CN112810718A - Stair climbing wheel set and stair climbing robot comprising same - Google Patents
Stair climbing wheel set and stair climbing robot comprising same Download PDFInfo
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- CN112810718A CN112810718A CN202110195787.1A CN202110195787A CN112810718A CN 112810718 A CN112810718 A CN 112810718A CN 202110195787 A CN202110195787 A CN 202110195787A CN 112810718 A CN112810718 A CN 112810718A
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- 230000009194 climbing Effects 0.000 title claims abstract description 88
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 description 14
- 239000000969 carrier Substances 0.000 description 5
- 230000007306 turnover Effects 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B11/00—Units comprising multiple wheels arranged side by side; Wheels having more than one rim or capable of carrying more than one tyre
- B60B11/02—Units of separate wheels mounted for independent or coupled rotation
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Abstract
The invention discloses a stair climbing wheel set and a stair climbing robot composed of the stair climbing wheel set, wherein the stair climbing wheel set comprises a wheel carrier, a rotating shaft and three wheels, each wheel is coaxially and fixedly provided with a wheel shaft, the three wheel shafts are rotatably connected with the wheel carrier and are perpendicular to the wheel carrier and distributed in an equilateral triangle, each wheel shaft is also coaxially and fixedly provided with a primary gear, the rotating shaft is rotatably connected with the wheel carrier and is perpendicular to the wheel carrier, the rotating connection position of the rotating shaft and the wheel carrier is positioned in the middle between the three wheel shafts, a secondary gear is coaxially and fixedly arranged on the rotating shaft and is positioned between the three primary gears, the three primary gears are mutually meshed with the secondary gear, the rotating shaft rotates to drive the three wheels to synchronously rotate in the same direction, so that when the rotating shaft rotates, the three wheels can synchronously rotate in the same direction, when a step or a stair is encountered, the wheel carrier can rotate relative to enable the wheels positioned above to be in first-order contact with And moving upwards to walk.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a stair climbing wheel set and a stair climbing robot composed of the stair climbing wheel set.
Background
At present, a walking leg type robot is generally adopted for climbing stairs, and a wheel type stair climbing robot is available, but the walking leg type stair climbing robot is complex in control, walking postures of the walking leg type stair climbing robot during walking on flat ground are different from walking postures of the walking leg type stair climbing robot during climbing stairs, so that different control modes are required, the load of the walking leg type stair climbing robot is small, and the requirement on the structural strength of the walking leg is high.
Disclosure of Invention
In order to achieve the above objects, an object of the present invention is to provide a stair climbing wheel set which is simple in structure, convenient to use, stable in operation, and capable of conveniently climbing stairs.
In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides a climb stair wheelset, includes wheel carrier, pivot and three wheel, the wheel carrier is along the vertical setting of fore-and-aft direction, every the wheel is coaxial fixed respectively and is equipped with a shaft, and is three the shaft all with the wheel carrier rotates to be connected, and is three the equal perpendicular to of shaft the wheel carrier to be equilateral triangle distribution, every epaxial still coaxial fixation is equipped with a one-level gear, the pivot with the wheel carrier rotates to be connected, just the pivot perpendicular to the wheel carrier, just the pivot with the rotation junction of wheel carrier is located threely middle part between the shaft, it is three in the pivot coaxial fixed mounting has a secondary gear between the one-level gear, and is three the one-level gear all with secondary gear intermeshing, the pivot is rotated in order to drive threely the synchronous syntropy of wheel rotates.
The beneficial effects of the above technical scheme are that: when the rotating shaft rotates, the three wheels can synchronously rotate in the same direction, when the walking is carried out on the flat ground, the two wheels fall to the ground to walk, and when a step or a stair is encountered, the wheel carrier can rotate relative to the rotating shaft so that the wheels positioned above the step and the step or the stair are in first-order contact and the stair climbing wheel set can move upwards to walk.
In the technical scheme, the number of the wheel carriers is two, the two wheel carriers are vertically arranged in the front-back direction and are distributed at intervals in the left-right direction, the rotating shaft and the three wheel shafts are rotatably connected with the two wheel carriers, and the secondary gear and the tertiary gear are both positioned between the two wheel carriers.
