CN203793466U - Transformable impeller-type stair-climbing robot - Google Patents
Transformable impeller-type stair-climbing robot Download PDFInfo
- Publication number
- CN203793466U CN203793466U CN201420085626.2U CN201420085626U CN203793466U CN 203793466 U CN203793466 U CN 203793466U CN 201420085626 U CN201420085626 U CN 201420085626U CN 203793466 U CN203793466 U CN 203793466U
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- China
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- planetary gear
- wheel
- transmission shaft
- gear trains
- planet circular
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Abstract
The utility model provides a transformable impeller-type stair-climbing robot which comprises a robot body and a movement mechanism. The movement mechanism comprises gear motors, transmission shafts and four planetary gear trains, the four planetary gear trains are arranged on the two sides of the robot body in a pairwise symmetrical mode, the gear motors are arranged in the robot body and connected with the transmission shafts, and the transmission shafts are connected with the planetary gear trains through chains. The gear motors drive the transmission shafts to drive the planetary gear trains, different moving postures of blades are achieved by using different movement traces of planet gears when sun gears of the planetary gear trains rotate forwards and backwards, the moving postures of arc-shaped rods of the blades are controlled by controlling slip of the sun gears and the planet gears of the planetary gear trains, and therefore the robot can climb on stairs changing within a certain size range, can switch between continuous stair climbing and flat ground walking rapidly, can be used as a barrier-free stable mobile platform, moves flexibly and stably, and is safe and reliable.
Description
Technical field
The utility model relates to a kind of robot, specifically a kind of convertible vane type stair climbing robot.
Background technology
At present, the domestic robot that has some realizations to climb building function, the robot that for example Harbin Institute of Technology designs, 6 motors are installed in planet circular system, by PIG, encode and realize the feedback regulation of signal, assurance satellite gear is synchronizeed steadily with set square, realize stair climbing and the variation freely of walking level land, but it is large by motor driving power consumption, encoder fault rate is also higher, be difficult for extensively promoting, and some other stair climbing robot, the switching process when realization is climbed building function and walked level land function is also all relatively complicated.
Utility model content
The purpose of this utility model is to provide a kind of convertible vane type stair climbing robot, realizes and climbs continuously building and the conversion of level walking function fast free.
The technical scheme that the utility model adopted is to achieve these goals: a kind of convertible vane type stair climbing robot, comprise fuselage and kinematic mechanism, it is characterized in that: kinematic mechanism comprises reducing motor, transmission shaft and four planet circular systems, described four planet circular systems are symmetricly set on respectively fuselage both sides between two, described reducing motor is arranged on fuselage interior and is connected with described transmission shaft, and described transmission shaft is connected with planet circular system by chain; Described reducing motor drives described transmission shaft to drive described planet circular system;
Described planet circular system comprises wheel shaft, axle block, satellite gear, blade, set square, sun wheel and sprocket wheel, described wheel shaft is connected with fuselage by axle block, axle tip has square pole, square groove is set in the middle of described sun wheel and set square, square pole by described axle tip is fixed on described wheel shaft, the hinged satellite gear of difference on three angles of described set square, the gear engagement of described sun wheel and described satellite gear, described blade and described satellite gear are connected, and the outer rim of described blade is bow; Described sprocket wheel and described set square are connected, and are connected with transmission shaft by chain.
The beneficial effects of the utility model are: convertible vane type stair climbing robot can be creeped continuously on certain limit size stair, and building conversion fast between walking function pacifically can climbed continuously, can be used as an accessible steady mobile platform, the easy motion of maneuverability, safe and reliable.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
The view of planet circular system when Fig. 2 is the utility model level walking.
Fig. 3 is the view of the utility model planet circular system while climbing building.
In figure 1, fuselage; 2, reducing motor; 3, transmission shaft; 4, wheel shaft; 5, axle block; 6, satellite gear; 7, blade; 8, set square; 9, sun wheel; 10, sprocket wheel; 11, square pole; 12, square groove; 13, bow.
The specific embodiment
A kind of convertible vane type stair climbing robot, comprise fuselage 1 and kinematic mechanism, as shown in Figure 1, kinematic mechanism comprises reducing motor 2, transmission shaft 3 and four planet circular systems, described four planet circular systems are arranged on respectively fuselage 1 both sides between two, described reducing motor 2 is arranged on fuselage 1 inside and is connected with described transmission shaft 3, and described transmission shaft 3 is connected with planet circular system by chain, described reducing motor 2 drives described transmission shaft 3 to drive described planet circular system, planet circular system comprises wheel shaft 4, axle block 5, satellite gear 6, blade 7, set square 8, sun wheel 9 and sprocket wheel 10, described wheel shaft 4 is connected with fuselage 1 by axle block 5, there is square pole 11 on wheel shaft 4 tops, in the middle of sun wheel 9 and set square 8, square groove 12 is set, square pole 11 by wheel shaft 4 tops is fixed on described wheel shaft 4, realize being synchronized with the movement of sun wheel 9 and set square 8, the hinged satellite gear 6 of difference on 8 three angles of set square, as shown in Figures 2 and 3, the wheel toothed portion engagement of the gear teeth of sun wheel 9 and three satellite gears 6, blade 7 is connected with satellite gear 6, the outer rim of blade 7 is bow 13, sprocket wheel 10 is connected with set square 8, and be connected with transmission shaft 3 by chain.
