CN206766174U - With the stair climbing robot for turning to and avoiding function - Google Patents
With the stair climbing robot for turning to and avoiding function Download PDFInfo
- Publication number
- CN206766174U CN206766174U CN201620876079.9U CN201620876079U CN206766174U CN 206766174 U CN206766174 U CN 206766174U CN 201620876079 U CN201620876079 U CN 201620876079U CN 206766174 U CN206766174 U CN 206766174U
- Authority
- CN
- China
- Prior art keywords
- luggage carrier
- turning
- stair
- steering assistance
- climbing robot
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
Robotic technology field is the utility model is related to, more particularly to a kind of stair climbing robot that there is steering and avoid function.It includes luggage carrier, and a steering assistance plate is provided among luggage carrier bottom, and rectilinear movement unit and slew gear are provided between steering assistance plate and luggage carrier；On front side of luggage carrier and rear side is respectively provided with a camera, and luggage carrier left side and right side are respectively provided with a ultrasonic distance measuring module, microprocessor and wireless communication module are provided with luggage carrier.The utility model makes improvement on the basis of original wheeled stair climbing robot, realizes that four road wheels are synchronously afraid of stair, while also assures that the horizontal stable of top luggage carrier, realizes safety heavy burden and climbs building.The utility model is, by being additionally arranged at the bottom of rectilinear movement unit and slew gear in luggage carrier, to realize that the transverse shifting of robot avoids the turning function on pedestrian and stair.Meanwhile also by setting camera device and range unit, stair field condition is gathered in real time, is observed and made a response by monitor terminal.
Description
Technical field
Robotic technology field is the utility model is related to, more particularly to a kind of climbing machine device that there is steering and avoid function
People.
Background technology
The major way that current stair climbing robot climbs step has leg formula, wheeled and crawler type, and each way cuts both ways,
But the problem of same be present, first, when needing to turn on stair, can not realize；It is second, upper and lower when being run on stair
During the people in building, it is not known that avoid；Third, deviateing former direction during climbing building, it can not in time find and adjust to cause to encounter both sides
Wall.In addition, existing several stair climbing robots are it is difficult to ensure that steadily of centre of gravity and planar movement, loading function can not effectively be sent out
Wave.
Utility model content
To solve the above problems, the utility model provides a kind of stair climbing robot for having and turning to and avoiding function, energy
Pedestrian is turned and avoided on stair, and heavy burden also ensures gravity balance while climbing building.
The technical solution adopted in the utility model is as follows：
It is a kind of that there is the stair climbing robot for turning to and avoiding function, including luggage carrier, it is provided with one turn among luggage carrier bottom
To accessory plate, rectilinear movement unit and slew gear are provided between steering assistance plate and luggage carrier, rectilinear movement unit is used for real
Existing luggage carrier moves left and right, and slew gear is used to drive luggage carrier to rotate；Steering assistance plate is provided with perpendicular support
Seat, support base is Collapsible structure, and its side is provided with telescopic cylinder, for controlling it flexible；Respectively set with rear side on front side of luggage carrier
There is a camera, for shooting the scene of robot front and back；On the left of luggage carrier and right side is respectively provided with a ultrasonic ranging
Module, for measuring luggage carrier left and right edges to the distance of stair both sides；Microprocessor and radio communication are provided with luggage carrier
Module, microprocessor receive the real time data sent of two ultrasonic distance measuring modules and compare two data, when two side datas not
Luggage carrier is moved to left or moved to right certain distance by control rectilinear movement unit action when consistent；Wireless communication module is used for camera
The view data of shooting is uploaded to monitor terminal in real time, monitor terminal according to image show scene judge whether someone need to avoid or
Whether the turning, instruction control machine people or so translation is sent to robot by wireless communication module or turned to.
Further, luggage carrier bottom is respectively arranged in the front and the rear with a guide rail in steering assistance plate, and each guide rail is slidably connected one with carrying
The first vertical walking support member of rack, the first walking support member bottom is each to fix a ground-engaging element.
Further, the second walking support member, second walking support member one end are provided with steering assistance plate in support base side
It is rotatablely connected with steering assistance plate, the other end is connected with rotating driving device；Rotating driving device and former and later two ground-engaging elements
Drive connection, for driving ground-engaging element to rotate.
