CN113232738A - Universal robot capable of adaptively crossing stairs - Google Patents
Universal robot capable of adaptively crossing stairs Download PDFInfo
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- CN113232738A CN113232738A CN202110714593.8A CN202110714593A CN113232738A CN 113232738 A CN113232738 A CN 113232738A CN 202110714593 A CN202110714593 A CN 202110714593A CN 113232738 A CN113232738 A CN 113232738A
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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
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Abstract
The invention discloses a self-adaptive stair-crossing universal robot, belongs to the technical field of obstacle-crossing robots, and aims to solve the problem that the conventional obstacle-crossing chassis cannot realize effective crossing and walking of a stair-type obstacle. The device comprises a rotating cam, a frame, a straightening plate, a strut jumping mechanism and a walking mechanism; the stay bar jumping mechanism is as follows: the orbit inner panel is the circular slab of indent in bottom, the orbit planking is the annular slab, the annular slab is outer along being square, interior edge matches with the orbit inner panel, orbit planking fixed connection, the orbit planking respectively with fixed plate fixed connection, the orbit inner panel respectively with fixed plate fixed connection, make and form the curved groove in space between orbit planking and the orbit inner panel, install first bolt between the orbit planking, the cover is equipped with first bearing on the first bolt, the bolt is passed to the bracing piece rear end, the bolt passes the bearing, the bearing is along curved groove orbit motion in the curved groove in space, the bracing piece middle section is opened there is the restriction groove, first bearing clamps in the restriction groove. The robot chassis is used for the robot chassis with higher requirements on obstacle crossing and flat ground speed.
Description
Technical Field
The invention relates to a self-adaptive stair-crossing universal robot, and belongs to the technical field of obstacle-crossing robots.
Background
The intelligent robot is widely applied to environments such as families, communities or hospitals due to flexible maneuvering capability, and is mainly used for transportation, walking assistance or cleaning operation. When facing obstacles such as broken stones, tiles and the like, the intelligent robot usually adopts an obstacle avoidance or obstacle crossing mode to pass.
Most of the existing obstacle crossing chassis adopt a crawler type, a planetary wheel type (including an active type and a passive type) and a six-wheel type structure or a lifting mechanism. The crawler-type chassis has good terrain adaptability and strong driving force, but has lower efficiency because the speed is lower when the crawler-type chassis runs on flat ground or crosses obstacles due to the self weight; the planetary wheel type and six-wheel type gear train structures have the problems of relatively complex structure, poor stability, low walking speed and the like; the lifting mechanism needs to be additionally provided with a power source for driving, the power source is mostly complex, and for a chassis of the lifting mechanism needing to be additionally provided with the power source, the obstacle crossing process is complex, the speed is low, and the self-adaptive capacity is poor.
Therefore, the obstacle crossing chassis in the prior art is not suitable for step-type obstacles or stairs, and effective crossing and walking of the step-type obstacles cannot be realized.
Disclosure of Invention
The invention aims to solve the problem that the existing obstacle crossing chassis cannot realize effective crossing and walking of ladder-shaped obstacles, and provides a self-adaptive ladder-crossing universal robot.
The invention relates to a self-adaptive stair-crossing universal robot, which comprises a rotating cam, a frame, a correcting plate, a strut jumping mechanism and a walking mechanism, wherein the rotating cam is arranged on the frame;
the four walking mechanisms are respectively arranged at four corners of the frame, the two rotating cams are respectively arranged on the sides of the frame and are respectively positioned at the front ends of the two walking mechanisms at the rear part, the two aligning plates are respectively arranged on the sides of the frame and are respectively positioned on the sides of the two walking mechanisms at the front part, and the stay bar jumping mechanism is arranged in the frame and is arranged between the two walking mechanisms at the front part;
the support rod jumping mechanism comprises two fixed plates, two track outer plates, two track inner plates, a support rod, a rubber wheel and an elastic reset rope;
the inner track plate is a circular plate with the concave bottom,
the track outer plate is an annular plate, the outer edge of the annular plate is square, the inner edge of the annular plate is matched with the track inner plate,
the two track outer plates are fixedly connected, the two track outer plates are respectively and fixedly connected with the two fixing plates, the two track inner plates are respectively and fixedly connected with the two fixing plates, so that a space curved groove is formed between the track outer plates and the track inner plates,
a first bolt is arranged between the two track outer plates, a first bearing is sleeved on the first bolt,
the front end of the supporting rod is provided with a rubber wheel,
the rear end of the supporting rod passes through a second bolt, the left side and the right side of the second bolt respectively pass through a second bearing,
the second bearing moves along the curved groove track in the spatial curved groove,
the middle section of the supporting rod is provided with a limiting groove, the first bearing is clamped in the limiting groove,
the first bearing moves in the limiting groove to form one kinematic pair, the second bearing moves in the spatial curved groove to form the other kinematic pair, the two kinematic pairs enable the rubber wheel to have a spatial track,
the front end of the track outer plate is provided with a first reset hole, the front section of the supporting rod is provided with a second reset hole, the first reset hole and the second reset hole are respectively provided with two ends of an elastic reset rope,
when the obstacle is not met, the rubber wheel is positioned at the front end of the frame.
