CN112678085A - Direct-acting type four-foot guide rail stair-climbing robot device - Google Patents
Direct-acting type four-foot guide rail stair-climbing robot device Download PDFInfo
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- 230000009471 action Effects 0.000 abstract description 3
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Abstract
The invention relates to a direct-acting type quadruped guide rail stair-climbing robot device, which comprises a main board, a main clamping jaw assembly, an auxiliary clamping jaw lifting assembly, a walking assembly and a mechanical arm, wherein: the main claw assembly consists of two main arms arranged on the front side of the main board from left to right and a main L-shaped claw at the top end of the main arm; the auxiliary clamping jaw component consists of two auxiliary arms which can be arranged on the inner sides of the two main arms in a vertically sliding manner and an auxiliary L-shaped clamping jaw at the top end of the auxiliary arms; the auxiliary clamping jaw lifting assembly is arranged on the main board and drives the two auxiliary arms to move up and down; the walking component is arranged at the bottom of the main board and used for driving the device to move to the front of the crawling ladder; the mechanical arm is arranged on the back of the main board; the main L-shaped clamping jaw and the auxiliary L-shaped clamping jaw are driven by the clamping jaw telescopic driving mechanism to realize the telescopic action. Compared with the prior art, the invention can stably climb the vertical ladder without simulating the movement gait of the robot through a large number of experiments; can avoid climbing in-process by the jam through the improvement to can avoid the jack catch to break away from.
Description
Technical Field
The invention relates to the field of stair climbing robots, in particular to a direct-acting type four-foot guide rail stair climbing robot device.
Background
The existing quadruped robot is more realized by researches on the aspects of slope surface, gravel road surface, soil road surface, brick obstacle crossing and the like, and relates to fewer robots for climbing vertical ladders. When climbing a vertical ladder, bionic ladder climbing robots such as a quadruped robot have great control difficulty due to poor motion characteristics such as the bumping and fluctuation of the gravity center of the robot body, the self-disturbance of the gravity center and the like.
Chinese patent CN111605638A discloses a ladder climbing detection robot for climbing a vertical ladder, comprising two upper arms, each upper arm being rotatably disposed at a first side and a second side near the upper part of a main body of the ladder climbing detection robot through a first connecting shaft; two underarms, every the underarm sets up in being close to respectively through a second connecting axle turn to ground the first side and the second side of the lower part of main body, wherein, cat ladder detection robot includes a detection module and one prevents the module of falling, all sets up in a main body, however the bionic design of its four limbs for it has the problem that the four-footed robot ubiquitous when climbing perpendicular ladder, need go the motion gait of simulation robot through a large amount of experiments moreover.
Disclosure of Invention
The invention analyzes the core technology of the quadruped robot and can adapt to vertical climbing of the ladder, which is a main breakthrough point of structural design. Especially, when climbing a vertical ladder, poor motion characteristics such as robot body gravity center bump and fluctuation, body gravity center self-disturbance and the like are main reasons of large control difficulty of the quadruped robot. How to coordinate and solve the matching of leg moving devices becomes the fundamental purpose of studying the gait of the quadruped robot.
The invention aims to overcome the defects of the prior art and provide a direct-acting type quadruped guide rail stair-climbing robot device. The vertical ladder can be stably climbed without simulating the movement gait of the robot through a large number of experiments; can avoid climbing in-process by the jam through the improvement to can avoid the jack catch to break away from.
The purpose of the invention can be realized by the following technical scheme:
a direct acting quadruped guideway stair climbing robot device, comprising:
a main board, a plurality of first and second connection terminals,
the main clamping jaw component consists of two main arms which are arranged on the left and the right and are arranged on the front surface of the main board and main L-shaped clamping jaws which are respectively arranged on the tops of the main arms,
the auxiliary clamping jaw component consists of two auxiliary arms which can be arranged at the inner sides of the two main arms in a vertically sliding way and auxiliary L-shaped clamping jaws which are respectively arranged at the tops of the auxiliary arms,
an auxiliary clamping jaw lifting component which is arranged on the main board and connected with the two auxiliary arms and is used for driving the two auxiliary arms to move up and down,
the walking component is arranged at the bottom of the main board and is used for driving the device to move in front of the ladder stand,
the mechanical arm is arranged on the back of the main board;
the main L-shaped clamping jaw and the auxiliary L-shaped clamping jaw are driven by the clamping jaw telescopic driving mechanism to realize the telescopic effect.
