inclination angle sensor; the forward looking sonar sensors are located in the center of the front end of the chassis, the inclination sensors are located on two sides of the front end of the chassis, the laser ranging sensors are located on two sides of the middle of the chassis, and the inclination sensors, the laser ranging sensors and the sonar sensors feed back the captured parameter information of the front stairs and the two side walls to the driving control unit.
The technical scheme includes that the inclination angle sensor is used for measuring an inclination angle α of the robot frame to judge whether the robot frame reaches a top or bottom platform of a stair, the parameter measured by the forward-looking sonar sensor is the distance between the robot and the front stair, namely, the deformation wheel deforms by a preset distance value L, the included angle between the traveling direction of the robot and the middle line of the stair, namely, the deviation angle theta is smaller, the smaller the theta is, the better the included angle is, the ideal state value is 0, the laser ranging sensor is used for measuring the distance values from the center of the robot to the left wall, the right wall or the edge of the stair is respectively L1 and L2, β is L1/L2, and β is 1.
The further technical scheme is that the driving control unit comprises a power energy source, a control switch, a driving motor and a singlechip controller; the power supply is arranged in the middle of the chassis, a 24V direct current lead-acid battery pack is selected for use to realize autonomous power supply, the control switch is positioned on the bearing platform to control the power supply of the whole stair climbing robot, the driving motor adopts a centralized control-dispersed driving mode and comprises a micro driving motor on four wheel sets and a main driving motor at the tail part of the chassis, the input end of the single chip microcomputer controller is connected with the sensing unit and outputs the power to the input end of the main driving motor, and the main driving motor outputs the power to the input end of the micro driving motor.
The further technical scheme is that the main driving motor adopts a brushless direct current motor, and the miniature driving motor adopts a stepping motor.
The invention has the beneficial effects that:
(1) has the advantages of both round wheels and scroll wheels. The traveling mechanism adopts a modularized and dynamic gear type design, and when encountering obstacles such as steps, each module in the tire can become a gear and continuously extend and retract along with the steps to advance.
(2) The four-wheel type robot suspension mechanism with the four-bar linkage mechanism as the basic motion unit is selected, the structure is simple, the geometric trafficability characteristic is good, and the four-wheel type robot suspension mechanism can stably climb on stairs inclined at a certain angle from left to right without turning on one side.
(3) The load platform design of the cross elastic clamping groove is adopted, the application range of the robot is expanded, and the robot can be used for carrying objects such as a luggage case, a garbage can, a baby carriage and the like.
(4) The method adopts various sensors for measurement, and adopts a method of fusing various sensors for parameter detection and control when the robot climbs the stairs, thereby improving the environmental adaptability and stability of the robot for climbing the stairs.
(5) The drive control system is more reasonable in structural design and is relatively convenient to realize in control.
(6) Higher cruising ability. The stair climbing robot carries a rechargeable battery during the running process and can work for a certain time continuously.
Description of the drawings:
FIG. 1 is a schematic structural diagram of a stair climbing robot according to the present invention;
FIG. 2 is a schematic structural diagram of a stair climbing robot chassis according to the present invention;
fig. 3 is a schematic structural view of a traveling mechanism in the stair climbing robot of the present invention;
FIG. 4 is a schematic diagram of the stair climbing robot of the present invention in relation to the stairs;
FIG. 5 is a schematic view of the stair climbing robot of the present invention;
in the figure: 1-advancing mechanism, 2-frame mechanism, 3-sensing unit, 4-drive control unit, 1-1-wheel body, 1-2-wheel hub, 1-3-wheel seat, 1-4-miniature shock absorber, 1-11-wheel rim, 1-12-inner wheel spoke, 1-13-outer wheel spoke, 1-14 goat's horn pattern cover tire, 2-1-load platform, 2-2-chassis, 2-3-suspension mechanism, 2-11-bearing platform, 2-12-load rack, 2-31-first support rod, 2-32-second support rod, 2-33-first connecting rod, 2-34-second connecting rod, 2-35-shock absorber, 3-1-laser ranging sensor, 3-2-forward looking sonar sensor, 3-3-tilt sensor, 4-1-power energy, 4-2-control switch, 4-3-driving motor, 4-4-single chip microcomputer controller, 4-31-main driving motor and 4-32-micro driving motor.