Preferably, the rotating cam includes a cam plate, a first reinforcing plate, a second reinforcing plate, a third reinforcing plate, and a fourth reinforcing plate;
the cam plate is of a C-shaped structure, a first reinforcing plate and a second reinforcing plate are respectively arranged on two sides of the cam plate, and a third bolt sequentially penetrates through the first reinforcing plate, the cam plate, the second reinforcing plate, the third reinforcing plate, the frame and the fourth reinforcing plate and then is screwed with a nut, so that the cam plate can freely rotate around the third bolt;
and a fourth bolt is arranged on one side of the cam plate, which faces the frame, a fifth bolt is arranged on the frame, and an elastic pull rope is arranged between the fourth bolt and the fifth bolt.
Preferably, the rotating cam further comprises a first flange bearing and a second flange bearing,
the third bolt passes through the first flange bearing, the first reinforcing plate, the cam plate, the second reinforcing plate, the second flange bearing, the third reinforcing plate, the frame and the fourth reinforcing plate in sequence.
Preferably, the rubber wheel is mounted on the supporting rod through a bolt, so that the rubber wheel can freely rotate around the supporting rod;
preferably, the frame is an aluminum frame.
Preferably, the strut jump mechanism is mounted on the frame by means of an angle aluminium.
Preferably, the two track outer plates are fixedly connected through an aluminum pipe.
Preferably, the track outer plate is fixedly connected with the fixing plate through an aluminum pipe.
Preferably, the track inner plate is fixedly connected with the fixing plate through an aluminum pipe.
Preferably, the left and right sides of the second bolt respectively pass through the three second bearings.
The invention has the advantages that: the self-adaptive stair-crossing universal robot provided by the invention adopts a mechanical structure, utilizes the inertia of the chassis to complete the whole obstacle crossing process, converts the advancing kinetic energy of the chassis into lifting energy, and subtracts complex lifting mechanisms such as a motor and the like. The total weight of the rotating cam, the straightening plate and the strut jumping mechanism is below 1.5kg, and the original frame and the original walking mechanism are not changed, so that the speed of the chassis of the robot is not influenced, obstacle crossing with the height of 150mm can be realized within 2s under the condition that the counterweight is 30kg, and the obstacle crossing speed is far higher than that of other chassis. The modularized design is adopted, and different chassis requirements can be met by changing the layout and the strength. The rotating cam and the strut jumping mechanism can realize automatic reset and have high stability.