Preferably, main L type jack catch and vice L type jack catch all be the L type, have straight section and set up in straight section front end and vertical section down, straight section and the flexible actuating mechanism transmission of jack catch be connected, vertical section be used for climbing the stair collude on the horizontal pole of cat ladder.
Preferably, the front end and the rear end of the horizontal section of each of the main L-shaped clamping jaw and the auxiliary L-shaped clamping jaw are respectively provided with a limiting sensor, and the main arm and the auxiliary arm are respectively provided with a copper stud matched with the limiting sensors on the main L-shaped clamping jaw and the auxiliary L-shaped clamping jaw.
Preferably, the jaw extension and retraction driving mechanism consists of a jaw rack, a driving gear meshed with the jaw rack and a speed reduction motor for driving the driving gear to rotate; the jaw racks are arranged on the horizontal sections of the main L-shaped jaw and the auxiliary L-shaped jaw, and the speed reducing motor is fixed on the main arm and the auxiliary arm.
Preferably, the front end of the bottom of the auxiliary arm is provided with a D-shaped supporting angle.
Preferably, a vertical guide rail is arranged on one side of the main arm facing the auxiliary arm, and the auxiliary arm is connected with the guide rail in a sliding manner.
Preferably, vice gripper lifting unit include one on set up in the mainboard openly and rotatable two belt pulleys, set up in the mainboard back and be used for driving a belt pulley pivoted step motor, the driving belt of cover on two belt pulleys, be fixed in the belt transmission fixer on the driving belt and be fixed in the driving plate on the belt transmission fixer, the both sides and two auxiliary arm fixed connection of belt plate.
Preferably, the walking assembly comprises a main power wheel arranged at the bottom of the back of the two sides of the main board and a balance auxiliary wheel arranged at the back of the main board through a swing arm and a positioning spring which are connected with the main board.
Preferably, the main power wheel is driven to rotate by a walking driving motor fixed on the main board.
Preferably, the manipulator consists of a mechanical arm and a grabbing part arranged at the tail end of the mechanical arm.
After the direct-acting type quadruped guide rail stair climbing robot device disclosed by the invention receives an instruction transmitted from a mobile phone end through Bluetooth, the robot can move on the ground by balancing the auxiliary wheels under the driving of the main power wheel, the two driving wheels are driven by two speed reducing motors (walking driving motors), and the two motors at the two sides can be used for obtaining differential speed, so that the function of turning is achieved. When the robot reaches under the ladder that the operator wants to climb, utilize the arm (prop up the arm subaerial behind the mainboard) to make the robot body topple over forward, the robot laminating is on the ladder surface, and two vice L type jack catchs of two owner L type jack catchs collocation adopt alternating transmission for the robot upwards scrambles. The robot comprises a ladder body, a ladder, a main L-shaped clamping jaw, a belt pulley, a speed reducing motor, a belt pulley, a main L-shaped clamping jaw, a main action instruction and a power supply, wherein the power of the stepping motor is transmitted through the belt pulley to enable the auxiliary L-shaped clamping jaw to be attached to the surface of the ladder, the speed reducing motor drives the clamping jaw to clamp the ladder forwards (hooked on a cross rod of the ladder), then the robot body is attached to the surface of the ladder to move upwards under the driving of the stepping motor, and. In addition, travel switches (limit sensors) are arranged at the front end bulges and the rear end bulges of the main L-shaped clamping jaw and the auxiliary L-shaped clamping jaw to ensure that the clamping jaws cannot be separated from the robot body.
