CN113733122A - Climbing device and robot with same - Google Patents

Climbing device and robot with same Download PDF

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Publication number
CN113733122A
CN113733122A CN202111089150.0A CN202111089150A CN113733122A CN 113733122 A CN113733122 A CN 113733122A CN 202111089150 A CN202111089150 A CN 202111089150A CN 113733122 A CN113733122 A CN 113733122A
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CN
China
Prior art keywords
climbing
supporting
racks
main body
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202111089150.0A
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Chinese (zh)
Inventor
吴琳波
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Individual
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Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN202111089150.0A priority Critical patent/CN113733122A/en
Publication of CN113733122A publication Critical patent/CN113733122A/en
Withdrawn legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • 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
    • B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Abstract

The invention discloses a climbing device, comprising: the supporting body, the first climbing part and the second climbing part; the first portion of climbing slides and locates one side of supporting the main part, the second portion of climbing slides and locates one side that the main part kept away from first portion of climbing, be equipped with the rack that climbs on the both sides of supporting the main part respectively, first portion of climbing and second climb and are equipped with the motor that climbs in the portion respectively, the output of the motor that climbs is connected with the rack transmission that climbs that corresponds respectively, still be equipped with preceding mechanism in the support main part, the rack that climbs respectively with preceding mechanism fixed connection, preceding mechanism is used for driving the rack that climbs and slides. By adopting the design, the climbing racks are respectively arranged on the two sides of the supporting main body, so that the ascending and the lifting actions of the climbing part are realized; simultaneously through set up the mechanism that moves ahead in supporting the main part, realize climbing the action that advances of portion, through the rack that climbs and the mechanism that moves ahead mutually support between, realize climbing of step, structural design is reasonable, and is simple, and it is convenient to implement, low in production cost is honest and clean.

