CN209757316U - stair climbing robot - Google Patents
stair climbing robot Download PDFInfo
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- CN209757316U CN209757316U CN201920253189.3U CN201920253189U CN209757316U CN 209757316 U CN209757316 U CN 209757316U CN 201920253189 U CN201920253189 U CN 201920253189U CN 209757316 U CN209757316 U CN 209757316U
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Abstract
the utility model provides a stair climbing robot does the stair climbing motion for the organism under its drive that supports the drive wheel, supports from driving wheel and elevating system's drive through two sets of supporting mechanism, perhaps support drive wheel and chassis drive wheel and be horizontal plane motion for ground under the drive of motor. The utility model provides a but climb stair robot comprises a liftable supporting mechanism that has the front and back distance difference, lifting robot when supporting mechanism descends, by the robot of lifting carry out horizontal motion around under the drive of wheelset, two sets of elevating system bearing in turn, translation, can realize multistage step's continuous lifting or decline steadily, fast, high-efficiently, accomplish the function of stair about.
Description
Technical Field
the utility model relates to the technical field of robot, what especially relate to is a stair climbing robot.
background
with the increasing level of science and technology, the robot industry has a trend of vigorous development. More and more robots appear in daily life of people, and the robots become an indispensable part of modern life. The stairs are common obstacles in daily life, and the robot with the stair climbing function has wide application in daily life.
at present, stair climbing robots mainly comprise types such as a stepping type robot, a crawler type robot, a star wheel type robot, a four-connecting-rod type robot and a six-wheel type robot, and have wide practical application in different fields. The existing stair climbing robot is relatively mature in function, but has certain limitations. For example, in the common crawler-type and star-wheel-type stair climbing robots, the body of the robot can incline in the stair climbing process, which is not beneficial to the application in the catering and logistics industries and the like; the traditional stepping stair climbing robot has the problems of complex action and low stair climbing speed. Therefore, aiming at the problem of the prior stair climbing robot in climbing stairs, the stair climbing robot with high efficiency and stable stair climbing function is urgently needed to be developed.
Therefore, the prior art is subject to further improvement.
SUMMERY OF THE UTILITY MODEL
In view of the weak point among the above-mentioned prior art, the utility model aims to provide a climb stair robot overcomes among the prior art and climbs stair robot and crawl speed when the cat ladder slow or defect such as action complicacy.
the utility model provides a first embodiment is a stair climbing robot, wherein, include: the device comprises a machine body, a control mechanism and two groups of supporting mechanisms which are respectively arranged at the front end and the rear end of the machine body;
The body includes: the device comprises a rack, an optical axis, a chassis driving wheel arranged at the bottom of the rack and a lifting mechanism;
two sets of supporting mechanism all includes: the supporting bracket, the supporting driving wheel, the supporting driven wheel and the movable connecting piece are arranged on the frame;
The control mechanism includes: a plurality of motors for controlling the operation of the support drive wheels and the chassis drive wheels;
The two groups of supporting mechanisms are connected with the machine body through a moving pair consisting of an optical axis and a moving connecting piece;
The two groups of supporting mechanisms are driven by the supporting driving wheel, the supporting driven wheel and the lifting mechanism to do stair climbing motion relative to the machine body, or the supporting driving wheel and the chassis driving wheel are driven by the motor to do horizontal plane motion relative to the ground.
Optionally, the support mechanism includes: an upstairs sensor and a downstairs sensor;
the support bracket includes: the structure of the front supporting leg is that the front supporting leg and the rear supporting leg are connected with each other;
The front support leg is provided with the supporting driving wheel and the upstairs sensor; and the rear support leg is provided with a supporting driven wheel and a downstairs sensor.
Optionally, the lifting mechanism includes: two groups of conveying devices with symmetrical structures; the two groups of conveying devices are respectively connected with the two groups of supporting mechanisms;
the transmission device is a linear transmission device consisting of a synchronous wheel and a synchronous belt, a worm and gear transmission device consisting of a worm gear and a worm, or a gear and rack transmission device consisting of a gear and a rack.
optionally, the support mechanism includes: a front support mechanism and a rear support mechanism;
the front-back distance difference between the front supporting mechanism and the rear supporting mechanism is larger than one preset step width and smaller than two preset step widths; the height difference between the front support leg and the rear support leg is at least one preset step height.