Drawings
FIG. 1 is a schematic structural diagram of an adaptive stair-crossing universal robot according to the present invention;
FIG. 2 is a schematic diagram of the external structure of the stay bar jumping mechanism of the present invention;
FIG. 3 is a schematic view of the internal structure of the stay bar tripping mechanism of the present invention;
FIG. 4 is a schematic structural diagram of a first bolt and a first bearing of the strut jump mechanism of the present invention;
FIG. 5 is a schematic view of the support rod of the present invention;
FIG. 6 is a schematic view of the construction of the cam plate, first reinforcement plate and first flange bearing of the present invention;
FIG. 7 is a schematic view of the construction of the cam plate, second reinforcement plate and second flange bearing of the present invention;
FIG. 8 is a schematic view of the construction of the rotary cam of the present invention;
FIG. 9 is a schematic diagram of the self-adaptive stair-crossing universal robot of the invention when driving to an obstacle F, the front support rod first contacts the obstacle F;
FIG. 10 is a schematic diagram of the front two running gears of the universal robot for self-adaptive step crossing supported by the supporting rods;
FIG. 11 is a schematic diagram of the front two running gears of the universal robot for self-adaptive step crossing contacting an obstacle F;
FIG. 12 is a schematic view of the support bar of the adaptive stair-climbing robot of the present invention rotated to the rear of the front running gear;
FIG. 13 is a schematic view of the support rod of the step-crossing adaptive universal robot of the present invention returning to its original position under the action of the elastic restoring rope;
FIG. 14 is a schematic view of the position of the second bearing in the spatial curved groove corresponding to the position of FIG. 9;
FIG. 15 is a schematic view of the position of the second bearing in the spatial curved groove corresponding to the position of FIG. 10;
FIG. 16 is a schematic view of the position of the second bearing in the spatial curved groove corresponding to the position of FIG. 11;
FIG. 17 is a schematic view of the position of the second bearing in the spatial curved groove corresponding to the position of FIG. 12;
FIG. 18 is a schematic view of the position of the second bearing in the spatial curved groove corresponding to the position of FIG. 13;
fig. 19 is a schematic view showing a structure in which the rotating cam of the present invention contacts an obstacle F;
FIG. 20 is a schematic view of the cam plate of the present invention rotated by an obstacle F to support the two rear running gears;
FIG. 21 is a schematic view of the cam plate of the present invention continuing to rotate under the influence of obstacle F until the two rear running gears contact obstacle F;
fig. 22 is a schematic view of the structure in which the cam plate is restored by the elastic cord.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The first embodiment is as follows: the following describes the present embodiment with reference to fig. 1 to 5, and the present embodiment describes an adaptive stair-crossing universal robot, which includes a rotating cam 1, a frame 2, a swing plate 3, a strut jumping mechanism 4 and a traveling mechanism 5;
the four walking mechanisms 5 are respectively arranged at four corners of the frame 2, the two rotating cams 1 are respectively arranged on the side of the frame 2 and are respectively positioned at the front ends of the two walking mechanisms 5 at the rear part, the two aligning plates 3 are respectively arranged on the side of the frame 2 and are respectively positioned on the side of the two walking mechanisms 5 at the front part, and the stay bar jumping mechanism 4 is arranged in the frame 2 and is arranged between the two walking mechanisms 5 at the front part;
the stay bar jumping mechanism 4 comprises two fixed plates 4-1, two track outer plates 4-2, two track inner plates 4-3, a support bar 4-4, a rubber wheel 4-5 and an elastic reset rope 4-14;
the track inner plate 4-3 is a circular plate with the concave bottom,
the track outer plate 4-2 is an annular plate, the outer edge of the annular plate is square, the inner edge of the annular plate is matched with the track inner plate 4-3,
the two track outer plates 4-2 are fixedly connected, the two track outer plates 4-2 are respectively and fixedly connected with the two fixing plates 4-1, the two track inner plates 4-3 are respectively and fixedly connected with the two fixing plates 4-1, so that a space curved groove 4-10 is formed between the track outer plate 4-2 and the track inner plate 4-3,
a first bolt 4-6 is arranged between the two track outer plates 4-2, a first bearing 4-7 is sleeved on the first bolt 4-6,
the front end of the support rod 4-4 is provided with a rubber wheel 4-5,
the rear end of the support rod 4-4 passes through a second bolt 4-8, the left side and the right side of the second bolt 4-8 respectively pass through a second bearing 4-9,
the second bearing 4-9 moves along the curved groove track in the spatial curved groove 4-10,
the middle section of the support rod 4-4 is provided with a limit groove 4-11, the first bearing 4-7 is clamped in the limit groove 4-11,
the movement of the first bearing 4-7 in the limiting groove 4-11 forms one kinematic pair, the movement of the second bearing 4-9 in the spatial curved groove 4-10 forms another kinematic pair, the two kinematic pairs enable the rubber wheel 4-5 to have a spatial track,
the front end of the track outer plate 4-2 is provided with a first reset hole 4-12, the front section of the support rod 4-4 is provided with a second reset hole 4-13, the first reset hole 4-12 and the second reset hole 4-13 are respectively provided with two ends of an elastic reset rope 4-14,
the rubber wheels 4-5 are located at the front end of the frame 2 when no obstacle is encountered.