Further, described ground-engaging element includes left wheel component and the right wheel component at axletree and axletree both ends, left car
Wheel component and right wheel component respectively include a discoidal outer wheel disc and three small trochal discs being connected on the inside of the outer wheel disc, outside
Wheel disc is connected with axletree, and outer wheel disc, which is radially provided with, is separated by 120 degree of three grooves, and three small trochal discs are led to by check lock lever and three
Groove is slidably connected, the Archimedes spiral and circular arc that the outer margin contour of small trochal disc connects before and after being one.
Further, described rotating driving device includes motor, driving wheel and two timing belts, the car of two ground-engaging elements
Axle is provided with synchronous pulley, and driving wheel is connected with the synchronous pulley on the axletree of both sides respectively by two timing belts.
Preferably, described three walking support members are Collapsible structure, are walked before and after being adjusted according to shoulder height
The difference in height of support member, general front side support member bottom are higher than Backside support part bottom.
The utility model makes improvement on the basis of original wheeled stair climbing robot, realizes that four road wheels are synchronously afraid of building
Ladder, while the horizontal stable of top luggage carrier is also assures that, realize safety heavy burden and climb building.Key improvements of the present utility model exist
In the transverse shifting for by being additionally arranged at the bottom of rectilinear movement unit and slew gear in luggage carrier, realizing robot avoid pedestrian with
And the turning function on stair.Meanwhile also by setting camera device and range unit, stair field condition is gathered in real time, lead to
Monitor terminal is crossed to observe and make a response.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the present utility model；
Fig. 2 is that the utility model is dismantled the front sectional view after ground-engaging element；
Fig. 3 is control system block diagram of the present utility model；
In figure, 1, luggage carrier, 2, camera, 3, guide rail, the 4, first walking support member, 5, small trochal disc, 6, outer wheel disc, 7, car
Axle, 8, synchronous pulley, 9, groove, 10, check lock lever, 11, timing belt, 12, support base, 13, motor, 14, driving wheel, 15,
Telescopic cylinder, 16, ultrasonic distance measuring module, 17, steering assistance plate, 18, rectilinear movement unit, 19, slew gear, 20, second
Walk support member, 21, microprocessor, 22, power supply, 23, wireless communication module, 24, monitor terminal.
Embodiment
The utility model is described in detail below in conjunction with the accompanying drawings.
It is a kind of that there is the stair climbing robot for turning to and avoiding function, as shown in Figure 1, 2, including a luggage carrier 1, luggage carrier 1
A square steering assistance plate 17 is provided among bottom, the upside of steering assistance plate 17 is provided with slew gear 19 and rectilinear movement unit
18, the chassis of slew gear 19 is fixed on steering assistance plate, and its rotating disk is fixedly connected with luggage carrier bottom, for driving loading
Frame rotates；Rectilinear movement unit 18 includes the sliding block that left and right is secured transverse in the guide groove and guide groove on steering assistance plate, sliding block
It is connected with luggage carrier bottom, for realizing that the left and right of luggage carrier translates.The bottom of steering assistance plate 17 is provided with the branch of a vertical direction
Seat 12 is supportted, support base 12 is Collapsible structure, and side is provided with telescopic cylinder 15, for driving fulcrum bearing to stretch.Support base is stretched out
Height afterwards is more than the total height of walking support member and ground-engaging element, makes ground-engaging element hanging for propping up luggage carrier, realizes and turns
Dynamic and mobile luggage carrier；
The bottom steering assistance plate front and rear sides of luggage carrier 1 are respectively provided with the guide rail 3 of one section of fore-and-aft direction, each 3 each cunning of guide rail
Dynamic to be connected with a first walking support member 4 vertical with luggage carrier, the first walking support member 4 bottom connects two walkings respectively
Part.The lower rotation of steering assistance plate 17 is connected with the second walking support member 20, its bottom fixed drive motor 13 and driving wheel
14.Three walking support members are made up of telescoping tube, its adjustable length.Described ground-engaging element includes axletree 7 and axletree both ends
Left wheel component and right wheel component, left wheel component and right wheel component respectively include a discoidal outer wheel disc 6 and connection
Three small trochal discs 5 on the inside of the outer wheel disc, outer wheel disc 6 are connected with axletree, outer wheel disc be radially provided be separated by three of 120 degree it is logical
Groove 9, three small trochal discs 5 are slidably connected by check lock lever 10 and three grooves 9, and the outer margin contour of small trochal disc 5 connects before and after being one
Archimedes spiral and circular arc.Synchronous pulley 8 is equipped with two axletrees 7, driving wheel 14 and the synchronous pulley 8 of both sides pass through
Timing belt 11 is connected.