Compared with the prior art, the invention has the following beneficial effects:
1. the problem caused by poor motion characteristics such as the robot body gravity center bump and fluctuation and the body gravity center self-disturbance when climbing the vertical ladder is solved, and the climbing of the vertical ladder can be realized very stably.
2. The motion gait of the robot is not required to be simulated through a large number of experiments, and due to the advantages and the characteristics of the mechanical structure, the clamping jaws of the robot for climbing the ladder have high fault-tolerant rate, so that the success rate of climbing the ladder is further improved.
3. The D-shaped supporting angle has the effect of changing the gravity center of the robot body, and the robot can not be clamped in the climbing process in the simplest mode.
4. From the jack catch of taking limit function provides further guarantee, ensures can not because artificial misoperation, the jack catch that leads to breaks away from the robot body, realizes dual guarantee.
5. And multiple safety guarantees are adopted to ensure the safety of the system.
Drawings
Fig. 1 is a schematic structural view of a direct-acting type quadruped guide rail stair-climbing robot device of the present invention.
In the figure, 1 is a stepping motor, 2 is a jaw rack, 3 is a transmission belt, 4 is an auxiliary L-shaped jaw, 5 is a belt transmission fixer, 6 is a D-shaped supporting angle, 7 is a belt pulley, 8 is a main power wheel, 9 is a balance auxiliary wheel, 10 is a speed reduction motor, 11 is a guide rail, 12 is a copper stud, 13 is a main L-shaped jaw, 14 is a transmission plate, 15 is a mechanical arm, 16 is a swing arm, 17 is a main plate, 18 is a main arm, 19 is an auxiliary arm, and 20 is a limit sensor.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Example 1
A direct acting type quadruped guide rail stair climbing robot device, as shown in fig. 1, comprising a main board 17, a main jaw component, an auxiliary jaw lifting component, a walking component and a mechanical arm 15, wherein: the main claw assembly consists of two main arms 18 which are arranged on the left and right and are arranged on the front surface of the main plate 17 and main L-shaped claws 13 which are respectively arranged on the tops of the main arms 18; the auxiliary clamping jaw component consists of two auxiliary arms 19 which can be arranged on the inner sides of the two main arms 18 in a vertically sliding manner and auxiliary L-shaped clamping jaws 4 which are respectively arranged on the tops of the auxiliary arms 19; the auxiliary jaw lifting assembly is arranged on the main board 17, is connected with the two auxiliary arms 19 and is used for driving the two auxiliary arms 19 to move up and down; the walking component is arranged at the bottom of the main board 17 and used for driving the device to move to the front of the crawling ladder; the robot 15 is provided on the back surface of the main plate 17 (preferably, the robot 15 is composed of a robot arm and a grasping portion provided at the end of the robot arm). The main L-shaped clamping jaw 13 and the auxiliary L-shaped clamping jaw 4 are driven by a clamping jaw telescopic driving mechanism to realize the telescopic effect. In this embodiment, it is preferable that other components are fixed to the main board 17.