Optionally, each support drive wheel and each chassis drive wheel are arranged to be controlled by a separate motor.
optionally, the movable connecting piece is a linear bearing or a rolling bearing.
Advantageous effect, the utility model provides a stair climbing robot is through two sets of supporting mechanism its drive that supports the drive wheel, support and do the stair climbing motion for the organism under driving wheel and elevating system's drive, perhaps support drive wheel and chassis drive wheel and be the horizontal plane motion for ground under the drive of motor. The utility model provides a but climb stair robot comprises a liftable supporting mechanism who has the difference in height around, lifting robot when supporting mechanism descends, by the robot of lifting carry out horizontal motion around under the drive of wheelset, two sets of elevating system bearing in turn, translation, can realize multistage step's continuous lifting or decline steadily, fast, high-efficiently, accomplish the function of stair about.
Drawings
Fig. 1 is a schematic structural view of a stair climbing robot provided by the present invention;
Fig. 2 is a left side view of the stair climbing robot provided by the present invention;
Fig. 3 is a schematic structural view of a front support mechanism in the stair climbing robot provided by the present invention;
fig. 4 is a schematic structural view of a rear support mechanism in the stair climbing robot provided by the present invention;
Fig. 5 is a schematic structural view of a machine body of the stair climbing robot provided by the present invention;
fig. 6 is a schematic layout view of a support mechanism and a machine body of the stair climbing robot provided by the present invention;
fig. 7 is a schematic state diagram of the stair climbing robot in the first step of the stair climbing step according to the present invention;
Fig. 8 is a schematic view of the stair climbing robot in the second stair climbing step according to the present invention;
fig. 9 is a schematic view of the stair climbing robot in the third step of the stair climbing step according to the present invention;
fig. 10 is a schematic view of the stair climbing robot in the fourth step of the stair climbing step according to the present invention;
Fig. 11 is a schematic view of the stair climbing robot in the fifth step of the stair climbing step according to the present invention;
Fig. 12 is a schematic view illustrating a sixth step of the stair climbing robot according to the present invention during the stair climbing step;
Fig. 13 is a schematic view of the stair climbing robot in the seventh step of climbing stairs according to the present invention;
fig. 14 is a schematic view of the stair climbing robot in the first step of the stair descending step according to the present invention;
Fig. 15 is a schematic view of the stair climbing robot in the second step of the stair descending step according to the present invention;
fig. 16 is a schematic view illustrating a state of the stair climbing robot at the third step in the stair descending step according to the present invention;
Fig. 17 is a schematic view of the stair climbing robot in the fourth step of the stair descending step according to the present invention;
Fig. 18 is a schematic view of the stair climbing robot in the fifth step of the stair descending step according to the present invention.
The numbering of the various components in the figures is as follows: 1. a frame; 2. a chassis drive wheel; 3. a power source; 4. a front support mechanism; 5. a rear support mechanism; 6. a synchronous belt transmission mechanism; 7. the front support driving wheel; 8. the rear support driving wheel; 9. a linear bearing moving pair 10 and a rear support driven wheel; 11. the front support driven wheel; 12. a front upstairs sensor; 13. a sensor for going upstairs; 14. a front downstairs sensor, 15 and a rear downstairs sensor. 16. A front leg (located in the front support mechanism); 17 rear legs; 18. a linear bearing; 19. a front leg (located on the rear support mechanism); 20. a rear leg; 21. a synchronizing beam (located at the front support mechanism); 22. a synchronization beam (located at the rear support mechanism); 23. a synchronous belt; 24. an optical axis; 25. and a synchronizing wheel.
Detailed Description
in order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The utility model provides a first embodiment is a stair climbing robot, as shown in fig. 1, include: the device comprises a machine body, a control mechanism and two groups of supporting mechanisms which are arranged at the front end and the rear end of the machine body and have height difference;
The body includes: the device comprises a frame 1, an optical axis 24, a chassis driving wheel 2 arranged at the bottom of the frame 1 and a lifting mechanism;
Two sets of supporting mechanism all includes: support bracket, support drive wheel, support follow driving wheel and removal connecting piece.
Specifically, the support mechanism includes: a front support mechanism 4 and a rear support mechanism 5; the front supporting mechanism and the rear supporting mechanism have the same structural characteristics.
