CN213565415U - Mobile robot upstairs and downstairs going mechanism based on all-directional steering function of wheat wheel - Google Patents

Abstract

The utility model discloses a mobile robot upstairs or downstairs mechanism based on wheat wheel all-round steering function, including cargo platform's level holding mechanism, control panel mounting box and wheat wheel are installed at wheat wheel outside support disc and the rotatory rotary mechanism of certain angle of center department ability, can be along with the anchor shape spare of rotary mechanism motion, still include the spring of connecting the anchor shape spare and the stop device of restriction anchor shape spare motion position. The anchor part retracts when the wheat wheel moves on the flat ground, and the robot mainly depends on the movement and the steering of the wheat wheel; when the robot moves to the vicinity of the stairs to go upstairs, the rotating mechanism rotates by a certain angle, the anchor piece is driven by the spring to move and extend out of the anchor piece, and the extending part can be buckled on the surface of the stairs along with the rotation of the wheat wheel, so that the whole wheel is driven to rotate upwards the stairs; when going downstairs, the rotating mechanism rotates reversely to drive the anchor-shaped piece to rotate and extend out, so that the stair can be buckled, and the downstairs process is completed. The utility model has simple design, low cost and wide application range.

Description

Mobile robot upstairs and downstairs going mechanism based on all-directional steering function of wheat wheel

Technical Field

The utility model relates to a mechanism upstairs and downstairs, it is exactly a mechanism upstairs and downstairs of mobile robot based on wheat wheel specifically to say so.

Background

With the rapid development of robot technology, various mobile robots are being developed and applied to different occasions to meet various demands. Reliable and stable upstairs and downstairs functions are key conditions for wide use of the robot. At present, the existing upstairs and downstairs going mechanisms at home and abroad are mainly divided into crawler belts, leg-foot type mechanisms, composite type mechanisms and wheel set type mechanisms, wherein the crawler belts are heavy in weight and inflexible in movement, cause huge pressure on the edge of a stair when going upstairs and downstairs, damage the stair to a certain extent, and are inconvenient to turn due to large resistance on flat ground; the leg-foot type adopts the bionics principle, the control difficulty is large, the action is slow, the weight is high, and no mature product exists in the market with the falling point of the leg-foot being deviated too much; the combined type is composed of two or more than two stair climbing mechanisms, wherein the research on the wheel-leg combined mechanism is wide, the leg-foot type of the structure is used as a support to pull forward and go upstairs and downstairs, the effect can be ensured only by perfectly matching the two mechanisms, but the upstairs and downstairs process is extremely unstable, and a long time is needed for finishing; most of the planetary wheel type stair climbing mechanisms studied at home and abroad are driven by the self-transmission of wheels when walking on flat ground, and when going upstairs and downstairs, the mechanism adopts a mechanical self-locking mode and revolves around a central shaft to realize the stair climbing action. The wheel set type stair climbing mechanism has the advantages of large fluctuation in the driving process, general stability, difficult steering and low wheel utilization rate. Therefore, the mechanism for going upstairs and downstairs based on the wheat wheel mobile robot is designed, and the efficient and stable stair climbing is the technical problem to be solved urgently in the field at present.

SUMMERY OF THE UTILITY MODEL

To mobile robot problem of going upstairs and downstairs, the utility model provides a low cost is based on going upstairs and downstairs mechanism of wheat wheel, this mechanism can steadily go downstairs on the ground, go upstairs and downstairs and turn to convenient nimble, and structural design is simple, with low costs, application scope extensively.

The utility model provides a its technical problem realize through following technical scheme:

a mobile robot upstairs and downstairs mechanism based on a wheat wheel omni-directional steering function comprises an object carrying platform, a wheat wheel arranged below the object carrying platform through an object carrying surface automatic balancing mechanism, a control mechanism for controlling the rotation of the wheat wheel, a support disc outside the wheat wheel and a rotating mechanism at the center of the support disc, wherein an anchor part capable of rotating along with the rotating mechanism is arranged on the support disc, and the mobile robot upstairs and downstairs mechanism also comprises a limiting device of the anchor part and a spring;

the wheat wheel is controlled to advance through the control mechanism, the support plate rotates, the anchor-shaped part extends or shortens along with the movement, and the robot goes upstairs or downstairs.

To above-mentioned technical scheme, the utility model discloses still further preferred scheme.