The front side of luggage carrier 1 and rear side are respectively provided with a camera 2, for shooting the scene of robot front and back；Loading
On the left of frame and right side is respectively provided with a ultrasonic distance measuring module 16, for measure luggage carrier left and right edges to stair both sides away from
From；Microprocessor 21 and wireless communication module 23 are provided with luggage carrier, microprocessor receives two ultrasonic distance measuring modules and sent
Real time data and two data are compared, when two side datas are inconsistent control rectilinear movement unit action luggage carrier is moved to left or
Move to right certain distance；Wireless communication module 23 is used to the view data of camera shooting being uploaded to monitor terminal 24 in real time, supervises
Control terminal according to image show scene judge whether someone need to avoid or whether the turning, by wireless communication module to robot
Send instruction control machine people or so translation or turn to.Microprocessor 21 is powered by power supply 22.
The course of work of the present utility model is as follows：
Before climbing step, the distance of front and rear two first walkings support member is adjusted according to step width, with two walking before and after guarantee
Part synchronously climbs rank.Then the walking support member of adjustment first and centre second are walked the difference in height of support member so that front and rear two the
The difference in height of one walking support member is two shoulder heights, and luggage carrier is horizontal when climbing building with guarantee.Open the lock in wheel component
Tight bar, according to the step dimension of stair adjust the centrifugations of three small trochal discs away from so that wheel component during step is climbed with platform
Rank does not interfere, and robot starts to climb building afterwards.
During building is climbed, the stair situation before and after front and rear two cameras shooting robot, image information is passed through wireless
Communication module is sent to monitor terminal, and when finding front or behind someone, monitor terminal sends instruction, and support base stretches out, support
Play luggage carrier, ground-engaging element is hanging, then the action of control rectilinear movement unit so that luggage carrier and the walking support member of lower section and
Ground-engaging element shift to right or left, concedes space, facilitates pedestrian by the way that by rear, luggage carrier returns original position to be continued to climb building people.When
When the platform that robot climbs to two sections of staircases needs to turn, equally, first open support base and prop up luggage carrier, hang ground-engaging element
Sky, then control slew gear action luggage carrier is first turned over 90 degree counterclockwise, pack up support base, a small distance that moves ahead to conjunction
Right position is put, and then stretches out support base again, after driving luggage carrier to turn over 90 degree counterclockwise again by slew gear, is directed at next section of building
Ladder, continue to climb building.
During building is climbed, the ultrasonic distance measuring module at left and right sides of luggage carrier measures two edges from stair both sides in real time
Distance, when finding that robot deviates mobile route, support base is stretched out, control rectilinear movement unit action, moves to left or move to right conjunction
Suitable distance, to climb building by original route.
Claims (6)
1. a kind of have the stair climbing robot for turning to and avoiding function, including luggage carrier, it is characterised in that：Among luggage carrier bottom
Provided with a steering assistance plate, rectilinear movement unit and slew gear are provided between steering assistance plate and luggage carrier, rectilinear movement is single
Member is used to realize moving left and right for luggage carrier, and slew gear is used to drive luggage carrier to rotate；The chassis of slew gear, which is fixed on, to be turned
To on accessory plate, its rotating disk is fixedly connected with luggage carrier bottom；Rectilinear movement unit includes left and right and is secured transverse to steering assistance
The sliding block in guide groove and guide groove on plate, sliding block are connected with luggage carrier bottom；Steering assistance plate is provided with perpendicular support
Seat, support base is Collapsible structure, and its side is provided with telescopic cylinder, for controlling it flexible；Respectively set with rear side on front side of luggage carrier
There is a camera, for shooting the scene of robot front and back；On the left of luggage carrier and right side is respectively provided with a ultrasonic ranging
Module, for measuring luggage carrier left and right edges to the distance of stair both sides；Microprocessor and radio communication are provided with luggage carrier
Module, microprocessor receive the real time data sent of two ultrasonic distance measuring modules and compare two data, when two side datas not
Luggage carrier is moved to left or moved to right certain distance by control rectilinear movement unit action when consistent；Wireless communication module is used for camera
The view data of shooting is uploaded to monitor terminal in real time, monitor terminal according to image show scene judge whether someone need to avoid or
Whether the turning, instruction control machine people or so translation is sent to robot by wireless communication module or turned to.