The control mechanism includes: a plurality of motors for controlling the operation of the support and chassis drive wheels 2; it is conceivable that the motor is supplied with electrical energy by means of a power supply 3, which power supply 3 is preferably placed below the centre of the machine body.
The two groups of supporting mechanisms are connected with the machine body through a moving pair consisting of an optical axis and a moving connecting piece;
the two groups of supporting mechanisms are driven by the supporting driving wheel, the supporting driven wheel and the lifting mechanism to do stair climbing motion relative to the machine body, or the supporting driving wheel and the chassis driving wheel are driven by the motor to do horizontal plane motion relative to the ground.
In order to realize the movement of the supporting mechanism relative to the machine body under the control of the lifting mechanism and the driving wheel, the supporting mechanism is connected with the machine body through a movable connecting piece, and the connected elements form a movable pair, wherein the movable connecting piece is a linear bearing 18 or a rolling bearing.
Referring to fig. 1 and 2, the lifting mechanism is connected to two sets of support structures respectively for controlling the lifting and lowering of the support mechanisms, and the control mechanism is used for controlling the rotation of the support driving wheels and the chassis driving wheels, so that the whole stair climbing robot is driven by the driving wheels to run on a horizontal plane.
Specifically, when the function that climbs the stair robot and opens moves on the horizontal plane, the supporting mechanism that elevating system control is located the front end promotes the take-up altitude, and the rear support mechanism who is located the rear end then descends to its support drive wheel contact ground or horizontal plane, chassis drive wheel on the organism is also in contact ground or horizontal plane simultaneously, consequently four drive wheels (the support drive wheel of rear support mechanism and two chassis drive wheels that set up in the frame) are in the coplanar, the motor controls the moving direction and the translation rate of climbing stair robot through controlling four drive wheel pivoted speeds this moment.
Specifically, the structural schematic diagrams of the front support mechanism shown in fig. 3 and the rear support mechanism shown in fig. 4 are combined.
the support mechanism further includes: an upstairs sensor and a downstairs sensor; the support structure at the front end comprises an upstairs sensor named front upstairs sensor 12 and the support structure at the rear end comprises an upstairs sensor named rear upstairs sensor 13. Similarly, the support structure at the front end includes an upstairs sensor designated as a forward downstairs sensor 14 and the support structure at the rear end includes a rearward downstairs sensor designated as a rearward downstairs sensor 15.
The support bracket includes: two symmetrical groups of front legs 16 and rear legs 17, and a synchronization beam 21 connected between the two groups of legs;
The front support leg is provided with the supporting driving wheel and the upstairs sensor; and the rear support leg is provided with a supporting driven wheel and a downstairs sensor.
Specifically, in combination with the schematic view of the machine body structure shown in fig. 5, the lifting mechanism includes: two sets of symmetrical conveying devices 6; the two groups of conveying devices 6 are respectively connected with the two groups of supporting mechanisms;
specifically, the illustrated conveying device may be a linear conveying device or a rolling conveying device, and in a specific implementation, the conveying device may be a linear conveying device composed of a synchronous wheel 25 and a synchronous belt 23, a worm and gear conveying device composed of a worm and gear wheel, or a rack and pinion conveying device composed of a gear wheel and a rack.
it is conceivable that, in order to meet the requirement of climbing stairs, in conjunction with fig. 6, the height difference between the front supporting mechanism and the rear supporting mechanism is at least a preset step height; the distance between the front supporting mechanism and the rear supporting mechanism is larger than the width of one preset step and smaller than the width of two preset steps.
the front and rear support mechanisms are substantially the same in structural dimensions. The front and the back of the front and the back supporting mechanisms are provided with height differences which are just the height of the first step. The front and back span of the supporting mechanism is larger than the step width of one stage and smaller than the step width of two stages. The front supporting mechanism and the rear supporting mechanism are arranged in front and rear of the machine body, and the front-rear distance is slightly smaller than the width of the first-stage step; the distance between the rear support leg of the front support mechanism and the front support leg of the rear support mechanism is slightly smaller than the width of the first-stage step; when the body is raised, the lift height is slightly greater than the two-step height.
Preferably, each support driving wheel and each chassis driving wheel are independently controlled by a motor. The rotating speed of any one driving wheel can be conveniently adjusted according to the state of the stair climbing robot during climbing.