Preferably, a rotating motor is arranged at the center of the support disc at the outer side of the wheat wheel, a plurality of anchor parts are uniformly distributed on the upper surface of the support disc, the bottoms of the anchor parts are connected through springs, the middle parts of the anchor parts are hinged on the support disc, and connecting rods of the anchor parts are limited through a limiting device; the middle part of the anchor-shaped part connecting rod is provided with a safety key with a frame-shaped structure.

Preferably, the support plate is a circular plate which is smaller than the radius of the outer edge of the wheat wheel and is fixed on the outer side of the wheat wheel.

Preferably, the anchor-shaped parts are uniformly distributed on the support disc, the anchor rods point to the center of the support disc, and the anchor rods are provided with rotating shafts; the rocker arm of the anchor piece fixed on the support disc is flush with the outer circumferential surface of the support disc.

Preferably, the object carrying surface automatic balancing mechanism comprises a damping spring and an inclined strut which are arranged on the platform support, one end of the inclined strut is fixed on the lower support of the platform support, and the other end of the inclined strut is hinged on the upper support of the platform support.

Preferably, the wheat wheel is connected with the platform support through a wheat wheel motor, the platform support supports a lower-layer carrying platform through a pair of platform supporting legs, and an upper-layer carrying platform is supported above the platform through an electric cylinder.

Preferably, 4 electric cylinders for supporting the loading platform, and two electric cylinders at the front end are connected with the loading platform by adopting a universal fixing piece and a revolute pair; two electric cylinders at the rear end are connected with a track on the loading platform through bull-eye wheels.

Preferably, infrared sensors are respectively arranged on the edges of the multilayer loading platforms, and the length of the upper loading platform is greater than that of the lower loading platform; the loading platform is provided with a control mechanism and a horizontal detection sensor.

The utility model discloses mechanism upstairs and downstairs has following unique advantage based on wheat wheel mobile robot:

1) the wheat wheel moves in all directions, so that the design of a steering mechanism is reduced;

2) the objective table is automatically adjusted and can still be kept horizontal when going upstairs and downstairs;

3) when the radius of the wheat wheel and the height of the stairs meet the design requirements, the fluctuation in the process of going upstairs and downstairs can be greatly reduced;

4) the mechanical structure is simple, the adaptability is strong, and the operation is flexible.

The up-down stair mechanism of the mobile robot can be automatically adjusted along with the gradient of a stair, can keep a basically horizontal object stage at all times, and is installed on the outer side of the wheat wheel and can be fastened with the mechanical structure of the stair, so that the robot can stably go up and down stairs under the condition that the object stage is horizontal.

Based on the wheat wheel mechanism, the design of a steering system can be omitted, and free movement or steering in a small space can be realized; the mechanism is attached to the outer side of the wheat wheel and used for going upstairs and downstairs, the structure is simple, and the robot can move upstairs and downstairs; the objective table based on the electric cylinder can ensure that the objective table is always kept horizontal when the robot goes upstairs and downstairs.

The utility model discloses it is complicated to have solved present robot system architecture upstairs or downstairs ingeniously, and is bulky, a difficult problem with high costs, provides reliable practical scheme for mobile robot's popularization and application and reduce cost.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, do not constitute a limitation of the invention, and in which:

FIG. 1 is a front view of the structure of the present invention;

FIG. 2 is a side view of the structure of the present invention;

FIG. 3 is a schematic view of the main mechanism of the utility model for going upstairs and downstairs;

fig. 4 is a design parameter relationship diagram of the upstairs and downstairs mechanism of the utility model.

In the figure, 1, an anchor-shaped part, 2, limiting devices I, 3, a spring, 4, a safety key, 5, a rotating motor, 6, a shaft sleeve, 7, limiting devices II, 8, a support disc, 9, a wheat wheel motor, 10, a damping spring, 11, a wheat wheel, 12, a platform supporting leg, 13, infrared sensors I, 14, an electric cylinder, 15, infrared sensors II, 16, a universal fixing part, 17, a platform support, 18, a bull's eye wheel, 19, a control mechanism, 20, a carrying platform, 21, a revolute pair, 22, a horizontal detection sensor I, 23 and a horizontal detection sensor II.

Detailed Description

The invention will be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are used for explaining the invention, but not for limiting the invention.