Description

Climbing device and robot with same
Technical Field
The invention relates to the technical field of robots, in particular to a climbing device and a robot with the same.
Background
The population in the world is increased at present, and in order to effectively utilize limited ground space, people develop to higher and higher positions, buildings such as various high-rise buildings, stairclassrooms, conference rooms, stadium stands and the like including stairs are more and more common, the work of cleaning the stairways is obviously increased, and the market demand in the aspect is brought forward. On the other hand, most of the cleaning robots that have advanced into people's daily lives are indoor flat cleaning robots, and therefore it is necessary to research and develop stair cleaning robots, and the structure that can climb stairs at present mainly includes: wheel type, crawler type, leg type, and rolling type. The crawler type and the rolling type are complex in structure and difficult to design a cleaning device, and contact stress points are mostly at the projecting part of the right angle of the ladder when the crawler type climbs, so that the right angle of the ladder is easily damaged, the gradient of the ladder is required to be relatively low, and the crawler type and the rolling type are not suitable for the ladder with a higher gradient and are easy to topple. The wheel type stair climbing robot adopts the planet wheels or other composite wheel types, the structure is large and complex, the cost is high, the stair cleaning function is rarely considered, and the practicability is greatly reduced.
Accordingly, there is a need to devise a climbing device and a robot having the same that overcome the deficiencies of the prior art.
Disclosure of Invention
The technical scheme adopted by the invention to achieve the technical purpose is as follows: a climbing device, comprising: the supporting body, the first climbing part and the second climbing part; the first climbing portion is slidably arranged on one side of the supporting main body, the second climbing portion is slidably arranged on one side, far away from the first climbing portion, of the supporting main body, climbing racks are respectively arranged on two sides of the supporting main body, climbing motors are respectively arranged in the first climbing portion and the second climbing portion, output ends of the climbing motors are respectively in transmission connection with the corresponding climbing racks, a forward moving mechanism is further arranged in the supporting main body, the climbing racks are respectively fixedly connected with the forward moving mechanism, and the forward moving mechanism is used for driving the climbing racks to slide.
In a preferred embodiment, the advancing mechanism comprises: the supporting device comprises a first supporting frame and a second supporting frame, wherein the first supporting frame and the second supporting frame are arranged in the supporting main body at intervals up and down, one end of the first supporting frame is provided with a first forward motor, the other end of the first supporting frame is provided with a first rotating wheel, and a first transmission piece is arranged between the first forward motor and the first rotating wheel; one end of the second support frame is provided with a second forward motor, the other end of the second support frame is provided with a second rotating wheel, a second transmission part is arranged between the second forward motor and the second rotating wheel, a first sliding block is fixedly arranged on the first transmission part, a second sliding block is fixedly arranged on the second transmission part, and the first sliding block and the second sliding block are respectively and fixedly connected with the corresponding climbing rack.
In a preferred embodiment, two sides of the first support frame are respectively provided with a first fixing rod, two ends of the first sliding block are respectively connected with the first fixing rod in a sliding manner, two sides of the second support frame are respectively provided with a second fixing rod, and two ends of the second sliding block are respectively connected with the second fixing rod in a sliding manner.
In a preferred embodiment, each of the climbing racks is provided with a sliding groove, the bottoms of the first climbing portion and the second climbing portion are respectively provided with a fixture block, the fixture block is matched with the sliding groove and can slide in the sliding groove, and one end of the climbing motor, which is far away from the output end, is respectively and fixedly connected with the corresponding fixture block.
In a preferred embodiment, both ends of each climbing rack are provided with inward positioning blocks.
In a preferred embodiment, the first climbing part and the second climbing part are rectangular, the length of the first climbing part and the length of the second climbing part are equal to or larger than that of the supporting body, and cleaning sheets are arranged on the bottom surfaces and the side surfaces of the first climbing part and the second climbing part.
In a preferred embodiment, the first climbing part and the second climbing part are both provided with balancing weights.
In a preferred embodiment, the bottom surfaces of the first climbing part and the second climbing part are respectively provided with a transverse displacement mechanism.
In a preferred embodiment, one end of each of the first climbing part and the second climbing part is provided with an inductor.
A second aspect of the invention provides a robot comprising a climbing device according to any of the embodiments described above.
The invention has the beneficial effects that: the climbing racks are respectively arranged on the two sides of the supporting main body, so that the first climbing part and the second climbing part can ascend and ascend; simultaneously through set up the mechanism that moves ahead in supporting the main part, realize that first portion of climbing and the second climb the action that advances of portion, through the rack that climbs and the cooperation each other between the mechanism that moves ahead, realize climbing of step, structural design is reasonable, and is simple, and it is convenient to implement, low in production cost is honest and clean.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a climbing rack in accordance with the present invention;
FIG. 3 is a schematic structural diagram of a first climbing part of the invention;