In this embodiment, main L type jack catch 13 and vice L type jack catch 4 all are the L type, have straight section and set up in straight section front end and vertical section down, and straight section is connected with the flexible actuating mechanism transmission of jack catch, colludes on the horizontal pole of cat ladder when vertical section is used for climbing stair. Preferably, the front end and the rear end of the horizontal sections of the main L-shaped clamping jaw 13 and the auxiliary L-shaped clamping jaw 4 are respectively provided with a limit sensor 20, and the main arm 18 and the auxiliary arm 19 are respectively provided with a copper stud 12 matched with the limit sensors 20 on the main L-shaped clamping jaw 13 and the auxiliary L-shaped clamping jaw 4. Preferably, the jaw extension driving mechanism consists of a jaw rack 2, a driving gear meshed with the jaw rack 2 and a speed reduction motor 10 for driving the driving gear to rotate; the jaw rack 2 is arranged on the horizontal sections of the main L-shaped jaw 13 and the auxiliary L-shaped jaw 4, and the speed reducing motor 10 is fixed on the main arm 18 and the auxiliary arm 19. Preferably, the side of the main arm 18 facing the auxiliary arm 19 is provided with a vertical guide rail 11, and the auxiliary arm 19 is slidably connected with the guide rail 11. Preferably, the auxiliary jaw lifting assembly comprises two belt pulleys 7 (located between two auxiliary arms 19) which are arranged on the front surface of the main plate 17 in a one-to-one mode and can rotate, a stepping motor 1 which is arranged on the back surface of the main plate 17 and is used for driving one belt pulley 7 to rotate, a transmission belt 3 sleeved on the two belt pulleys 7, a belt transmission fixer 5 fixed on the transmission belt 3 and a transmission plate 14 fixed on the belt transmission fixer 5, wherein two sides of the belt plate 14 are fixedly connected with the two auxiliary arms 19. In this embodiment, vice L type jack catch 4 cooperation main L type jack catch 13 constitutes the climbing manipulator, vice L type jack catch 4 accurate location under step motor 1's drive, utilize step motor 1's high accuracy repeated location, make the robot body can not take place shake and dislocation at upwards or the in-process that moves down under step motor 1's drive, ensure that the robot can be accurate when climbing the cat ladder block the ladder, realize the cat ladder function, the displacement difference between vice L type jack catch 4 and the main L type jack catch 13 is the ladder interval, jack catch rack 2 inlays in the main jack catch, copper stud 12 plays spacing jack catch effect with spacing sensor 20 group, make can not lead to the robot to fall because of human misoperation, even the robot organism focus jolts and fluctuates, under the circumstances such as organism focus self-disturbance, can keep the steady climbing of bilateral symmetry.
In the embodiment, the front end of the bottom of the auxiliary arm 19 is preferably provided with a D-shaped supporting angle 6 (the protrusion is forward). The D-shaped supporting angle 6 is attached to the ladder and used for changing the gravity center of the robot. The D-shaped supporting angle enables the robot body to move on the section of the ladder in a sliding arm direct-acting mode. This configuration tilts the center of gravity of the robot (preferably by 10) in the direction of the plumb, so that the robot fits firmly against the ladder surface, whether during ascent or descent.
In this embodiment, the walking assembly preferably includes a main power wheel 8 disposed at the bottom of the rear of both sides of the main plate 17, and a balance auxiliary wheel 9 disposed behind the main plate 17 through a swing arm 16 and a positioning spring (not shown in the figure) connected to the main plate 17. The main power wheel 8 is matched with the balance auxiliary wheel 9, so that the robot can keep vertical movement, and the balance auxiliary wheel 9 is matched with the main power wheel 8 to keep balance by means of a positioning spring. In practice, other types of running assemblies may be used, such as a track-type running gear. The main power wheel 8 is driven to rotate by a travel driving motor (in a conventional transmission manner, not shown in the figure) fixed on the main board 17.
After the direct-acting type quadruped guide rail stair climbing robot device disclosed by the invention receives an instruction transmitted from a mobile phone end through Bluetooth, the robot can move on the ground by balancing the auxiliary wheels under the driving of the main power wheel, the two driving wheels are driven by two speed reducing motors (walking driving motors), and the two motors at the two sides can be used for obtaining differential speed, so that the function of turning is achieved. When the robot reaches under the ladder that the operator wants to climb, utilize the arm (prop up the arm subaerial behind the mainboard) to make the robot body topple over forward, the robot laminating is on the ladder surface, and two vice L type jack catchs of two owner L type jack catchs collocation adopt alternating transmission for the robot upwards scrambles. The robot comprises a ladder body, a ladder, a main L-shaped clamping jaw, a belt pulley, a speed reducing motor, a belt pulley, a main L-shaped clamping jaw, a main action instruction and a power supply, wherein the power of the stepping motor is transmitted through the belt pulley to enable the auxiliary L-shaped clamping jaw to be attached to the surface of the ladder, the speed reducing motor drives the clamping jaw to clamp the ladder forwards (hooked on a cross rod of the ladder), then the robot body is attached to the surface of the ladder to move upwards under the driving of the stepping motor, and. In addition, travel switches (limit sensors) are arranged at the front end bulges and the rear end bulges of the main L-shaped clamping jaw and the auxiliary L-shaped clamping jaw to ensure that the clamping jaws cannot be separated from the robot body.