As shown in fig. 1 and 2, the mechanism for moving a mobile robot up and down stairs based on the omni-directional steering function of the wheat wheels at least comprises two pairs of wheat wheels 11, the wheat wheels 11 are connected with a platform support 17 through a wheat wheel motor 9, the platform support 17 supports a lower layer carrying platform 20 through a pair of platform support legs 12, and an upper layer carrying platform 20 is supported above the platform through an electric cylinder 14.

In this embodiment, the 4 electric cylinders 14 supporting the loading platform, and the two electric cylinders 14 at the front end are connected to the loading platform 20 by using the universal fixing members 16 and the revolute pairs 21; the two electric cylinders 14 at the rear end are connected with a track on a loading platform 20 through bull-eye wheels 18; when the robot goes upstairs and downstairs, the electric cylinder 14 stretches, the bull's eye wheels 18 slide in the track, and the size change of the connecting part of the loading platform 20 generated by stretching of the electric cylinder 14 is adjusted. On multilayer cargo platform 20, be equipped with infrared sensor I13, infrared sensor II 15 on upper strata cargo platform and the lower floor cargo platform respectively, install control mechanism 19 and level detection sensor I22, II 23 on the lower floor cargo platform.

The horizontal holding mechanism of the loading platform and the control center panel mounting box are further included. The horizontal holding mechanism of the loading platform comprises a damping spring 10 and an inclined strut which are arranged on a platform support 17, one end of the inclined strut is fixed on a lower support of the platform support 17, and the other end of the inclined strut is hinged on an upper support of the platform support 17.

As shown in fig. 3 and 4, the main mechanism for moving the robot up and down stairs of the present invention comprises a wheat wheel 11, a support plate 8 installed outside the wheat wheel 11, and a rotating motor 5 capable of rotating a certain angle at the center thereof. The upper surface of the bracket disc 8 is provided with an anchor part 1 which can move along with the rotating mechanism, and the bracket disc further comprises a spring 3 connected with the anchor part 1 and a limiting device for limiting the moving position of the anchor part. The limiting device consists of two parts and limits the tangential rotation motion of the anchor part within a certain range.

And the device also comprises a spring 3 connected with the anchor piece and a limiting device 2 for limiting the moving position of the anchor piece. Wherein, anchor part 1 is T shape structure, and anchor part 1 connecting rod is through articulating on support disc 8, and connecting rod end connection spring 3, and it is spacing through stop device I2, II 7 between anchor part 1 rocking arm and the articulated portion, and wherein, the both ends arch of articulated portion connecting rod constitutes the stop gear who forms with a pair of stop device I2, II 7. The middle part of the connecting rod of the anchor-shaped part 1 is provided with a safety key 4 with a frame-shaped structure. The rocker arm of the anchor 1 fixed on the support disc 8 is flush with the outer circumferential surface of the support disc 8.

The support disc is a circular disc which is smaller than the outer edge radius of the wheat wheel and is fixed on the outer side of the wheat wheel, and is used for installing the rotating mechanism and the anchor piece. The design is that under the condition of meeting the strength requirement, a lighter material is selected and the thickness is as thin as possible, so that the overall weight is reduced.

The anchor-shaped parts are uniformly distributed on the support plate, the anchor rods point to the center of the support plate, the anchor rods are provided with rotating shafts, and the positions of the rotating shafts, the size of the anchor-shaped parts and the number of the anchor-shaped parts are determined by the size of the wheat wheel and the specification range of going upstairs and downstairs.

The positioning device is composed of two cylinders meeting certain rigidity requirements, the positions of the cylinders are arranged on two sides of the anchor rod, and the anchor rod is limited to move when the anchor rod rotates around the rotation center.

The spring is always in a stretched state, and the stretched length is different only when the spring is in different positions.

The rotating mechanism mainly comprises a motor fixed at the center of the support plate and a shaft sleeve arranged on the shaft of the motor, the outer side of the shaft sleeve is connected with the spring, and when the motor rotates for a certain angle, the spring is stretched to drive the anchor-shaped piece to rotate.

The robot upstairs and downstairs mechanism comprises four electric cylinders, 2 electric cylinders are respectively arranged in front of and behind the robot, when the robot upstairs, the electric cylinders connected behind the robot extend out of corresponding lengths according to the gradient of a stair, and the two electric cylinders in front of the robot are not moved, so that the objective platform is ensured to be horizontal; when the robot goes downstairs, the two electric cylinders are just opposite, and the front two electric cylinders extend out.