FIG. 4 is a schematic structural diagram of a first support frame according to the present invention;
FIG. 5 is a schematic structural view of a second support frame according to the present invention;
fig. 6 is a schematic diagram of the creep state of the present invention.
In the figure:
10. a support body; 101. a climbing rack; 102. a chute; 103. positioning blocks; 11. a forward mechanism; 111. a first support frame; 112. a second support frame; 113. a first forward motor; 114. a second forward motor; 115. a first transmission member; 116. a second transmission member; 117. a first runner; 118. a second runner; 119. a first slider; 120. a second slider; 121. a first fixing lever; 122. a second fixing bar; 20. a first climbing part; 201. a clamping block; 202. a climbing motor; 21. and a second climbing part.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
As shown in fig. 1-6, the present invention provides a climbing device, comprising: a support body 10, a first climbing part 20, a second climbing part 21; the supporting main body 10 is rectangular with openings on two sides, the first climbing portion 20 is slidably disposed on one side of the supporting main body 10, the second climbing portion 21 is slidably disposed on one side of the supporting main body 10 away from the first climbing portion 20, climbing racks 101 are respectively disposed on two sides of the supporting main body 10, climbing motors 202 are respectively disposed in the first climbing portion 20 and the second climbing portion 21, output ends of the climbing motors 202 are respectively connected with the corresponding climbing racks 101 in a transmission manner, output ends of the climbing motors 202 are connected with gears, the gears are engaged with the climbing racks 101, the motors drive the first climbing portion 20 and the second climbing portion 21 to ascend and descend along the climbing racks 101 when rotating, a forward moving mechanism 11 is further disposed in the supporting main body 10, the climbing racks 101 are respectively fixedly connected with the forward moving mechanism 11, and the forward moving mechanism 11 is used for driving the climbing racks 101 to slide, when the forward moving mechanism 11 operates, the climbing racks 101 on both sides are driven to move along the length direction of the support main body 10, and the first climbing part 20 and the second climbing part 21 connected with the climbing racks 101 are driven to move along the length direction of the support main body 10, so that the lifting and advancing actions of the first climbing part 20 and the second climbing part 21 are realized, and the climbing action is realized.
As can be understood, the raising and lifting actions of the first climbing portion 20 and the second climbing portion 21 are achieved by providing the climbing racks 101 on both sides of the support body 10, respectively; meanwhile, the advancing mechanism 11 is arranged in the supporting main body 10, the advancing action of the first climbing part 20 and the second climbing part 21 is realized, and the climbing of the step is realized through the mutual matching between the climbing rack 101 and the advancing mechanism 11.
Further, in the present embodiment, the advancing mechanism 11 includes: the first support frame 111 and the second support frame 112 are arranged in the support main body 10 at intervals up and down, a first forward motor 113 is arranged at one end of the first support frame 111, a first rotating wheel 117 is arranged at the other end of the first support frame, a first transmission piece 115 is arranged between the first forward motor 113 and the first rotating wheel 117, the first forward motor 113 and the first rotating wheel 117 are connected together through the transmission of the first transmission piece 115, a second forward motor 114 is arranged at one end of the second support frame 112, a second rotating wheel 118 is arranged at the other end of the second support frame 112, a second transmission piece 116 is arranged between the second forward motor 114 and the second rotating wheel 118, the second forward motor 114 and the second rotating wheel 118 are connected through the transmission of the second transmission piece 116, a first slide block 119 is fixedly arranged on the first transmission piece 115, a second slide block 120 is fixedly arranged on the second transmission piece 116, one end of the first slide block 119 is fixedly connected with the climbing rack 101 at one side, one end of the second sliding block 120 is fixedly connected with the climbing rack 101 on the other side, when the first forward motor 113 operates, the first transmission piece 115 in transmission connection with the first forward motor is driven to rotate, so as to drive the first sliding block 119 to move back and forth, and further drive the climbing rack 101 fixedly connected with the first forward motor to move back and forth, and drive the first climbing part 20 to move back and forth, and the second climbing part 21 is similar to the first climbing part 20, wherein the first forward motor 113 and the second forward motor 114 are controlled to operate independently.
It should be noted that the first support frame 111 and the second support frame 112 are both located at the lower portion of the support main body 10, so that the weight of the support main body 10 is located at the bottom thereof, and the first forward motor 113 and the second forward motor 114 are arranged left and right, so as to prevent the center of gravity of the support main body 10 from being located at one side.
Further, in this embodiment, in order to prevent the first slider 119 and the second slider 120 from shaking during movement, the first fixing rods 121 are respectively disposed on two sides of the first support frame 111, the second fixing rods 122 are respectively disposed on two sides of the second support frame 112, two ends of the first slider 119 are respectively slidably connected to the first fixing rods 121 on two sides, two ends of the second slider 120 are respectively slidably connected to the second fixing rods 122 on two sides, and the first fixing rods 121 and the second fixing rods 122 can guide and prevent the first slider 119 and the second slider 120 from shaking during movement.