The beneficial effects of the above technical scheme are that: therefore, the stability of the device is better, and the primary gear and the secondary gear can be positioned between the two wheel carriers to be arranged in a hidden manner.
In the technical scheme, the wheel frame is in an equilateral triangle shape, and the three wheel shafts are respectively and rotatably connected with the three top angles of the wheel frame.
The beneficial effects of the above technical scheme are that: the structure is simple, and the layout is convenient.
In the technical scheme, the wheel carrier is a herringbone plate, and the three wheel shafts are respectively and rotatably connected with the three end parts of the wheel carrier.
The beneficial effects of the above technical scheme are that: the structure is simple, and the layout is convenient.
The second objective of the present invention is to provide a stair climbing robot with simple structure and convenient stair climbing.
In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides a climb stair robot, includes automobile body, first driving piece and a plurality of as above climb the stair wheelset, the automobile body sets up along the fore-and-aft direction level, the left and right sides of automobile body is equipped with at least two respectively climb the stair wheelset, and lie in the automobile body is with a plurality of with one side climb the stair wheelset and follow preceding rear direction interval distribution, it is a plurality of the pivot respectively with the automobile body rotates to be connected, first driving piece is installed on the automobile body, it be used for with the pivot transmission is connected with the drive the automobile body gos forward or retreats.
The beneficial effects of the above technical scheme are that: its simple structure just makes this stair climbing robot go the climbing stair that also can be nimble on the level land, and need not the switching mode, and its cross-country performance is good.
The number of the stair climbing wheel sets positioned on the left side and the right side of the vehicle body is consistent.
The beneficial effects of the above technical scheme are that: thus making it more stable.
In the technical scheme, the stair climbing wheel sets on the left side and the right side of the vehicle body are symmetrically distributed.
The beneficial effects of the above technical scheme are that: so make its stability better, and more pleasing to the eye, the automobile body of being convenient for simultaneously is stability better when climbing stair.
In the technical scheme, the two mutually symmetrical rotating shafts extend to the same shaft to be fixedly connected or integrally formed, the first driving piece is provided with a plurality of mutually symmetrical two stair climbing wheel sets jointly correspond to one first driving piece which is arranged on the vehicle body respectively and is arranged on each first driving piece, and each first driving piece is connected with the corresponding two integrally formed rotating shafts in a transmission mode.
The beneficial effects of the above technical scheme are that: so make two stair wheelset synchronous motion of climbing of mutual symmetry, and the number that reducible first driving piece set up.
In the technical scheme, the first driving piece is provided with a plurality of driving pieces, the first driving pieces are in one-to-one correspondence with the stair climbing wheel sets, the first driving pieces are installed on the vehicle body, and each first driving piece is in transmission connection with the corresponding rotating shaft.
The beneficial effects of the above technical scheme are that: therefore, the rotating speed of each stair climbing wheel set can be independently controlled respectively, so that the whole stair climbing robot can flexibly move, such as turning or turning in place.
Among the above-mentioned technical scheme the automobile body includes three sub-automobile bodies, and is three sub-automobile body sets gradually along the fore-and-aft direction, and adjacent two the one end that sub-automobile body is close to each other is vertical rotation connection respectively, is located the centre the both sides of sub-automobile body are equipped with at least two respectively climb the stair wheelset, remaining two the both sides of sub-automobile body are equipped with at least one respectively climb the stair wheelset, every climb the first driving piece that the stair wheelset corresponds and install corresponding on the sub-automobile body.
The beneficial effects of the above technical scheme are that: therefore, when the bicycle runs on the flat ground, the two sub-bicycle bodies at the front end and the rear end can be turned upwards to be tilted, so that the energy consumption loss is reduced.
In the technical scheme, the vehicle body further comprises two overturning parts, wherein the two overturning parts are respectively in one-to-one correspondence with the two sub vehicle bodies located at the two ends, the two overturning parts are respectively installed in the middle of the sub vehicle bodies, the driving ends of the overturning parts are respectively in transmission connection with the corresponding sub vehicle bodies, and the overturning parts are used for driving the corresponding sub vehicle bodies to upwards overturn to tilt or downwards overturn to reset.
The beneficial effects of the above technical scheme are that: so make its degree of automation high, accessible upset piece drive corresponding sub-automobile body upwards overturns to the perk or overturns to resetting downwards.