The following is a detailed description of the crawling process of the stair climbing robot provided by the present invention when going upstairs and downstairs.
as shown in fig. 7, when the stair climbing robot moves to the edge of the step, the front leg and the rear leg of the front supporting mechanism have a front-rear height difference, which is the height of the step, and a distance difference exists between the front supporting mechanism and the rear supporting mechanism, so that the front leg and the rear leg of the front supporting mechanism are supported on the ground at the first step and the rear supporting mechanism. At this time, the robot enters an automatic stair climbing mode through the control system. As shown in fig. 8, the front and rear supporting mechanisms are lowered, the body is lifted, and the lifting height is slightly greater than the second-stage step height. As shown in fig. 9, the front and rear support driving wheels start to move, and the driving robot moves forward.
as shown in fig. 10, when the front upstairs sensor on the front support mechanism detects the second step (if only one sensor on the left and right sides senses it, the rotation speed of the wheel on the other side is increased to correct it, when both the two front upstairs sensors on the two front legs can detect the step, it represents that the robot direction is right facing the stairs), the front support mechanism is lifted, the rear support driving wheel continues to drive, and the robot continues to move forward.
as shown in fig. 11, the front support mechanism descends when the second step is detected by the rear upstairs sensors mounted on both front legs of the rear support mechanism. The front and rear support driving wheels rotate, and the robot continues to move forward.
In the following movement, as shown in fig. 12, when the front support sensor detects a step, the front support device is lifted, when the rear upstairs sensor detects a step, the front support device is lowered (namely, the chassis and the rear support device are lifted), the process is circulated until the front support device climbs to the top end of the stair, and when the sensor detects that no step exists, the front support device, the rear support device and the rear support device are withdrawn in sequence to be stably dropped on the flat ground.
And (3) moving down stairs:
when going down stairs, the sensors on the rear legs of the front and rear supporting mechanisms are needed, namely a front downstairs sensor and a rear downstairs sensor.
As shown in fig. 13, when the front downstairs sensor cannot detect a step, the rear support mechanism descends to lift the robot body and the front support mechanism, and the rear support driving wheel drives the robot to move forward in the downstairs direction.
as shown in fig. 14, when the rear downstairs sensor does not detect a step, the front support mechanism descends, the front and rear support mechanisms support the machine body together, and the front and rear support drive wheels drive the robot to move forward continuously.
as shown in fig. 15, when the front downstairs sensor on the front support mechanism does not detect a step, the front support mechanism is lifted, and at this time, the rear support mechanism and the machine body are lowered by the height of one step. The rear support driving wheel drives the robot to move forward in the downstairs direction.
as shown in fig. 16, the rear movement, when the rear downstairs sensor does not detect a step, the front support mechanism descends; as shown in fig. 17 and 18, when the front downstairs sensor cannot detect a step, the front support mechanism is lifted, that is, the machine body is lowered by the height of one step; the operation is circulated until the machine body falls to the ground, and the rear supporting mechanism and the front supporting mechanism are lifted once to finally fall to the ground.
it can be imagined, the utility model provides a stair climbing robot can open three kinds of different motion modes, goes up the stair mode, mode and the horizontal motion mode of going downstairs, when the mode of starting to go upstairs, then by preceding supporting mechanism and the last sensor of going upstairs of installing of back supporting mechanism carry out the step and detect to by elevating system according to the step detect before the condition control supporting mechanism and back supporting mechanism do elevating movement for the organism, by the control mechanism control support drive wheel forward motion simultaneously. When the mode of going downstairs is started, the downstairs sensors arranged on the front supporting mechanism and the rear supporting mechanism carry out stepless detection, the lifting mechanism controls the front supporting mechanism and the rear supporting mechanism to move up and down relative to the machine body according to the step detection condition, and the control mechanism controls the supporting driving wheel to move backwards. When the horizontal movement mode is started, the front supporting mechanism is controlled to lift, and a motor of the control mechanism drives a chassis driving wheel on the machine body and a rear supporting driving wheel of the rear supporting mechanism to run on the horizontal plane.