The stepping motor 1 in the present embodiment may be a 42-step motor. The control part can adopt Arduino control panel mage2560 series products. And is preferably powered by a lithium battery.
The embodiments described above are intended to facilitate the understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.
Claims (10)
1. A direct-acting type quadruped guide rail stair-climbing robot device is characterized by comprising:
a main board (17),
the main clamping jaw component consists of two main arms (18) which are arranged on the left and the right and are arranged on the front surface of the main board (17) and main L-shaped clamping jaws (13) respectively arranged on the tops of the main arms (18),
the auxiliary clamping jaw component consists of two auxiliary arms (19) which can be arranged at the inner sides of the two main arms (18) in a vertically sliding way and auxiliary L-shaped clamping jaws (4) which are respectively arranged at the tops of the auxiliary arms (19),
an auxiliary claw lifting component which is arranged on the main board (17), is connected with the two auxiliary arms (19) and is used for driving the two auxiliary arms (19) to move up and down,
the walking component is arranged at the bottom of the main board (17) and is used for driving the device to move to the front of the ladder,
a manipulator (15) arranged on the back of the main board (17);
the main L-shaped clamping jaw (13) and the auxiliary L-shaped clamping jaw (4) are driven by a clamping jaw telescopic driving mechanism to realize the telescopic effect.
2. The robot device for climbing stairs of claim 1, wherein the main L-shaped jaw (13) and the auxiliary L-shaped jaw (4) are both L-shaped, and comprise a straight section and a vertical section which is arranged at the front end of the straight section and faces downwards, the straight section is in transmission connection with the jaw extension driving mechanism, and the vertical section is hooked on a cross bar of a climbing ladder when climbing stairs.
3. The robot device for climbing stairs of claim 2, wherein the front and rear ends of the horizontal sections of the main L-shaped jaw (13) and the auxiliary L-shaped jaw (4) are respectively provided with a limit sensor (20), and the main arm (18) and the auxiliary arm (19) are respectively provided with a copper stud (12) matched with the limit sensors (20) on the main L-shaped jaw (13) and the auxiliary L-shaped jaw (4).
4. The robot device for climbing stairs of direct-acting quadruped guide rails as claimed in claim 2, wherein the jaw extension and retraction driving mechanism consists of a jaw rack (2), a driving gear meshed with the jaw rack (2) and a speed reduction motor (10) for driving the driving gear to rotate; the jaw rack (2) is arranged on the horizontal sections of the main L-shaped jaw (13) and the auxiliary L-shaped jaw (4), and the speed reducing motor (10) is fixed on the main arm (18) and the auxiliary arm (19).
5. A direct-acting quadruped guideway stair-climbing robot device according to claim 1, characterized in that the front end of the bottom of the secondary arm (19) is provided with a D-shaped bracket angle (6).
6. A direct acting quadruped guideway stair climbing robot device according to claim 1, characterized in that the side of the main boom (18) facing the secondary boom (19) is provided with a vertical guideway (11), and the secondary boom (19) is slidably connected with the guideway (11).
7. The robot device of claim 1, wherein the secondary pawl lifting assembly comprises two rotatable belt pulleys (7) disposed on the front surface of the main plate (17), a stepping motor (1) disposed on the back surface of the main plate (17) for driving one belt pulley (7) to rotate, a transmission belt (3) sleeved on the two belt pulleys (7), a belt transmission fixer (5) fixed on the transmission belt (3), and a transmission plate (14) fixed on the belt transmission fixer (5), wherein two sides of the belt plate (14) are fixedly connected with the two secondary arms (19).