In this embodiment, the swing plate 3 has a certain profile, and plays a role in swinging the direction of the chassis when the chassis collides with a stepped obstacle.
In this embodiment, the elastic restoring rope 4-14 may be a rubber band for providing restoring force for the supporting rod 4-4.
The second embodiment is as follows: the present embodiment is described below with reference to fig. 6 to 8, and the present embodiment further describes the first embodiment, where the rotating cam 1 includes a cam plate 1-1, a first reinforcing plate 1-3, a second reinforcing plate 1-4, a third reinforcing plate 1-5, and a fourth reinforcing plate 1-6;
the cam plate 1-1 is of a C-shaped structure, a first reinforcing plate 1-3 and a second reinforcing plate 1-4 are respectively arranged on two sides of the cam plate 1-1, and a third bolt 1-2 sequentially penetrates through the first reinforcing plate 1-3, the cam plate 1-1, the second reinforcing plate 1-4, the third reinforcing plate 1-5, the frame 2 and the fourth reinforcing plate 1-6 and then is screwed with a nut, so that the cam plate 1-1 can freely rotate around the third bolt 1-2;
a fourth bolt 1-9 is arranged on one side of the cam plate 1-1 facing the frame 2, a fifth bolt 1-10 is arranged on the frame 2, and an elastic pull rope 1-11 is arranged between the fourth bolt 1-9 and the fifth bolt 1-10.
In the present embodiment, the third reinforcing plate 1-5 and the fourth reinforcing plate 1-6 are used to reinforce the rigidity of the frame 2.
In the present embodiment, the elastic cord 1-11 allows the cam plate 1-1 to return to the original position after rotation.
The third concrete implementation mode: in the following, referring to fig. 6 and 7, the present embodiment will be described, and the present embodiment further describes an embodiment two, the rotating cam 1 further includes a first flange bearing 1-7 and a second flange bearing 1-8,
the third bolt 1-2 sequentially penetrates through the first flange bearing 1-7, the first reinforcing plate 1-3, the cam plate 1-1, the second reinforcing plate 1-4, the second flange bearing 1-8, the third reinforcing plate 1-5, the frame 2 and the fourth reinforcing plate 1-6.
The fourth concrete implementation mode: the embodiment is described below with reference to fig. 2, and the embodiment further describes the first embodiment, wherein the rubber wheel 4-5 is mounted on the support rod 4-4 through a bolt, so that the rubber wheel 4-5 can freely rotate around the support rod 4-4;
the fifth concrete implementation mode: in this embodiment, the first embodiment is further explained, and the frame 2 is an aluminum frame.
The sixth specific implementation mode: in the first embodiment, the stay bar jumping mechanism 4 is mounted on the frame 2 through an angle aluminum.
The seventh embodiment: in this embodiment, the two track outer plates 4-2 are fixedly connected by an aluminum pipe.
The specific implementation mode is eight: in this embodiment, the track outer plate 4-2 is fixedly connected to the fixing plate 4-1 through an aluminum tube.
The specific implementation method nine: in this embodiment, the track inner plate 4-3 is fixedly connected to the fixing plate 4-1 through an aluminum pipe.
The detailed implementation mode is ten: in the following, the present embodiment is described with reference to fig. 5, and the present embodiment further describes the first embodiment, wherein the left and right sides of the second bolts 4 to 8 respectively pass through the three second bearings 4 to 9.