In the technical scheme, the turnover part comprises a second driving part, a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected with one end of the second connecting rod, the other end of the first connecting rod is rotatably connected with the upper end of the sub-vehicle body located in the middle, the other end of the second connecting rod forms a driving end of the turnover part and is rotatably connected with the upper end of the sub-vehicle body corresponding to the driving end, the second driving part is installed on the sub-vehicle body located in the middle, the driving end of the second driving part is in transmission connection with the corresponding first connecting rod, and the second driving part is used for driving the corresponding first connecting rod to swing along the front-back direction so as to drive the corresponding sub-vehicle body to turn up and down.
The beneficial effects of the above technical scheme are that: the structure is simple, the driving is convenient, and the stability is good.
In the technical scheme, two hinged supports are arranged at the upper end of the middle sub-vehicle body and respectively correspond to the two first connecting rods one by one, a hinged shaft is fixedly arranged at the other end of each first connecting rod respectively, the hinged shaft is perpendicular to the corresponding first connecting rod, the two ends of the hinged shaft respectively protrude out of the corresponding first connecting rod, the other end of each first connecting rod respectively extends into the corresponding hinged support, each hinged shaft is respectively and rotatably connected with the corresponding hinged support, the driving end of the second driving piece is in transmission connection with the corresponding hinged shaft, and the second driving piece is used for driving the corresponding hinged shaft to rotate forwards or backwards so as to drive the corresponding first connecting rod to swing and rotate along the front-back direction.
The beneficial effects of the above technical scheme are that: the structure is simple.
In the above technical scheme, the second driving member includes a telescopic member and a third connecting rod, one end of the hinge shaft penetrates out of the corresponding hinge seat and is vertically connected and fixed with one end of the third connecting rod, the telescopic member is rotatably mounted on the sub-vehicle body located in the middle, and the telescopic end of the telescopic member is rotatably connected with the other end of the corresponding third connecting rod, the telescopic member extends or contracts to drive the third connecting rod to swing back and forth and drive the corresponding hinge shaft to rotate forward or backward, and the third connecting rod constitutes the driving end of the second driving member.
The beneficial effects of the above technical scheme are that: therefore, the driving is convenient, the control is convenient, and a complex control system is not needed.
Drawings
Fig. 1 is an elevation view of a stair climbing wheel set according to embodiment 1 of the present invention;
fig. 2 is an inside view of the stair climbing wheel set according to embodiment 1 of the present invention;
fig. 3 is a side view of the stair climbing robot according to embodiment 2 of the present invention;
fig. 4 is a front view of the stair climbing robot according to embodiment 3 of the present invention;
fig. 5 is a front view of the stair climbing robot according to embodiment 4 of the present invention;
fig. 6 is an elevation view of the stair climbing robot according to embodiment 5 of the present invention;
fig. 7 is a state diagram of the stair climbing robot according to embodiment 5 of the present invention when climbing stairs.
In the figure: the stair climbing vehicle comprises a stair climbing wheel set 1, a wheel carrier 11, a rotating shaft 12, a secondary gear 121, a wheel 13, a wheel axle 131, a primary gear 132, a vehicle body 2, a vehicle body 21, a turnover part 22, a second driving part 221, a telescopic part 2211, a third connecting rod 2212, a first connecting rod 222, a second connecting rod 223, a hinged support 224, a hinged shaft 225 and a first driving part 3.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1 and fig. 2, the embodiment provides a stair climbing wheel set, including a wheel frame 11, a rotating shaft 12 and three wheels 13, where the wheel frame 11 is vertically disposed along a front-back direction, each wheel 13 is coaxially and fixedly provided with a wheel shaft 131, the three wheel shafts 131 are all rotatably connected with the wheel frame 11, the three wheel shafts 131 are all perpendicular to the wheel frame 11 and are distributed in an equilateral triangle, each wheel shaft 131 is further coaxially and fixedly provided with a primary gear 132, the rotating shaft 12 is rotatably connected with the wheel frame 11, the rotating shaft 12 is perpendicular to the wheel frame 11, a rotational connection position of the rotating shaft 12 and the wheel frame 11 is located in a middle portion between the three wheel shafts 131, a secondary gear 121 is coaxially and fixedly installed on the rotating shaft 12 between the three primary gears 132, and the three primary gears 132 are all engaged with the secondary gear 121, the pivot 12 rotates in order to drive threely wheel 13 rotates in the same direction in step, so when the pivot rotates, three wheel all can rotate in the same direction in step, when walking on level ground, wherein two wheels fall to the ground and walk, and when meetting ladder or stair, the wheel carrier can rotate so that the wheel that is located the top and step or stair go up one-step contact and realize climbing stair wheelset rebound and walk.