8. A direct acting quadruped guideway stair climbing robot device according to claim 1, characterized in that the walking assembly comprises a main power wheel (8) arranged at the bottom of the rear of both sides of the main board (17) and a balance auxiliary wheel (9) arranged behind the main board (17) through a swing arm (16) and a positioning spring connected with the main board (17).
9. A direct acting quadruped guideway stair climbing robot device according to claim 8, characterized in that the main power wheel (8) is driven to rotate by a walking drive motor fixed on the main board (17).
10. A direct acting quadruped guideway stair climbing robot device according to claim 1, characterized in that the manipulator (15) consists of a manipulator arm and a grabbing part arranged at the end of the manipulator arm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011638724.0A CN112678085A (en) | 2020-12-31 | 2020-12-31 | Direct-acting type four-foot guide rail stair-climbing robot device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011638724.0A CN112678085A (en) | 2020-12-31 | 2020-12-31 | Direct-acting type four-foot guide rail stair-climbing robot device |
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| CN112678085A true CN112678085A (en) | 2021-04-20 |
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| CN202011638724.0A Pending CN112678085A (en) | 2020-12-31 | 2020-12-31 | Direct-acting type four-foot guide rail stair-climbing robot device |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6175075A (en) * | 1984-09-20 | 1986-04-17 | Toshiba Corp | Ladder climbing/lowering robot system |
| JPH10131655A (en) * | 1996-10-31 | 1998-05-19 | Gakunan Kensetsu Kk | Ladder elevating auxiliary traction device |
| CN101475031A (en) * | 2009-02-12 | 2009-07-08 | 大连工业大学 | Robot climbing ladder apparatus |
| CN201313592Y (en) * | 2008-12-03 | 2009-09-23 | 李鑫 | Robot capable of escalading aerial ladder |
| CN205391616U (en) * | 2016-03-02 | 2016-07-27 | 湖南泰吉风能机器人有限公司 | A pole -climbing mechanism that is used for bionical cat ladder machine people |
| CN205417843U (en) * | 2016-03-17 | 2016-08-03 | 哈尔滨工程大学 | Increase apart from formula cat ladder machine people based on slider -crank acceleration rate |
| CN106627826A (en) * | 2016-12-28 | 2017-05-10 | 威海职业学院 | Industrial stair climbing assisting robot |
| CN109986527A (en) * | 2018-12-31 | 2019-07-09 | 镇江高等职业技术学校 | A kind of self-travel type space pickup crawl robot |
| CN211969612U (en) * | 2020-01-10 | 2020-11-20 | 上海工程技术大学 | Climbing ladder robot |
-
2020
- 2020-12-31 CN CN202011638724.0A patent/CN112678085A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6175075A (en) * | 1984-09-20 | 1986-04-17 | Toshiba Corp | Ladder climbing/lowering robot system |
| JPH10131655A (en) * | 1996-10-31 | 1998-05-19 | Gakunan Kensetsu Kk | Ladder elevating auxiliary traction device |
| CN201313592Y (en) * | 2008-12-03 | 2009-09-23 | 李鑫 | Robot capable of escalading aerial ladder |
| CN101475031A (en) * | 2009-02-12 | 2009-07-08 | 大连工业大学 | Robot climbing ladder apparatus |
| CN205391616U (en) * | 2016-03-02 | 2016-07-27 | 湖南泰吉风能机器人有限公司 | A pole -climbing mechanism that is used for bionical cat ladder machine people |
| CN205417843U (en) * | 2016-03-17 | 2016-08-03 | 哈尔滨工程大学 | Increase apart from formula cat ladder machine people based on slider -crank acceleration rate |
| CN106627826A (en) * | 2016-12-28 | 2017-05-10 | 威海职业学院 | Industrial stair climbing assisting robot |
| CN109986527A (en) * | 2018-12-31 | 2019-07-09 | 镇江高等职业技术学校 | A kind of self-travel type space pickup crawl robot |
| CN211969612U (en) * | 2020-01-10 | 2020-11-20 | 上海工程技术大学 | Climbing ladder robot |
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