When the robot moves on the flat ground, the robot mainly moves and turns by virtue of a wheat wheel, the anchor part retracts, and the rocker arm of the anchor part 1 is flush with the outer circumferential surface of the support plate 8; when the robot moves to the vicinity of the stairs to go upstairs, the robot is driven by the rotating motor 5 to rotate for a certain angle, the rocker arm of the anchor part 1 forms a certain angle with the outer circumferential surface of the support disc 8, the extension spring 3 drives the anchor part 1 to move and extend out, and the extending part can be buckled on the surface of the stairs along with the rotation of the wheat wheel, so that the whole wheel is driven to rotate upwards; when going downstairs, the rotating mechanism rotates reversely to drive the anchor-shaped piece to rotate and extend out, so that the stair can be buckled, and the downstairs process is completed.

The utility model discloses when being applied to mobile robot, as shown in fig. 1 and fig. 2, the robot moves forward under wheat wheel 11 and wheat wheel motor 9 effect, infrared sensor I13 detects the barrier, reduce the translation rate, infrared sensor II 15 detects and increases in the high within range of stair with the road surface distance, return control mechanism 19 with the detected signal, judge that it has reached the condition of opening the rotary mechanism of going upstairs, control mechanism control rotating electrical machines 5 clockwise rotation certain angle, stretch spring 3 on the axle sleeve 6, drive anchor 1 and rotate to stop device I2, and have a part to stretch out wheat wheel 11 outer fringe, the contact of extension and lock stair tightly, anchor 1 rotates along the contact point and drives the robot main part along stair upward move, realize the action of going upstairs; the method comprises the following steps that an infrared sensor I13 detects that a road surface descends in the moving process of the robot, and the moving speed is reduced; the infrared sensor II 15 detects that the distance from the road surface is reduced in the range of the height of the stairs, a detection signal is transmitted back to the control mechanism 19, the condition that the rotating mechanism for going downstairs is opened is judged to be reached, the control mechanism controls the rotating motor 5 to rotate anticlockwise for a certain angle, the spring 3 on the shaft sleeve 6 is stretched, the anchor part 1 is driven to rotate to the limiting device 7, one part of the anchor part extends out of the outer edge of the wheat wheel 11, the extending part contacts and tightly buckles the stairs, and the anchor part 1 rotates along a contact point to drive the robot main body to move downwards along the stairs, so.

In the moving process of the robot, the height of a horizontal road suddenly descending is detected through the infrared detector under the bottom plate, when the robot works within the working range, a detection signal is transmitted to the control center, the control rotating mechanism reversely drives the anchor piece to extend out of the outer edge of the wheel, meanwhile, the speed is controlled in a moving mode, the extending part of the anchor piece at the edge of the stair is in contact with the upper surface of the stair, the anchor piece takes the contact point as the center of a circle and generates downward rotating motion under the driving of the motor and the reaction force of the surface of the stair, the robot is driven to move downward, and therefore the robot can go downstairs.

In order to accurately detect the working conditions when the robot goes up and down stairs, two infrared sensors are designed to detect the distance and the width of the traveling road surface, and because the gradient of the stairs is generally between 25 degrees and 45 degrees, the infrared ray of the infrared sensor 15 forms an angle of 56 degrees with the advancing direction of the robot, and the specific direction is shown in fig. 4.

The design structure of stair climbing mechanism includes:

11) the design of the bracket disc is designed according to the size and the installation mode of the wheat wheel, and the bracket disc can be arranged on the outer side of the wheat wheel and used as a carrier of the motor, the spring, the anchor-shaped part and the limiting device;

12) the structure and the material of the bracket plate reduce the weight as much as possible on the premise of meeting the requirements of rigidity and strength;

13) the angle β of forward or reverse rotation of the motor is determined primarily by the size of the anchor and the location of the center of rotation.

When the robot goes upstairs or downstairs, the object carrying surface can automatically keep balance, and when the robot goes upstairs or downstairs, a horizontal detector provides a signal, and the control mechanism controls the electric cylinder to extend or shorten to ensure that the object carrying surface always keeps a horizontal state.

When the rotating mechanism rotates, the anchor-shaped piece is driven to rotate through the spring and contacts the limiting device, the rotating motor stops rotating, the extending part of the anchor-shaped piece can buckle the stairs, and the wheat wheel motor drives the anchor-shaped piece to move upstairs.