Preferably, in the above technical scheme, the two wheel frames 11 are arranged, the two wheel frames 11 are vertically arranged along the front-back direction and are distributed at intervals along the left-right direction, the rotating shaft 12 and the three wheel shafts 131 are rotatably connected with the two wheel frames 11, and the secondary gear 121 and the tertiary gear are both located between the two wheel frames 11, so that the stability of the two wheel frames is better, and meanwhile, the primary gear and the secondary gear can be both located between the two wheel frames to be hidden.
Further preferably, in the above technical solution, the wheel carrier 11 is an equilateral triangle, and the three wheel shafts 131 are respectively rotatably connected to three vertex angles of the wheel carrier 11, so that the structure is simple and the layout is convenient.
Further preferably, in the above technical solution, the wheel frame 11 is a herringbone plate, and the three wheel shafts 131 are respectively rotatably connected with three ends of the wheel frame 11, so that the structure is simple and the layout is convenient.
Wherein, preferably, the diameter of the wheel is at least 1cm larger than the diameter of the primary gear.
Example 2
As shown in fig. 3, the present embodiment provides a stair climbing robot, including automobile body 2, first driving piece 3 and a plurality of stair climbing wheelset 1 as embodiment 1, automobile body 2 sets up along the fore-and-aft direction level, the left and right sides of automobile body 2 is equipped with at least two respectively stair climbing wheelset 1, and is located a plurality of stair climbing wheelset 1 with one side of automobile body 2 is along the front and back direction interval distribution, a plurality of pivot 12 respectively with automobile body 2 rotates the connection, first driving piece 3 is installed on automobile body 2, its be used for with pivot 12 transmission is connected in order to drive automobile body 2 advances or retreats, its simple structure, and make this stair climbing robot go on the level ground also can nimble climb the stair, and need not the switching mode, its cross-country performance is good.
The number of the stair climbing wheel sets 1 positioned on the left side and the right side of the vehicle body 2 is consistent, so that the stability of the stair climbing wheel sets is better.
Among the above-mentioned technical scheme the stair wheelset 1 of climbing of 2 left and right sides of automobile body is bilateral symmetry and distributes, so makes its stability better, and more pleasing to the eye, and the automobile body stability when climbing stair of being convenient for simultaneously is better.
In the above technical solution, the first driving member 3 is a motor, wherein the motor is preferably a servo motor.
Example 3
With embodiment 2, it is different in that, as shown in fig. 4, two mutually symmetrical in the above technical scheme the rotating shaft 12 extends to coaxial connection fixing or integrated into one piece, and the first driving member 3 is provided with a plurality of, two mutually symmetrical stair climbing wheel sets 1 correspond one jointly the first driving member 3 is a plurality of the first driving member 3 is installed on the vehicle body 2 respectively, and every the first driving member 3 is connected with two corresponding and integrated into one piece rotating shaft 12 in a transmission manner, so that two mutually symmetrical stair climbing wheel sets move synchronously, and the number of the first driving members can be reduced, so that the cost can be reduced.
Example 4
With embodiment 2, the difference is that, as shown in fig. 5, in the above technical solution, the first driving member 3 is provided with a plurality of first driving members 3, a plurality of first driving members 3 are in one-to-one correspondence with the stair climbing wheel sets 1, a plurality of first driving members 3 are all installed on the vehicle body 2, and each first driving member 3 is in transmission connection with the corresponding rotating shaft 12, so that the rotating speeds of the respective stair climbing wheel sets can be independently controlled, and the whole stair climbing robot can flexibly move, such as turn or turn around, so that the occupied space is small and the control is flexible.