In the present invention, the obstacle crossing operation principle is explained with reference to fig. 9 to fig. 22: before the self-adaptive stair-crossing universal robot runs to an obstacle F, as shown in FIG. 9, the support rod 4-4 first contacts the obstacle F, and at the moment, the state of the support rod 4-4 and the position of the second bearing 4-9 in the space curved groove 4-10 are as shown in FIG. 14; the universal robot continues to move forwards, as shown in fig. 10, under the action of inertia and thrust of the two running gears 5 at the rear, the two running gears 5 at the front are supported by the supporting rod 4-4, and the supporting rod 4-4 rotates around the second bolt 4-8 at the rear end, at this time, the state of the supporting rod 4-4 and the position of the second bearing 4-9 in the spatial curved groove 4-10 are shown in fig. 15; the universal robot continues to drive forward as shown in fig. 11 until the two running gears 5 at the front contact the obstacle F, at which time the state of the support bar 4-4 and the position of the second bearing 4-9 in the spatial curved groove 4-10 are as shown in fig. 16; the universal robot continues to move forward, as shown in fig. 12, the two traveling mechanisms 5 at the front are completely opened above the obstacle F, at this time, the supporting rod 4-4 rotates to the rear part of the traveling mechanism 5 at the front, at this time, the state of the supporting rod 4-4 and the position of the second bearing 4-9 in the space curved groove 4-10 are as shown in fig. 17; as shown in fig. 13, the support bar 4-4 is restored to the original position by the elastic restoring string 4-14, and at this time, the state of the support bar 4-4 and the position of the second bearing 4-9 in the space curved groove 4-10 are shown in fig. 18.
The universal robot continues to move forwards, as shown in fig. 19, the rotating cam 1 contacts an obstacle F, and the opening of the C-shaped structure of the cam plate 1-1 is clamped on the obstacle F; as shown in fig. 20, the cam plate 1-1 is rotated by the obstacle F to support the two traveling mechanisms 5 located at the rear; the universal robot continues to drive forwards, as shown in fig. 21, the cam plate 1-1 continues to rotate until the two walking mechanisms 5 at the rear part contact an obstacle F; the universal robot continues to drive forwards, as shown in fig. 22, the two rear running gears 5 are completely opened above the obstacle F, and the cam plate 1-1 is reset under the action of the elastic pull rope 1-11.
The self-adaptive stair-crossing universal robot is suitable for robot chassis with high requirements on obstacle crossing and flat ground speed, is applied to mobile robots with strong trafficability in environments such as communities, hospitals and the like, and can also be used for aspects such as robot competition and the like. The invention can realize the mechanical automation and rapid obstacle crossing function of various obstacle crossing occasions by adjusting the installation number and the positions of the stay bar jumping mechanisms 4, and has huge application prospect and important practical value in various occasions such as climbing stairs and steps.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. A self-adaptive stair-crossing universal robot is characterized by comprising a rotating cam (1), a frame (2), a correcting plate (3), a stay bar jumping mechanism (4) and a walking mechanism (5);
the four walking mechanisms (5) are respectively arranged at four corners of the frame (2), the two rotating cams (1) are respectively arranged at the side of the frame (2) and are respectively positioned at the front ends of the two walking mechanisms (5) at the rear part, the two aligning plates (3) are respectively arranged at the side of the frame (2) and are respectively positioned at the side of the two walking mechanisms (5) at the front part, and the stay bar jumping mechanism (4) is arranged in the frame (2) and is arranged between the two walking mechanisms (5) at the front part;
the support rod jumping mechanism (4) comprises two fixing plates (4-1), two track outer plates (4-2), two track inner plates (4-3), a support rod (4-4), a rubber wheel (4-5) and an elastic reset rope (4-14);
the track inner plate (4-3) is a circular plate with the concave bottom,
the track outer plate (4-2) is an annular plate, the outer edge of the annular plate is square, the inner edge of the annular plate is matched with the track inner plate (4-3),
the two track outer plates (4-2) are fixedly connected, the two track outer plates (4-2) are respectively and fixedly connected with the two fixing plates (4-1), the two track inner plates (4-3) are respectively and fixedly connected with the two fixing plates (4-1), so that a space curved groove (4-10) is formed between the track outer plates (4-2) and the track inner plates (4-3),
a first bolt (4-6) is arranged between the two track outer plates (4-2), a first bearing (4-7) is sleeved on the first bolt (4-6),
the front end of the support rod (4-4) is provided with a rubber wheel (4-5),
the rear end of the support rod (4-4) passes through a second bolt (4-8), the left side and the right side of the second bolt (4-8) respectively pass through a second bearing (4-9),
the second bearing (4-9) moves along the curved groove track in the space curved groove (4-10),
the middle section of the support rod (4-4) is provided with a limiting groove (4-11), the first bearing (4-7) is clamped in the limiting groove (4-11),
the movement of the first bearing (4-7) in the limiting groove (4-11) forms one kinematic pair, the movement of the second bearing (4-9) in the spatial curved groove (4-10) forms the other kinematic pair, the two kinematic pairs enable the rubber wheel (4-5) to have a spatial track,
a first reset hole (4-12) is arranged at the front end of the track outer plate (4-2), a second reset hole (4-13) is arranged at the front section of the supporting rod (4-4), the first reset hole (4-12) and the second reset hole (4-13) are respectively provided with two ends of an elastic reset rope (4-14),
when the obstacle is not met, the rubber wheels (4-5) are positioned at the front end of the frame (2).