Further, in this embodiment, a sliding groove 102 is disposed on one side of each climbing rack 101, a fixture block 201 is disposed on the bottom of each of the first climbing portion 20 and the second climbing portion 21, the fixture block 201 is matched with the sliding groove 102, the fixture block 201 is inserted into the sliding groove 102 and can slide in the sliding groove 102, and one end of the climbing motor 202, which is far away from the output end, is fixedly connected to the fixture block 201, so that the climbing motor 202 can drive the first climbing portion 20 to ascend or descend during operation.
Further, in the embodiment, in order to prevent the climbing rack 101 from inclining or falling out of the support body 10 when the first climbing portion 20 or the second climbing portion 21 ascends, inward positioning blocks 103 are respectively disposed at two ends of the climbing rack 101 at two sides, so that the climbing rack 101 cannot fall out of the support body 10 under the restriction of the positioning blocks 103 and the support body 10 when the first climbing portion 20 or the second climbing portion 21 ascends and is driven to incline.
Further, in the present embodiment, the first climbing part 20 and the second climbing part 21 are both rectangular, the length of the first climbing part 20 and the length of the second climbing part 21 may be equal to or greater than the length of the support body 10, in the present embodiment, the length of the first climbing part 20 and the length of the second climbing part 21 are greater than the length of the support body 10, and cleaning sheets (not shown in the drawings) are respectively disposed on the bottom surface and the side surface of the first climbing part 20 and the second climbing part 21 for cleaning the step.
Further, in the embodiment, in order to avoid the gravity center shift during climbing to cause the inclination, a weight block (not shown in the figure) is disposed at one end of each of the first climbing portion 20 and the second climbing portion 21, so that the weight of each of the first climbing portion 20 and the second climbing portion 21 is greater than that of the support body 10 during climbing of the first climbing portion 20 and the second climbing portion 21, thereby preventing the support body 10 from toppling over due to the gravity center shift.
It should be noted that the weight block is disposed at one end of the first climbing portion 20 and the second climbing portion 21 in the forward direction, and is located at the bottom of the first climbing portion 20 and the second climbing portion 21 to lower the gravity center, so that the weight of the front end is greater than the weight of the rear end during climbing, thereby preventing toppling.
Further, in the embodiment, in order to realize the translation function of the climbing device, a lateral displacement mechanism (not shown in the figure) is respectively arranged on the bottom of the first climbing part 20 and the bottom of the second climbing part 21, and the two lateral displacement mechanisms are driven synchronously, so that the climbing device can realize climbing, advancing and lateral translation movement.
It should be noted that, the transverse displacement mechanism may adopt a track manner or a roller manner, and the transverse displacement mechanism is set to a liftable manner, and when translating, the transverse displacement mechanism sinks to contact with the bottom surface, and jacks up the first climbing portion 20, the second climbing portion 21 and the support body 10, so as to facilitate translation.
Further, in the embodiment, in order to facilitate the control of the climbing movement of the climbing device, at one end of the advancing direction of the first climbing part 20 and the second climbing part 21, there are sensors (not shown in the figure) respectively for sensing steps, so as to transmit data to the background and control the related operation.
The working principle is that when climbing, a climbing motor 202 on one side drives to lift a first climbing part 20 on one side, when the first climbing part 20 is higher than a step to be ascended, a first forward moving motor 113 operates to drive the first climbing part 20 to move forwards to be positioned above the step to be ascended, then the climbing motor 202 operates reversely to enable the first climbing part 20 to descend to be abutted against the step, then a climbing motor 202 on the other side drives to lift a second climbing part 21 on the other side and enable the second climbing part 21 to be higher than the step, at the moment, a second forward moving motor 114 operates to drive the second climbing part 21 to move forwards to be positioned above the step, then the climbing motor 202 on the side operates reversely to enable the second climbing part 21 to descend to be abutted against the step, finally, the climbing motors 202 on both sides operate synchronously and reversely, the first climbing part 20 and the second climbing part 21 are abutted against the step, the support body 10 is driven by the climbing motor 202 to ascend, and because the first climbing part 20 and the second climbing part 21 are both provided with a weight balancing block, the weight of the first climbing part 20 and the weight of the second climbing part 21 are greater than the weight of the support body 10, so that the support body 10 does not topple during ascending, when the bottom of the support body 10 is higher than the step, the first forward motor 113 and the second forward motor 114 operate synchronously, the friction force between the first climbing part 20 and the second climbing part 21 and the ground is greater than the thrust force for advancing the support body 10 under the limitation of the vertical plane of the step or when the first climbing part 20 and the second climbing part 21 do not abut against the vertical plane of the step, so that the first climbing part 20 and the second climbing part 21 cannot advance, and the support body 10 supports the forward movement under the driving body 10 of the first forward motor 113 and the second forward motor 114, thereby realizing climbing and subsequent step cleaning.
A second aspect of the invention provides a robot comprising a climbing device according to any of the embodiments described above.
In summary, the climbing racks 101 are respectively disposed on both sides of the support body 10, so that the first climbing part 20 and the second climbing part 21 are lifted; meanwhile, the advancing mechanism 11 is arranged in the supporting main body 10, the advancing action of the first climbing part 20 and the second climbing part 21 is realized, and the climbing of the step is realized through the mutual matching between the climbing rack 101 and the advancing mechanism 11.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.