Example 5
As shown in fig. 6, in the above technical scheme the vehicle body 2 includes three sub vehicle bodies 21, three the sub vehicle bodies 21 are sequentially arranged in sequence along the front-rear direction, and adjacent two one ends of the sub vehicle bodies 21 that are close to each other are respectively connected in a vertical rotation manner, and are located in the middle the two sides of the sub vehicle bodies 21 are respectively provided with at least two stair climbing wheel sets 1, the rest two sides of the sub vehicle bodies 21 are respectively provided with at least one stair climbing wheel set 1, each first driving member 3 corresponding to the stair climbing wheel set 1 is installed correspondingly on the sub vehicle bodies 21, so that when walking on the flat ground, the two sub vehicle bodies at the front and rear two ends can be turned upwards to tilt so as to reduce energy consumption loss.
In the above technical scheme, the vehicle body 2 further includes two turning pieces 22, two the turning pieces 22 are respectively corresponding to the two sub vehicle bodies 21 at two ends, two the turning pieces 22 are respectively installed in the middle of the sub vehicle bodies 21, and the driving ends of the turning pieces are respectively connected to the corresponding sub vehicle bodies 21 in a transmission manner, the turning pieces 22 are used for driving the corresponding sub vehicle bodies 21 to be turned upwards to be tilted or to be turned downwards to be reset, so that the degree of automation of the turning pieces is high, and the corresponding sub vehicle bodies can be driven by the turning pieces to be turned upwards to be tilted or to be turned downwards to be reset.
In the above technical solution, the turning member 22 includes a second driving member 221, a first connecting rod 222 and a second connecting rod 223, one end of the first connecting rod 222 is rotatably connected to one end of the second connecting rod 223, the other end of the first connecting rod 222 is rotatably connected to the upper end of the sub-vehicle body 21 located in the middle, the other end of the second connecting rod 223 constitutes a driving end of the turning member 22 and is rotatably connected to the upper end of the corresponding sub-vehicle body 21, the second driving member 221 is mounted on the sub-vehicle body 21 located in the middle, the driving end of the second driving member is in transmission connection with the corresponding first connecting rod 222, and the second driving member 221 is used for driving the corresponding first connecting rod 222 to swing in the front-back direction to drive the corresponding sub-vehicle body 21 to turn up and down.
In the above technical solution, two hinge supports 224 are disposed at the upper end of the sub-vehicle body 21 located in the middle, the two hinge supports 224 respectively correspond to the two first connecting rods 222 one to one, the other end of each first connecting rod 222 is respectively and fixedly provided with a hinge shaft 225, the hinge shaft 225 is perpendicular to the corresponding first connecting rod 222, and both ends of the hinge shaft 225 respectively protrude out of the corresponding first connecting rod 222, the other end of each first connecting rod 222 respectively extends into the corresponding hinge support 224, each hinge shaft 225 is respectively and rotatably connected with the corresponding hinge support 224, a driving end of the second driving member 221 is in transmission connection with the corresponding hinge shaft 225, and the second driving member 221 is used for driving the corresponding hinge shaft 225 to rotate forward or backward to drive the corresponding first connecting rod 222 to swing forward and backward.
In the above technical solution, the second driving member 221 includes a telescopic member 2211 and a third connecting rod 2212, one end of the hinge shaft 225 penetrates out of the corresponding hinge seat 224 and is vertically connected and fixed with one end of the third connecting rod 2212, the telescopic member 2211 is rotatably mounted on the sub-vehicle body 21 in the middle, and the telescopic end thereof is rotatably connected with the other end of the corresponding third connecting rod 2212, the telescopic member 2211 extends or contracts to drive the third connecting rod 2212 to swing back and forth and drive the corresponding hinge shaft 225 to rotate forward or backward, and the third connecting rod 2212 constitutes the driving end of the second driving member 221, so that the driving is convenient, and the control is convenient at the same time, and a complex control system is not required.
In the above technical solution, the telescopic component 2211 is a telescopic electric cylinder, which has a simple structure and is convenient to operate, and preferably, the telescopic electric cylinder is a servo telescopic electric cylinder.