2. An adaptive stair-stepping universal robot according to claim 1, wherein the rotating cam (1) comprises a cam plate (1-1), a first reinforcing plate (1-3), a second reinforcing plate (1-4), a third reinforcing plate (1-5) and a fourth reinforcing plate (1-6);
the cam plate (1-1) is of a C-shaped structure, a first reinforcing plate (1-3) and a second reinforcing plate (1-4) are respectively arranged on two sides of the cam plate (1-1), and a third bolt (1-2) sequentially penetrates through the first reinforcing plate (1-3), the cam plate (1-1), the second reinforcing plate (1-4), the third reinforcing plate (1-5), the frame (2) and the fourth reinforcing plate (1-6) and is then screwed with a nut, so that the cam plate (1-1) can freely rotate around the third bolt (1-2);
a fourth bolt (1-9) is arranged on one side, facing the frame (2), of the cam plate (1-1), a fifth bolt (1-10) is arranged on the frame (2), and an elastic pull rope (1-11) is arranged between the fourth bolt (1-9) and the fifth bolt (1-10).
3. An adaptive stair-stepping universal robot according to claim 2, wherein said rotating cam (1) further comprises a first flange bearing (1-7) and a second flange bearing (1-8),
the third bolt (1-2) sequentially penetrates through the first flange bearing (1-7), the first reinforcing plate (1-3), the cam plate (1-1), the second reinforcing plate (1-4), the second flange bearing (1-8), the third reinforcing plate (1-5), the frame (2) and the fourth reinforcing plate (1-6).
4. An adaptive stair-stepping universal robot according to claim 1, wherein the rubber wheels (4-5) are mounted on the support rods (4-4) by bolts so that the rubber wheels (4-5) can freely rotate around the support rods (4-4).
5. An adaptive stair-stepping gimbaled robot according to claim 1, characterized in that said frame (2) is an aluminum frame.
6. An adaptive stair-stepping universal robot according to claim 1, wherein the strut mechanism (4) is mounted to the frame (2) by means of angle aluminum.
7. The adaptive stair-stepping universal robot according to claim 1, wherein the two outer track plates (4-2) are fixedly connected by an aluminum tube.
8. The adaptive stair-stepping universal robot according to claim 1, wherein the track outer plate (4-2) is fixedly connected with the fixing plate (4-1) through an aluminum tube.
9. The adaptive stair-stepping universal robot according to claim 1, wherein the track inner plate (4-3) is fixedly connected with the fixing plate (4-1) through an aluminum pipe.
10. An adaptive stair-step-crossing universal robot according to claim 1, characterized in that the left and right sides of the second bolts (4-8) respectively pass through three second bearings (4-9).
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| CN109719069A (en) * | 2019-01-11 | 2019-05-07 | 贵州电网有限责任公司 | Substation's living water washing robot mechanism |
| CN210728175U (en) * | 2019-08-27 | 2020-06-12 | 西南大学 | Multifunctional action auxiliary chair |
| CN213168334U (en) * | 2020-07-27 | 2021-05-11 | 深圳大学 | Obstacle crossing robot |
| CN212497797U (en) * | 2020-07-29 | 2021-02-09 | 温州大学 | Multifunctional obstacle-surmounting rescue vehicle |
| CN212605536U (en) * | 2020-08-04 | 2021-02-26 | 哈尔滨工业大学 | Offset planet wheel obstacle crossing chassis |
| CN112046635A (en) * | 2020-08-25 | 2020-12-08 | 东北大学 | Wheel-leg combined type chassis capable of rapidly climbing steps and suitable for mobile robot |
| CN112678057A (en) * | 2021-01-26 | 2021-04-20 | 吉林大学 | Passive obstacle crossing mechanism |
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