The rotating mechanism is driven by a motor, and the rotating motor can rotate forwards and reversely, so that the anchor part is controlled to extend clockwise or anticlockwise, and the action of going upstairs or downstairs is realized; the rotating motor drives the anchor part to rotate forwards and backwards for a certain angle, so that the longest extension of the anchor part is realized.

In the moving process of the robot, when the infrared sensor detects a stair and reaches a certain distance, a detection signal is transmitted to the control mechanism, the control mechanism controls the rotating mechanism to drive the anchor part to extend out of the outer edge of the wheat wheel, the robot continues to move until the wheat wheel is contacted with the vertical surface of the stair, meanwhile, the extending part of the anchor part is contacted with the upper surface of the stair, the anchor part takes the contact point as the center of a circle, and generates upward rotating motion under the driving of a wheat wheel motor and the reaction force of the surface of the stair, so that the robot is driven to move upwards, and the robot is driven to move upstairs; in the moving process of the robot, the height of a horizontal road suddenly descending is detected through the infrared detector under the bottom plate, when the robot works within the working range, a detection signal is transmitted to the control mechanism, the control mechanism controls the anchor part to reversely drive the anchor part to extend out of the outer edge of the wheat wheel, the speed is controlled by moving, the extending part of the anchor part at the edge of the stair is in contact with the upper surface of the stair, the anchor part takes the contact point as the center of a circle, and downward rotary motion is generated under the driving of a wheat wheel motor and the reaction force of the surface of the stair, so that the robot is driven to move downwards, and the robot goes downstairs.

No matter in the process of going upstairs or downstairs, the loading platform is always kept horizontal under the combined action of the level detector, the electric cylinder and the control center.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.

Claims (8)

1. A mobile robot upstairs and downstairs mechanism based on a wheat wheel omni-directional steering function is characterized by comprising a carrying platform, a wheat wheel arranged below the carrying platform through an object carrying surface automatic balancing mechanism, a control mechanism for controlling the rotation of the wheat wheel, a support disc outside the wheat wheel and a rotating mechanism at the center of the support disc, wherein the support disc is provided with an anchor part capable of rotating along with the rotating mechanism, and the mobile robot upstairs and downstairs mechanism further comprises a limiting device of the anchor part and a spring;

the wheat wheel is controlled to advance through the control mechanism, the support plate rotates, the anchor-shaped part extends or shortens along with the movement, and the robot goes upstairs or downstairs.

2. The mechanism for moving a robot up and down stairs based on the omnidirectional steering function of the wheat wheels as claimed in claim 1, wherein a rotating motor is arranged at the center of a support disc at the outer side of the wheat wheels, a plurality of anchor pieces are uniformly distributed on the upper surface of the support disc, the bottoms of the anchor pieces are connected through springs, the middle parts of the anchor pieces are hinged on the support disc, and connecting rods of the anchor pieces are limited through a limiting device; the middle part of the anchor-shaped part connecting rod is provided with a safety key with a frame-shaped structure.

3. The mechanism as claimed in claim 2, wherein the support plate is a circular plate fixed to the outer side of the wheel and smaller than the outer radius of the wheel.

4. The mechanism of claim 2, wherein the anchor members are evenly distributed on the support plate, the anchor members point to the center of the support plate, and the anchor members are provided with rotating shafts; the rocker arm of the anchor piece fixed on the support disc is flush with the outer circumferential surface of the support disc.

5. The mechanism of claim 1, wherein the automatic balancing mechanism comprises a damping spring and an inclined strut, the damping spring is disposed on the platform support, one end of the inclined strut is fixed on the lower support of the platform support, and the other end of the inclined strut is hinged on the upper support of the platform support.

6. The mechanism of claim 5, wherein the wheel is connected to the platform support via a wheel motor, the platform support supports a lower stage platform via a pair of platform legs, and an upper stage platform is supported above the platform via an electric cylinder.

7. The mechanism of claim 6, wherein the 4 electric cylinders supporting the loading platform are connected with the loading platform by universal fixers and revolute pairs; two electric cylinders at the rear end are connected with a track on the loading platform through bull-eye wheels.

8. The mechanism of claim 1, wherein infrared sensors are respectively arranged on the edges of the multi-layer loading platform, and the length of the upper loading platform is greater than that of the lower loading platform; the loading platform is provided with a control mechanism and a horizontal detection sensor.

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