When walking on the flat ground, the two sub-vehicle bodies 21 at the two ends can be overturned upwards to be tilted, the corresponding stair climbing wheel set is separated from the ground, the corresponding first driving piece is powered off, the first driving piece positioned on the middle sub-vehicle body drives the whole stair climbing robot to move, when climbing stairs, the sub-vehicle body positioned at the rear can be overturned downwards to be horizontal to reset, the sub-vehicle body positioned at the front overturns downwards to be slightly tilted, and all the first driving pieces are electrified.
The other end of the second connecting rod is connected with the upper end of the corresponding sub-vehicle body in a rotating manner, and the first connecting rod is referred to be connected with the sub-vehicle body positioned in the middle in a rotating manner (namely, the connecting mode is realized by adopting a hinged support and a hinged shaft, which is not described herein any more).
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (13)
1. The stair climbing wheel set is characterized by comprising a wheel carrier (11), a rotating shaft (12) and three wheels (13), wherein the wheel carrier (11) is vertically arranged along the front and back direction, each wheel (13) is respectively and coaxially and fixedly provided with a wheel shaft (131), the three wheel shafts (131) are rotationally connected with the wheel carrier (11), the three wheel shafts (131) are respectively perpendicular to the wheel carrier (11) and distributed in an equilateral triangle shape, each wheel shaft (131) is also and coaxially and fixedly provided with a primary gear (132), the rotating shaft (12) is rotationally connected with the wheel carrier (11), the rotating shaft (12) is perpendicular to the wheel carrier (11), the rotational connection position of the rotating shaft (12) and the wheel carrier (11) is positioned in the middle among the three wheel shafts (131), and a secondary gear (121) is coaxially and fixedly arranged on the rotating shaft (12) and positioned among the three primary gears (132), three one-level gear (132) all with secondary gear (121) intermeshing, pivot (12) rotate in order to drive three wheel (13) synchronous syntropy rotates.
2. The stair climbing wheel set according to claim 1, wherein the number of the wheel frames (11) is two, the two wheel frames (11) are vertically arranged along the front-back direction and are distributed at intervals along the left-right direction, the rotating shaft (12) and the three wheel shafts (131) are rotatably connected with the two wheel frames (11), and the secondary gear (121) and the tertiary gear are located between the two wheel frames (11).
3. Wheel set for climbing stairs according to claim 1 or 2, wherein the wheel frame (11) is an equilateral triangle, and the three wheel shafts (131) are respectively connected with the three top corners of the wheel frame (11) in a rotating manner.
4. Stair climbing wheel set according to claim 1 or 2, wherein the wheel frame (11) is a herringbone plate, and the three wheel axles (131) are rotatably connected with three ends of the wheel frame (11), respectively.
5. A stair climbing robot, characterized by, including automobile body (2), first driving piece (3) and a plurality of stair climbing wheelset (1) as any one of claims 1-4, automobile body (2) set up along fore-and-aft direction level, the left and right sides of automobile body (2) is equipped with at least two respectively stair climbing wheelset (1), and is located a plurality of stair climbing wheelset (1) with one side of automobile body (2) along front and back direction interval distribution, it is a plurality of pivot (12) respectively with automobile body (2) rotate to be connected, install first driving piece (3) on automobile body (2), it be used for with pivot (12) transmission is connected in order to drive automobile body (2) advance or retreat.
6. The stair climbing robot according to claim 5, wherein the number of the stair climbing wheel sets (1) positioned on the left side and the right side of the vehicle body (2) is consistent; the stair climbing wheel sets (1) on the left side and the right side of the vehicle body (2) are distributed in a bilateral symmetry mode.
7. The stair climbing robot according to claim 6, wherein two mutually symmetrical rotating shafts (12) extend to a coaxial connection fixed or integrally formed, the first driving member (3) is provided with a plurality of mutually symmetrical two stair climbing wheel sets (1) which jointly correspond to one first driving member (3), the plurality of first driving members (3) are respectively installed on the vehicle body (2), and each first driving member (3) is respectively in transmission connection with the corresponding and integrally formed two rotating shafts (12).
8. The stair climbing robot according to claim 6, wherein a plurality of first driving members (3) are provided, the plurality of first driving members (3) correspond to the plurality of stair climbing wheel sets (1) one by one, the plurality of first driving members (3) are all mounted on the vehicle body (2), and each first driving member (3) is in transmission connection with the corresponding rotating shaft (12).