The utility model provides a stair climbing robot does the stair climbing motion for the organism under its drive that supports the drive wheel, supports from driving wheel and elevating system's drive through two sets of supporting mechanism, perhaps support drive wheel and chassis drive wheel and be horizontal plane motion for ground under the drive of motor. The utility model provides a but climb stair robot comprises a liftable supporting mechanism who has the difference in height around, lifting robot when supporting mechanism descends, by the robot of lifting carry out horizontal motion around under the drive of wheelset, two sets of elevating system bearing in turn, translation, can realize multistage step's continuous lifting or decline steadily, fast, high-efficiently, accomplish the function of stair about.
it should be understood that equivalent alterations and modifications can be made by those skilled in the art according to the technical solution of the present invention and the inventive concept thereof, and all such alterations and modifications should fall within the scope of the appended claims.
Claims (6)
1. A stair climbing robot, comprising: the device comprises a machine body, a control mechanism and two groups of supporting mechanisms which are respectively arranged at the front end and the rear end of the machine body;
the body includes: the device comprises a rack, an optical axis, a chassis driving wheel arranged at the bottom of the rack and a lifting mechanism;
Two sets of supporting mechanism all includes: the supporting bracket, the supporting driving wheel, the supporting driven wheel and the movable connecting piece are arranged on the frame;
The control mechanism includes: a plurality of motors for controlling the operation of the support drive wheels and the chassis drive wheels;
The two groups of supporting mechanisms are connected with the machine body through a moving pair consisting of an optical axis and a moving connecting piece;
The two groups of supporting mechanisms are driven by the supporting driving wheel, the supporting driven wheel and the lifting mechanism to do stair climbing motion, or the supporting driving wheel and the chassis driving wheel are driven by the motor to do horizontal plane motion.
2. The stair climbing robot according to claim 1, wherein the support mechanism comprises: an upstairs sensor and a downstairs sensor;
the support bracket includes: the structure of the front supporting leg is that the front supporting leg and the rear supporting leg are connected with each other;
The front support leg is provided with the supporting driving wheel and the upstairs sensor; the rear support leg is provided with the supporting driven wheel and the downstairs sensor.
3. The stair climbing robot according to claim 2, wherein the lifting mechanism comprises: two groups of conveying devices with symmetrical structures; the two groups of conveying devices are respectively connected with the two groups of supporting mechanisms;
The transmission device is a linear transmission device consisting of a synchronous wheel and a synchronous belt, a worm and gear transmission device consisting of a worm gear and a worm, or a gear and rack transmission device consisting of a gear and a rack.
4. The stair climbing robot according to claim 2, wherein the support mechanism comprises: a front support mechanism and a rear support mechanism;
The front-back distance difference between the front supporting mechanism and the rear supporting mechanism is larger than one preset step width and smaller than two preset step widths; the height difference between the front support leg and the rear support leg is at least one preset step height.
5. A stair climbing robot as claimed in claim 1, wherein each support drive wheel and each chassis drive wheel is arranged to be controlled by a separate motor.
6. The stair climbing robot of claim 1, wherein the moving connection is a linear bearing or a rolling bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920253189.3U CN209757316U (en) | 2019-02-28 | 2019-02-28 | stair climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920253189.3U CN209757316U (en) | 2019-02-28 | 2019-02-28 | stair climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209757316U true CN209757316U (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920253189.3U Active CN209757316U (en) | 2019-02-28 | 2019-02-28 | stair climbing robot |
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| Country | Link |
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| CN (1) | CN209757316U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850029A (en) * | 2019-02-28 | 2019-06-07 | 深圳大学 | A kind of stair climbing robot and its stair climbing control method |
| CN110641538A (en) * | 2019-08-21 | 2020-01-03 | 西南石油大学 | Electric load stair climbing machine |
| CN111957477A (en) * | 2020-08-12 | 2020-11-20 | 青岛大学 | Playground stand coating device capable of automatically climbing |
-
2019
- 2019-02-28 CN CN201920253189.3U patent/CN209757316U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850029A (en) * | 2019-02-28 | 2019-06-07 | 深圳大学 | A kind of stair climbing robot and its stair climbing control method |
| CN109850029B (en) * | 2019-02-28 | 2024-04-02 | 深圳大学 | Stair climbing robot and stair climbing control method thereof |
| CN110641538A (en) * | 2019-08-21 | 2020-01-03 | 西南石油大学 | Electric load stair climbing machine |
| CN111957477A (en) * | 2020-08-12 | 2020-11-20 | 青岛大学 | Playground stand coating device capable of automatically climbing |
| CN111957477B (en) * | 2020-08-12 | 2021-05-18 | 青岛大学 | Playground stand coating device capable of automatically climbing |
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