Claims (10)

1. A climbing device, comprising: the supporting body, the first climbing part and the second climbing part; the first climbing portion is slidably arranged on one side of the supporting main body, the second climbing portion is slidably arranged on one side, far away from the first climbing portion, of the supporting main body, climbing racks are respectively arranged on two sides of the supporting main body, climbing motors are respectively arranged in the first climbing portion and the second climbing portion, output ends of the climbing motors are respectively in transmission connection with the corresponding climbing racks, a forward moving mechanism is further arranged in the supporting main body, the climbing racks are respectively fixedly connected with the forward moving mechanism, and the forward moving mechanism is used for driving the climbing racks to slide.
2. The climbing device according to claim 1 wherein the advancing mechanism comprises: the supporting device comprises a first supporting frame and a second supporting frame, wherein the first supporting frame and the second supporting frame are arranged in the supporting main body at intervals up and down, one end of the first supporting frame is provided with a first forward motor, the other end of the first supporting frame is provided with a first rotating wheel, and a first transmission piece is arranged between the first forward motor and the first rotating wheel; one end of the second support frame is provided with a second forward motor, the other end of the second support frame is provided with a second rotating wheel, a second transmission part is arranged between the second forward motor and the second rotating wheel, a first sliding block is fixedly arranged on the first transmission part, a second sliding block is fixedly arranged on the second transmission part, and the first sliding block and the second sliding block are respectively and fixedly connected with the corresponding climbing rack.
3. The climbing device according to claim 2, wherein the first support frame is provided with a first fixing rod on each side, the first slide block is slidably connected with the first fixing rod on each side, the second support frame is provided with a second fixing rod on each side, and the second slide block is slidably connected with the second fixing rod on each side.
4. The climbing device according to claim 1, wherein each of the climbing racks has a sliding slot, the bottoms of the first climbing portion and the second climbing portion have a clamping block, the clamping block is engaged with the sliding slot and can slide in the sliding slot, and one end of the climbing motor away from the output end is fixedly connected to the corresponding clamping block.
5. The climbing device according to claim 1 wherein each of the climbing racks has inwardly facing locating blocks on both ends.
6. The climbing device according to claim 1, wherein the first climbing portion and the second climbing portion are rectangular, the length of the first climbing portion and the length of the second climbing portion are equal to or greater than the length of the support body, and cleaning sheets are arranged on the bottom surfaces and the side surfaces of the first climbing portion and the second climbing portion.
7. The climbing device according to claim 1 wherein a weight is disposed within each of the first climbing portion and the second climbing portion.
8. The climbing device according to claim 1, wherein a lateral displacement mechanism is further provided on the bottom surface of each of the first climbing portion and the second climbing portion.
9. The climbing device according to claim 1 wherein the first climbing portion and the second climbing portion each have a sensor disposed on one end.
10. A robot, characterized in that the robot comprises a climbing device according to any of claims 1-9.
CN202111089150.0A 2021-09-16 2021-09-16 Climbing device and robot with same Withdrawn CN113733122A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111089150.0A CN113733122A (en) 2021-09-16 2021-09-16 Climbing device and robot with same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111089150.0A CN113733122A (en) 2021-09-16 2021-09-16 Climbing device and robot with same

Publications (1)

Publication Number Publication Date
CN113733122A true CN113733122A (en) 2021-12-03

Family

ID=78739401

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111089150.0A Withdrawn CN113733122A (en) 2021-09-16 2021-09-16 Climbing device and robot with same

Country Status (1)

Country Link
CN (1) CN113733122A (en)

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Application publication date: 20211203