9. The stair climbing robot according to claim 7 or 8, wherein the vehicle body (2) comprises three sub vehicle bodies (21), the three sub vehicle bodies (21) are sequentially arranged in sequence along the front-back direction, one ends, close to each other, of the two adjacent sub vehicle bodies (21) are respectively and vertically and rotationally connected, at least two stair climbing wheel sets (1) are respectively arranged on two sides of the middle sub vehicle body (21), at least one stair climbing wheel set (1) is respectively arranged on two sides of the rest two sub vehicle bodies (21), and a first driving piece (3) corresponding to each stair climbing wheel set (1) is installed on the corresponding sub vehicle body (21).
10. The stair climbing robot according to claim 9, wherein the vehicle body (2) further comprises two turning pieces (22), the two turning pieces (22) are respectively in one-to-one correspondence with the two sub vehicle bodies (21) positioned at the two ends, the two turning pieces (22) are respectively installed on the sub vehicle body (21) positioned in the middle, the driving ends of the two turning pieces are respectively in transmission connection with the corresponding sub vehicle bodies (21), and the turning pieces (22) are used for driving the corresponding sub vehicle bodies (21) to be turned upwards to be tilted or turned downwards to be reset.
11. The stair climbing robot according to claim 10, wherein the flipper (22) comprises a second drive member (221), a first link (222), and a second link (223), one end of the first link (222) and one end of the second link (223) are rotatably connected with each other, the other end of the first connecting rod (222) is rotatably connected with the upper end of the sub-vehicle body (21) positioned in the middle, the other end of the second link (223) constitutes a driving end of the turning piece (22), and is rotatably connected with the upper end of the corresponding sub-vehicle body (21), the second driving piece (221) is arranged on the sub-vehicle body (21) positioned in the middle, and the driving end of the driving part is in transmission connection with the corresponding first connecting rod (222), and the second driving part (221) is used for driving the corresponding first connecting rod (222) to swing along the front-back direction so as to drive the corresponding sub-vehicle body (21) to turn up and down.
12. The stair climbing robot according to claim 11, wherein two hinge seats (224) are disposed at an upper end of the middle sub-vehicle body (21), the two hinge seats (224) correspond to the two first connecting rods (222) one by one, a hinge shaft (225) is fixedly disposed at the other end of each first connecting rod (222), the hinge shaft (225) is perpendicular to the corresponding first connecting rod (222), and both ends of the hinge shaft protrude from the corresponding first connecting rod (222), the other end of each first connecting rod (222) extends into the corresponding hinge seat (224), each hinge shaft (225) is rotatably connected to the corresponding hinge seat (224), a driving end of the second driving member (221) is in transmission connection with the corresponding hinge shaft (225), and the second driving member (221) is configured to drive the corresponding hinge shaft (225) to rotate forward or backward to drive the corresponding first connecting rod (222) to rotate forward or backward along the front and rear connecting rods (222) The direction is swung.
13. The stair climbing robot as claimed in claim 12, wherein the second driving member (221) comprises a telescopic member (2211) and a third connecting rod (2212), one end of the hinge shaft (225) penetrates out of the corresponding hinge seat (224) and is vertically connected and fixed with one end of the third connecting rod (2212), the telescopic member (2211) is rotatably mounted on the middle sub-vehicle body (21), the telescopic end of the telescopic member is rotatably connected with the other end of the corresponding third connecting rod (2212), the telescopic member (2211) extends or contracts to drive the third connecting rod (2212) to swing back and forth and drive the corresponding hinge shaft (225) to rotate forwards or backwards, and the third connecting rod (2212) constitutes the driving end of the second driving member (221).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110195787.1A CN112810718A (en) | 2021-02-19 | 2021-02-19 | Stair climbing wheel set and stair climbing robot comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110195787.1A CN112810718A (en) | 2021-02-19 | 2021-02-19 | Stair climbing wheel set and stair climbing robot comprising same |
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| CN112810718A true CN112810718A (en) | 2021-05-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114644206A (en) * | 2022-03-31 | 2022-06-21 | 华能上海石洞口发电有限责任公司 | Crawling ladder type cleaning device for conveying belt |
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