The difference of satellite gear 6 path of motions when the utility model utilizes sun wheel 9 to rotate and reverse, realize the difference of blade 7 athletic postures, by controlling the slip of planet circular system sun wheel 9 and satellite gear 6, the athletic posture of controlling the bow 13 of blade 7 can be creeped robot on the stair of certain limit change in size.
In the utility model, reducing motor 2 provides power, pass through gear transmission, drive transmission shaft 3 rotations, transmission shaft 3 connects sprocket wheel 10 by chain again and drives planet circular system to rotate, drive machines people's motion, when robot travels forward, because frictional ground force is to the bow effect on blade, the blade that three satellite gears are connected is mutually 120 degree, as shown in Figure 2, bow on three blades forms a circle wheel, and robot just can steadily move forward like this; When robot moves backward, by frictional ground force, satellite gear and sun wheel relatively rotate, and the blade movement that three satellite gears are connected is to being mutually 60 degree, and as shown in Figure 3, the bow on three blades forms an impeller.Freely changing of circle wheel and impeller, has realized the utility model and can climb continuously building conversion fast between walking function pacifically like this.
Claims (1)
1. a convertible vane type stair climbing robot, comprise fuselage and kinematic mechanism, it is characterized in that: kinematic mechanism comprises reducing motor, transmission shaft and four planet circular systems, described four planet circular systems are symmetricly set on respectively fuselage both sides between two, described reducing motor is arranged on fuselage interior and is connected with described transmission shaft, and described transmission shaft is connected with planet circular system by chain; Described reducing motor drives described transmission shaft to drive described planet circular system; Described planet circular system comprises wheel shaft, axle block, satellite gear, blade, set square, sun wheel and sprocket wheel, described wheel shaft is connected with fuselage by axle block, axle tip has square pole, square groove is set in the middle of described sun wheel and set square, square pole by described axle tip is fixed on described wheel shaft, the hinged satellite gear of difference on three angles of described set square, the gear engagement of described sun wheel and described satellite gear, described blade and described satellite gear are connected, and the outer rim of described blade is bow; Described sprocket wheel and described set square are connected, and are connected with transmission shaft by chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420085626.2U CN203793466U (en) | 2014-02-27 | 2014-02-27 | Transformable impeller-type stair-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420085626.2U CN203793466U (en) | 2014-02-27 | 2014-02-27 | Transformable impeller-type stair-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203793466U true CN203793466U (en) | 2014-08-27 |
Family
ID=51375707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420085626.2U Expired - Fee Related CN203793466U (en) | 2014-02-27 | 2014-02-27 | Transformable impeller-type stair-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203793466U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443093A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Unmanned ladder climbing robot |
| CN104443101A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Deforming wheel mechanism for stair climbing robot |
| CN105150763A (en) * | 2015-09-22 | 2015-12-16 | 北京理工大学 | Multi-angle wheel for ground robot |
| CN107387709A (en) * | 2017-08-31 | 2017-11-24 | 上海理工大学 | A kind of stair climbing robot transmission device |
| CN112849291A (en) * | 2021-03-19 | 2021-05-28 | 中北大学 | Robot capable of rapidly walking on flat ground, crossing obstacles and climbing stairs |
| CN113815701A (en) * | 2021-10-13 | 2021-12-21 | 浙江精功机器人智能装备有限公司 | Stair climbing trolley |
-
2014
- 2014-02-27 CN CN201420085626.2U patent/CN203793466U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443093A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Unmanned ladder climbing robot |
| CN104443101A (en) * | 2014-11-19 | 2015-03-25 | 兰州理工大学 | Deforming wheel mechanism for stair climbing robot |
| CN105150763A (en) * | 2015-09-22 | 2015-12-16 | 北京理工大学 | Multi-angle wheel for ground robot |
| CN105150763B (en) * | 2015-09-22 | 2017-10-24 | 北京理工大学 | A kind of many horn rings for ground robot |
| CN107387709A (en) * | 2017-08-31 | 2017-11-24 | 上海理工大学 | A kind of stair climbing robot transmission device |
| CN107387709B (en) * | 2017-08-31 | 2020-06-09 | 上海理工大学 | Transmission device of stair climbing robot |
| CN112849291A (en) * | 2021-03-19 | 2021-05-28 | 中北大学 | Robot capable of rapidly walking on flat ground, crossing obstacles and climbing stairs |
| CN112849291B (en) * | 2021-03-19 | 2022-06-28 | 中北大学 | Robot capable of rapidly walking on flat ground, crossing obstacles and climbing stairs |
| CN113815701A (en) * | 2021-10-13 | 2021-12-21 | 浙江精功机器人智能装备有限公司 | Stair climbing trolley |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140827 Termination date: 20150227 |
|
| EXPY | Termination of patent right or utility model |