2. according to claim 1 have the stair climbing robot for turning to and avoiding function, it is characterised in that：Luggage carrier bottom
A guide rail is respectively arranged in the front and the rear with steering assistance plate, each guide rail is slidably connected a first walking support member vertical with luggage carrier,
First walking support member bottom is each to fix a ground-engaging element.
3. according to claim 2 have the stair climbing robot for turning to and avoiding function, it is characterised in that：Steering assistance plate
On the second walking support member is provided with support base side, the second walking support member one end and steering assistance plate is rotatablely connected, another
End is connected with rotating driving device；Rotating driving device is connected with former and later two ground-engaging elements, for driving ground-engaging element
Rotation.
4. according to claim 3 have the stair climbing robot for turning to and avoiding function, it is characterised in that：Described walking
Part includes left wheel component and the right wheel component at axletree and axletree both ends, and left wheel component and right wheel component respectively include
One discoidal outer wheel disc and three small trochal discs being connected on the inside of the outer wheel disc, outer wheel disc are connected with axletree, and outer wheel disc is radially
It is provided with and is separated by 120 degree of three grooves, three small trochal discs is slidably connected by check lock lever and three grooves, the outer rim wheel of small trochal disc
The Archimedes spiral and circular arc that exterior feature connects before and after being one.
5. according to claim 4 have the stair climbing robot for turning to and avoiding function, it is characterised in that：Described rotation
Drive device includes motor, driving wheel and two timing belts, and the axletree of two ground-engaging elements is provided with synchronous pulley, and driving wheel leads to
Two timing belts are crossed to be connected with the synchronous pulley on the axletree of both sides respectively.
6. according to claim 3 have the stair climbing robot for turning to and avoiding function, it is characterised in that：Described three
Walking support member is Collapsible structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620876079.9U CN206766174U (en) | 2016-08-12 | 2016-08-12 | With the stair climbing robot for turning to and avoiding function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620876079.9U CN206766174U (en) | 2016-08-12 | 2016-08-12 | With the stair climbing robot for turning to and avoiding function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206766174U true CN206766174U (en) | 2017-12-19 |
Family
ID=60647018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620876079.9U Expired - Fee Related CN206766174U (en) | 2016-08-12 | 2016-08-12 | With the stair climbing robot for turning to and avoiding function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206766174U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184446A (en) * | 2016-08-12 | 2016-12-07 | 王鑫洋 | There is the stair climbing robot turning to and dodging function |
| CN109515546A (en) * | 2018-12-17 | 2019-03-26 | 文浩 | A kind of horizontal attitude loading stair climbing robot of wheel-leg combined type |
| CN109927806A (en) * | 2019-03-14 | 2019-06-25 | 中南大学 | A kind of portable climbing machine |
| CN110525538A (en) * | 2019-08-16 | 2019-12-03 | 武汉理工大学 | A kind of Stair climbing device |
| CN110550125A (en) * | 2019-08-23 | 2019-12-10 | 上海海洋大学 | Convenient trolley capable of traveling on plane, climbing stairs and carrying goods by people |
| CN111169558A (en) * | 2020-01-13 | 2020-05-19 | 河南大学 | Special object carrying robot for climbing steps |
| WO2020182129A1 (en) * | 2019-03-10 | 2020-09-17 | 冯春魁 | Moving device, machine, control method, storage medium and control device |
| CN112478016A (en) * | 2020-11-05 | 2021-03-12 | 广州理工学院 | Transport vechicle based on modularization independent assortment |
| CN113276979A (en) * | 2021-06-11 | 2021-08-20 | 西安文理学院 | Stair climbing machine with omnibearing steering function and control method thereof |