The specific implementation mode is as follows:
in order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1, the stair climbing robot of the present embodiment includes a traveling mechanism 1, a carriage mechanism 2 driven by four wheel sets, a sensing unit 3, and a drive control unit 4; the sensing unit 3 and the driving control unit 4 are configured on the frame mechanism 2, the sensing unit 3 is used for sensing the robot posture, the front stairs and the parameters of the surrounding walls and feeding the parameters back to the driving control unit 4, and the driving control unit 4 is used for driving the deformable wheels in the advancing mechanism to walk and turn.
Referring to fig. 1, 2 and 3, the frame mechanism driven by four wheel sets comprises a load platform 2-1, a chassis 2-2 and a suspension mechanism 2-3; the suspension mechanism 2-3 comprises four first supporting rods 2-31, two second supporting rods 2-32, eight first connecting rods 2-33 and four second connecting rods 2-34; the load platform 2-1 is fixedly connected with a suspension mechanism 2-3, the lower ends of first supporting rods 2-31 are hinged to a wheel hub 1-2, the upper ends of the first supporting rods 2-31 are hinged to the outer ends of two parallel first connecting rods 2-33, the inner ends of the two parallel first connecting rods 2-33 are hinged to the load platform through second connecting rods 2-34, the first supporting rods 2-31, the first connecting rods 2-33 and the second connecting rods 2-34 form a right-angle trapezoid frame, and the upper ends of the two first supporting rods 2-31 between the wheel axles are hinged through second supporting rods 2-32. The loading platform 2-1 comprises a bearing platform 2-11 and a carrier frame 2-12; the carrier rack 2-12 is arranged on the bearing platform 2-11, the bearing platform 2-35 is carried on the chassis 2-2 through two shock absorbers, and the carrier rack 2-12 adopts a cross-shaped elastic clamping groove and is suitable for various bearing objects.
The sensing unit 3 comprises a laser ranging sensor 3-1, a forward-looking sonar sensor 3-2 and an inclination sensor 3-3; the forward looking sonar sensor 3-2 is located in the center of the front end of the chassis, the tilt angle sensors 3-3 are located on two sides of the front end of the chassis, the laser ranging sensors 3-1 are located on two sides of a center shaft of the chassis, and the tilt angle sensors 3-3, the laser ranging sensors 3-1 and the sonar sensors 3-2 feed back the captured parameter information of the front stairs and the walls on two sides to the driving control unit.
The driving control unit 4 comprises a power energy source 4-1, a control switch 4-2, a driving motor 4-3 and a single chip microcomputer controller 4-4; the power supply 4-1 is arranged in the middle of the chassis, a 24V direct current lead-acid battery pack is selected, the control switch 4-2 is located on the bearing platform and controls power supply of the whole stair climbing robot, the driving motor 4-3 adopts a centralized control-decentralized driving mode and comprises four wheel sets of micro driving motors 4-32 and a main driving motor 4-31 in the center of the chassis, the input end of the single chip microcomputer controller 4-4 receives parameters of the sensing unit 3 and outputs the parameters to the input end of the main driving motor 4-31, and the main driving motor 4-31 outputs the parameters to the input end of the micro driving motor 4-32. The main driving motors 4-31 adopt brushless direct current motors, and the micro driving motors 4-32 adopt stepping motors.
As shown in fig. 3, the traveling mechanism 1 includes a wheel body 1-1, a wheel hub 1-2, a wheel seat 1-3 and a micro shock absorber 1-4; the deformable wheel body 1-1 adopts a telescopic spoke design and comprises a wheel rim 1-11, inner spokes 1-12 and outer spokes 1-13, wherein the inner spokes 1-12 are fixed and are arranged at 12 units at equal intervals by taking the wheel hub 1-2 as the center of a circle; the unit is provided with the same number of micro shock absorbers 1-4 in the radial direction, and the micro shock absorbers 1-4 are embedded in the wheel seat in a threaded connection mode; and a micro driving motor 4-32 is arranged on the outer side of the hub 1-2. The outer spokes 1-13 are arranged between the inner spokes 1-12 and the wheel rim, the wheel rim 1-11 is in a modular design, the wheel rim 1-11 is provided with a goat's horn-shaped pattern outer cover 1-14, under the condition that the wheel goes up and down stairs, the wheel feet of any step of the wheel contact with the edge of the step, the outer spokes 1-13 can be sunken back into the inner spokes 1-12 until the wheel feet of the next step contact with the edge, and the sunken part clamps the step to climb.
As shown in fig. 4 and 5, the tilt sensor 3-3 is used for measuring the tilt angle α of the robot frame to judge whether the robot frame reaches the top or bottom of a stair, the parameter measured by the forward-looking sonar sensor 3-2 is the distance between the robot and the front stair, namely, the deformation of the deformable wheels is a preset distance value L, the included angle between the traveling direction of the robot and the middle line of the stair, namely, the offset angle theta is as small as possible, the ideal state value is 0, the laser ranging sensor 3-1 is used for measuring the distance values from the center of the robot to the left and right walls or the edge of the stair are respectively L1 and L2, and the ideal state value of β is L1/L2 and β is 1.
As shown in figure 5, the moving principle of the stair climbing robot is that when a stair climbing robot takes the stair climbing robot as an example, a traveling mechanism 1 of the stair climbing robot smoothly advances on a flat ground in a contracted state, when a front view sonar sensor 3-2 detects that the robot reaches a preset deformation distance value L from the bottom of a first stair, a miniature driving motor 4-32 drives a deformable wheel to change from the contracted state to an expanded state, namely, an outer spoke 1-13 is popped out from an inner spoke 1-12, when any step of the deformable wheel is contacted with an edge of a step, the outer spoke 1-13 is sunken back to the inner spoke 1-12 until the next step of the step is contacted with the edge, the step is clamped at the sunken part to climb until an inclination angle sensor 3-3 detects α to be 0, in the climbing process of the stair climbing robot, the front view sonar sensor 3-2 continuously acquires theta between the traveling direction of the robot and the center of the stair, the advancing direction of the robot is continuously adjusted to be 0, and a laser ranging sensor 3-1 acquires the distance L1, L from the center of the wall or the edge of the stair, and the attitude of the front view sonar sensor 3-2 and the attitude of the robot are.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a stair climbing robot which characterized in that: comprises a traveling mechanism, a frame mechanism driven by four wheel sets, a sensing unit and a driving control unit; the sensing unit and the driving control unit are arranged on the frame mechanism, the sensing unit is used for sensing the robot posture, the front stairs and the parameters of the surrounding walls and feeding the parameters back to the driving control unit, and the driving control unit is used for driving deformable wheels in the advancing mechanism to walk and turn.
2. The stair climbing robot according to claim 1, wherein: the advancing mechanism comprises a wheel body, a wheel hub, a wheel seat and a micro shock absorber; the deformable wheel body adopts a telescopic spoke design and comprises a rim, an inner spoke and an outer spoke, wherein the inner spoke is fixed and is arranged in 12 units at equal intervals by taking the hub as the center of a circle; the unit is radially provided with the same number of micro shock absorbers which are embedded in the wheel seat in a threaded connection mode; and a miniature driving motor is arranged on the outer side of the hub.
3. The stair climbing robot according to claim 2, wherein: outer spoke is between interior spoke and rim, the rim adopts the modularized design, is equipped with the goat's horn line cover tire on the rim under the stair state is gone up to the wheel, the sufficient contact step edge of any step of going wheel of wheel, and this edge is touched to going wheel foot in the outer spoke all can sunken going back to interior spoke until next step, and the depressed part blocks the step and climbs.
4. A stair climbing robot as claimed in claim 1, wherein: the frame mechanism driven by the four wheel sets comprises a load platform, a chassis and a suspension mechanism; the suspension mechanism comprises four first support rods, two second supports, eight first connecting rods and four second connecting rods; the load platform is fixedly connected with the suspension mechanism, the lower ends of the first supporting rods are hinged to the wheel hubs, the upper ends of the first supporting rods are hinged to the outer ends of the two parallel first connecting rods, the inner ends of the two parallel first connecting rods are hinged to the load platform through the second connecting rod, the first supporting rods, the first connecting rods and the second connecting rods form a right-angle trapezoidal frame, and the upper ends of the two first supporting rods between the wheel axles are hinged through the second supporting rods.
5. A stair climbing robot as claimed in claim 4, wherein: the load platform comprises a load bearing table and a load carrier; the carrier is arranged on the bearing platform, the bearing platform is carried on the chassis through two shock absorbers, and the carrier adopts a cross-shaped elastic clamping groove and is suitable for various bearing objects.
6. A stair climbing robot as claimed in claim 1, wherein: the sensing unit comprises a laser ranging sensor, a forward-looking sonar sensor and an inclination sensor; the forward looking sonar sensors are located in the center of the front end of the chassis, the inclination sensors are located on two sides of the front end of the chassis, the laser ranging sensors are located on two sides of the middle of the chassis, and the inclination sensors, the laser ranging sensors and the sonar sensors feed back the captured parameter information of the front stairs and the two side walls to the driving control unit.
7. The stair climbing robot according to claim 6, wherein the tilt angle sensor is used for measuring a tilt angle α of the robot frame to judge whether the robot frame reaches a top or bottom landing of a stair, the parameter measured by the forward looking sonar sensor is a stair distance robot distance, namely a deformable wheel deformation preset distance value L, an included angle between a traveling direction of the robot and a stair center line, namely a deviation angle theta, is as small as theta is better, and an ideal state value is 0, the laser ranging sensor is used for measuring the distance values from the center of the robot to the left wall and the right wall or the edge of the stair are respectively L1 and L2, and the ideal state values of β, L1, L2 and β are 1.
8. A stair climbing robot as claimed in claim 1, wherein: the drive control unit comprises a power energy source, a control switch, a drive motor and a singlechip controller; the power supply is arranged in the middle of the chassis, a 24V direct current lead-acid battery pack is selected for use to realize autonomous power supply, the control switch is positioned on the bearing platform to control the power supply of the whole stair climbing robot, the driving motor adopts a centralized control-dispersed driving mode and comprises a micro driving motor on four wheel sets and a main driving motor at the tail part of the chassis, the input end of the single chip microcomputer controller is connected with the sensing unit and outputs the power to the input end of the main driving motor, and the main driving motor outputs the power to the input end of the micro driving motor.
9. A stair climbing robot as claimed in claim 8, wherein: the main driving motor adopts a brushless direct current motor, and the micro driving motor adopts a stepping motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811472384.1A CN111267994A (en) | 2018-12-04 | 2018-12-04 | Stair climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811472384.1A CN111267994A (en) | 2018-12-04 | 2018-12-04 | Stair climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN111267994A true CN111267994A (en) | 2020-06-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811472384.1A Pending CN111267994A (en) | 2018-12-04 | 2018-12-04 | Stair climbing robot |
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| Country | Link |
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| CN (1) | CN111267994A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112274823A (en) * | 2020-10-26 | 2021-01-29 | 广州睿达信息科技有限公司 | Stair climbing fire truck for farm |
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| CN103273985A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped stair climbing robot mechanism |
| CN104443093A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Unmanned ladder climbing robot |
| CN205292841U (en) * | 2016-01-25 | 2016-06-08 | 李浩亮 | Can hinder robot more |
| CN107415574A (en) * | 2016-05-24 | 2017-12-01 | 林伯刚 | Deformable tyre |
| CN108058752A (en) * | 2018-01-30 | 2018-05-22 | 河南科技大学 | A kind of trolley that building is climbed for loading |
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2018
- 2018-12-04 CN CN201811472384.1A patent/CN111267994A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200948729Y (en) * | 2006-09-01 | 2007-09-19 | 周中理 | Explosion-proof vehicle wheel |
| CN103273985A (en) * | 2013-06-18 | 2013-09-04 | 辰星（天津）自动化设备有限公司 | Quadruped stair climbing robot mechanism |
| CN104443093A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Unmanned ladder climbing robot |
| CN205292841U (en) * | 2016-01-25 | 2016-06-08 | 李浩亮 | Can hinder robot more |
| CN107415574A (en) * | 2016-05-24 | 2017-12-01 | 林伯刚 | Deformable tyre |
| CN108058752A (en) * | 2018-01-30 | 2018-05-22 | 河南科技大学 | A kind of trolley that building is climbed for loading |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112274823A (en) * | 2020-10-26 | 2021-01-29 | 广州睿达信息科技有限公司 | Stair climbing fire truck for farm |
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Application publication date: 20200612 |
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