| WO2022041079A1 (en) * | 2020-08-27 | 2022-03-03 | 南京英维尔科技服务有限公司 | Floor mopping robot capable of climbing stairs |
-
2016
- 2016-08-12 CN CN201620876079.9U patent/CN206766174U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106184446B (en) * | 2016-08-12 | 2019-05-24 | 湖南思特异商用车科技有限公司 | With the stair climbing robot for turning to and avoiding function |
| CN106184446A (en) * | 2016-08-12 | 2016-12-07 | 王鑫洋 | There is the stair climbing robot turning to and dodging function |
| CN109515546B (en) * | 2018-12-17 | 2023-09-05 | 武汉朗毅机器人有限公司 | Wheel-leg combined horizontal attitude object carrying stair climbing robot |
| CN109515546A (en) * | 2018-12-17 | 2019-03-26 | 文浩 | A kind of horizontal attitude loading stair climbing robot of wheel-leg combined type |
| WO2020182129A1 (en) * | 2019-03-10 | 2020-09-17 | 冯春魁 | Moving device, machine, control method, storage medium and control device |
| CN109927806A (en) * | 2019-03-14 | 2019-06-25 | 中南大学 | A kind of portable climbing machine |
| CN109927806B (en) * | 2019-03-14 | 2023-11-07 | 中南大学 | Portable stair climbing machine |
| CN110525538A (en) * | 2019-08-16 | 2019-12-03 | 武汉理工大学 | A kind of Stair climbing device |
| CN110550125A (en) * | 2019-08-23 | 2019-12-10 | 上海海洋大学 | Convenient trolley capable of traveling on plane, climbing stairs and carrying goods by people |
| CN110550125B (en) * | 2019-08-23 | 2024-05-28 | 上海海洋大学 | Convenient trolley capable of traveling on plane and climbing stairs and carrying things along with people |
| CN111169558A (en) * | 2020-01-13 | 2020-05-19 | 河南大学 | Special object carrying robot for climbing steps |
| WO2022041079A1 (en) * | 2020-08-27 | 2022-03-03 | 南京英维尔科技服务有限公司 | Floor mopping robot capable of climbing stairs |
| CN112478016B (en) * | 2020-11-05 | 2022-05-10 | 广州理工学院 | Transport vechicle based on modularization independent assortment |
| CN112478016A (en) * | 2020-11-05 | 2021-03-12 | 广州理工学院 | Transport vechicle based on modularization independent assortment |
| CN113276979A (en) * | 2021-06-11 | 2021-08-20 | 西安文理学院 | Stair climbing machine with omnibearing steering function and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206766174U (en) | With the stair climbing robot for turning to and avoiding function | |
| CN106184446B (en) | With the stair climbing robot for turning to and avoiding function | |
| CN103693123B (en) | Synchronous stair climbing robot | |
| KR101943180B1 (en) | Running gear and electric vehicles and toys equipping the same | |
| CN106904227B (en) | Obstacle-crossing mobile robot | |
| CN106335562B (en) | It is a kind of to take turns the Stair climbing device for carrying out switching | |
| CN108024895B (en) | Wheel and crawler belt mixed type moving mechanism | |
| CN106428167B (en) | Locomotive and shifting vehicle device | |
| CN203094218U (en) | Bionic hexapod robot | |
| US11014794B2 (en) | Personal lift device | |
| CN208405137U (en) | Barrier free accessibility balance car | |
| CN205652232U (en) | Hinder robot more | |
| CN107985443B (en) | Wheeled multi-ground adaptive vehicle and obstacle crossing method thereof | |
| CN214566219U (en) | Unmanned aerial vehicle take-off and landing platform | |
| CN103027805A (en) | Road-staircase dual-purpose wheelchair | |
| CN105596160A (en) | Single-section and double-crawler stair-climbing wheelchair based on swinging of walking wheels, and method for going upstairs and downstairs of single-section double-crawler stair-climbing wheelchair | |
| CN105835618A (en) | Four-wheeler mechanism with adjustable eccentric distance | |
| CN107088122A (en) | One kind cuts support lifting sliding rail and translates the detachable amphibious wheelchair in stair climbing level land | |
| CN206187142U (en) | Carrying device based on focus adjustment mechanism | |
| RU2466701C1 (en) | Individual transport facility | |
| CN108528562A (en) | A kind of robot climbing base apparatus | |
| KR101694855B1 (en) | Auxiliary device of folding wheelchair for ramp | |
| CN103287517B (en) | A kind of deformed caterpillar formula small-sized movable system | |
| CN216994603U (en) | Automatic stair device and have its robot up and down | |
| CN209757305U (en) | Crawler-type stair climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171219 Termination date: 20180812 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |