CN215284983U - Width-variable stair-climbing transportation robot - Google Patents
Width-variable stair-climbing transportation robot Download PDFInfo
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- CN215284983U CN215284983U CN202121464262.5U CN202121464262U CN215284983U CN 215284983 U CN215284983 U CN 215284983U CN 202121464262 U CN202121464262 U CN 202121464262U CN 215284983 U CN215284983 U CN 215284983U
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Abstract
The utility model provides a stair climbing transportation robot with variable width, which comprises a frame and a stair climbing movable supporting mechanism; wherein, the frame includes: the vertical support frame comprises a left half frame and a right half frame which are oppositely arranged; the telescopic cargo placing bottom plate comprises a fixed plate and a movable plate, the fixed plate is fixed with the bottom end of the left half frame, and the movable plate is fixed with the bottom end of the right half frame; the electric push rod is arranged below the fixed plate, the output end of the electric push rod is horizontally arranged along the transverse direction of the frame and is connected to the movable plate, and the electric push rod drives the movable plate to expand or retract. The utility model provides a changeable stair climbing transport robot of width can stretch out and draw back according to different stair widths, can also realize purpose steady, high-efficient upstairs and downstairs, and the while is difficult for skidding, and security performance and high efficiency have obtained very big improvement.
Description
Technical Field
The utility model belongs to climb building machine people field, especially involve a changeable building transport robot that climbs of width.
Background
At present, the building climbing robots in China tend to be diversified, and the building climbing robots on the market are in star wheel type, crawler type, rocker arm type, hexapod type and the like, and have respective application scenes. Although these stair climbing robots all have certain advantages, many problems still exist in some aspects. For example, the star wheel type stair climbing robot climbs stairs through revolution of each small wheel of the wheels, but a dislocation and slipping phenomenon easily occurs in the climbing process, the safety needs to be improved, and the limitation is large; when the crawler-type robot leaves an upper step or travels to a lower step during climbing stairs, the center of gravity is deviated and the crawler-type robot inclines forwards and backwards, and the crawler-type robot cannot be used when the stairs are smooth or the inclination is too large.
And current stair climbing robot all is single size design, can not adapt to the stair of different width, if meet slaughter stair then unable use, has restricted its application range.
SUMMERY OF THE UTILITY MODEL
It is an object of the present invention to provide a stair climbing transportation robot with a variable width and to provide at least the advantages that will be explained later.
Another object of the utility model is to provide a changeable stair climbing transportation robot of width, can stretch out and draw back according to different stair widths, can also realize purpose steady, high-efficient upstairs and downstairs, and the while is difficult for skidding, and security performance and high efficiency have obtained very big improvement.
The technical scheme of the utility model as follows:
the variable-width stair climbing transportation robot comprises a frame and a stair climbing movable supporting mechanism;
wherein the content of the first and second substances,
the frame includes:
the vertical support frame comprises a left half frame and a right half frame which are oppositely arranged;
the telescopic cargo placing bottom plate comprises a fixed plate and a movable plate, the fixed plate is fixed with the bottom end of the left half frame, and the movable plate is fixed with the bottom end of the right half frame;
the electric push rod is arranged below the fixed plate, the output end of the electric push rod is horizontally arranged along the transverse direction of the frame and is connected to the movable plate, and the electric push rod drives the movable plate to expand or retract.
Preferably, in the stair climbing transportation robot with a variable width, the stair climbing movable support mechanism includes:
a first vertical direction driving mechanism provided on the vertical support frame;
a horizontal direction driving mechanism arranged at an output end of the first vertical direction driving mechanism;
the first movable supporting wheel set is connected with the output end of the horizontal driving mechanism, the first movable supporting wheel set moves up and down along the vertical supporting frame under the driving of the first vertical driving mechanism and moves horizontally along the front and back directions of the frame under the driving of the horizontal driving mechanism, the first movable supporting wheel set comprises a first front supporting wheel set positioned on the front side of the frame, a first back supporting wheel set positioned on the back side of the frame and an upper connecting cross beam connected between the first front supporting wheel set and the first back supporting wheel set, the first front supporting wheel set comprises a front supporting wheel linear driver, a first front supporting wheel driving motor and a first front supporting wheel, the output end of the front supporting wheel linear driver is vertically arranged downwards and drives the first front supporting wheel to move up and down in the vertical direction, the first front supporting wheel driving motor drives the first front supporting wheel to rotate so as to drive the whole first movable supporting wheel set to horizontally move;
the second vertical direction driving mechanism is arranged on the vertical supporting frame and is positioned at the rear side of the first vertical direction driving mechanism;
second movable support wheelset, it is located the rear side of first movable support wheelset just includes supporting wheelset, second back supporting wheelset and connection before the second supporting wheelset with L type tie-beam between the supporting wheelset behind the second, behind the second supporting wheelset with connect through the slider between the L type tie-beam support wheelset is connected to behind the second supporting wheelset is connected to the vertical direction actuating mechanism's of second output and along under the vertical direction actuating mechanism's of second drive vertical support frame reciprocates.
Preferably, in the stair climbing transportation robot with a variable width, the frame further includes:
an X-shaped connecting piece arranged between the left half frame and the right half frame;
and the two horizontal sliding rails are arranged up and down, and one end of each horizontal sliding rail is fixed with the left half frame and the other end of each horizontal sliding rail is fixed with the right half frame. Preferably, in the stair climbing transportation robot with the variable width,
the frame also comprises four Mecanum wheels and Mecanum wheel motors which are respectively connected with the Mecanum wheels;
two of the Mecanum wheels are positioned below the left half frame, and the other two Mecanum wheels are positioned below the right half frame.
Preferably, in the stair climbing transportation robot with the variable width, the second front support wheel set comprises a second front support wheel driving motor and a second front support wheel, and the second front support wheel driving motor drives the second front support wheel to rotate so as to drive the whole vehicle frame and the second movable support wheel set to move horizontally.
Preferably, in the stair climbing transportation robot with the variable width, the first vertical direction driving mechanism and the second vertical direction driving mechanism are synchronous belts.
Preferably, in the width-variable stair climbing transportation robot, the horizontal driving mechanism and the front support wheel linear driver are both a motor + coupling + screw guide rail mechanism.
The utility model discloses following beneficial effect has:
1. effectively solved when going upstairs the characteristics that the robot bumped the stationarity poor.
2. Not only can be efficiently transported on flat ground, but also can be efficiently transported on stairs
3. Can adjust in real time according to the stair width, compare in other climbing stair robots more nimble.
4. And a plurality of stepping motors with brakes are adopted for control. Effectively preventing the phenomenon of dislocation and slipping and improving the safety performance.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic structural view of an embodiment of the variable-width stair climbing transportation robot provided by the present invention
Fig. 2 is a schematic structural view of a frame of an embodiment of the variable-width stair climbing transportation robot provided by the present invention;
fig. 3 is a schematic partial structural view of a stair climbing movable supporting mechanism in an embodiment of the variable-width stair climbing robot provided by the present invention;
fig. 4 is a schematic partial structural view of a stair climbing movable supporting mechanism in an embodiment of the variable-width stair climbing robot provided by the present invention;
fig. 5 is a schematic view of a first working state of the stair climbing robot according to an embodiment of the present invention;
fig. 6 is a schematic view of a second working state of the stair climbing robot according to an embodiment of the present invention;
fig. 7 is a schematic view of a third working state of the stair climbing robot according to an embodiment of the present invention;
fig. 8 is a schematic view of a fourth working state of the stair climbing robot according to an embodiment of the present invention;
fig. 9 is a schematic view of a fifth working state of the stair climbing robot according to an embodiment of the present invention;
fig. 10 is a schematic view of a sixth working state of the stair climbing robot according to an embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings so that those skilled in the art can implement the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1 and fig. 2, the utility model provides a stair climbing transportation robot with variable width, which comprises a frame and a stair climbing movable supporting mechanism;
wherein the content of the first and second substances,
the frame includes:
the vertical support frame 101 comprises a left half frame 1011 and a right half frame 1012 which are oppositely arranged;
the retractable cargo placement base plate 102 comprises a fixed plate and a movable plate, the fixed plate is fixed to the bottom end of the left half frame 1011, and the movable plate is fixed to the bottom end of the right half frame 1012;
and the electric push rod 103 is arranged below the fixed plate, the output end of the electric push rod 103 is horizontally arranged along the transverse direction of the frame and is connected to the movable plate, and the electric push rod 103 drives the movable plate to expand or retract.
The utility model provides an in the changeable stair climbing transportation robot of width one embodiment, stair climbing activity supporting mechanism includes:
a first vertical direction driving mechanism 201 provided on the vertical support frame 101;
a horizontal direction driving mechanism 202 provided at an output end of the first vertical direction driving mechanism 201;
a first movable supporting wheel set 203 connected to an output end of the horizontal driving mechanism 201, wherein the first movable supporting wheel set 203 moves up and down along the vertical supporting frame 101 under the driving of the first vertical driving mechanism 201, and moves horizontally along a front-rear direction of the frame under the driving of the horizontal driving mechanism 202, as shown in fig. 3, the first movable supporting wheel set 203 includes a first front supporting wheel set located at a front side of the frame, a first rear supporting wheel set 2035 located at a rear side of the frame, and an upper connecting beam 2031 connecting between the first front supporting wheel set and the first rear supporting wheel set 2035, the first front supporting wheel set includes a front supporting wheel linear driver 2032, a first front supporting motor driving motor 2033, and a first front supporting wheel 2034, an output end of the front supporting wheel linear driver 2032 is vertically disposed downward and drives the first front supporting wheel 2034 to move up and down in a vertical direction, the first front supporting wheel driving motor 2033 drives the first front supporting wheel 2034 to rotate so as to drive the whole first movable supporting wheel set 203 to move horizontally;
a second vertical direction driving mechanism 204 provided on the vertical support frame 101 and located at the rear side of the first vertical direction driving mechanism 201;
second movable support wheel set 205, it is located the rear side of first movable support wheel set 203, and as shown in fig. 4, including second preceding support wheel set 2051, second back support wheel set 2052 and connect second preceding support wheel set 2051 with L type tie-beam 2053 between the second back support wheel set 2052, second back support wheel set 2052 with connect through the slider between the L type tie-beam 2053, second back support wheel set 2052 is connected to the output of second vertical direction actuating mechanism 204 and be in along under the drive of second vertical direction actuating mechanism 204 vertical support frame reciprocates.
The utility model provides a changeable stair climbing transport robot's of width embodiment, the frame still includes:
an X-shaped connector 104 disposed between the left half frame 1011 and the right half frame 1012;
two horizontal slide rails 105 are arranged up and down, and one end of each horizontal slide rail is fixed with the left half frame 1011 and the other end is fixed with the right half frame 1012.
In one embodiment of the variable-width stair climbing transportation robot provided by the utility model,
the frame further comprises four Mecanum wheels 106 and Mecanum wheel motors 107 respectively connected to the Mecanum wheels 106;
two of the mecanum wheels 106 are located below the left half frame 1011 and the other two mecanum wheels 106 are located below the right half frame 1012.
In an embodiment of the variable-width stair-climbing transportation robot, the second front supporting wheel set 2051 comprises a second front supporting wheel driving motor and a second front supporting wheel, the second front supporting wheel driving motor drives the second front supporting wheel rotates to drive the whole frame and the second movable supporting wheel set moves horizontally.
In an embodiment of the variable-width stair-climbing transportation robot, the first vertical direction driving mechanism 201 and the second vertical direction driving mechanism 204 are synchronous belts.
The utility model provides an embodiment of the changeable stair climbing transportation robot of width, horizontal direction actuating mechanism 202 with preceding supporting wheel linear actuator 2032 is motor + shaft coupling + lead screw guide rail mechanism.
The utility model provides a changeable building transport robot that climbs of width's flexible mechanism as follows:
the frame includes:
the vertical support frame comprises a left half frame and a right half frame which are oppositely arranged;
the telescopic cargo placing bottom plate comprises a fixed plate and a movable plate, the fixed plate is fixed with the bottom end of the left half frame, and the movable plate is fixed with the bottom end of the right half frame;
the electric push rod is arranged below the fixed plate, the output end of the electric push rod is horizontally arranged along the transverse direction of the frame and is connected to the movable plate, and the electric push rod drives the movable plate to expand or retract.
When the bicycle is stretched, the main control board controls the chassis motor to drive the Mecanum wheels, the two front wheels rotate forwards, the two rear wheels rotate backwards, the forward force is offset by the reverse drive of the front wheels and the rear wheels, and meanwhile, the electric push rod motor generates electricity to stretch the whole bicycle body.
The utility model provides a changeable stair climbing transport robot of width's mechanism of going upstairs and downstairs as follows:
suppose that the height of the stairs or stepped obstacles to be climbed is H and the surface width is S.
Before climbing stairs, the whole robot is driven to move on the flat ground by means of four Mecanum wheels, when a sensor arranged on a chassis senses that a stair or step-shaped obstacle exists in the range of 5-20 mm in front, the robot does not move any more, the sensor can be a laser sensor, an ultrasonic sensor or an infrared sensor, or other sensors capable of detecting the obstacle, and the sensors can be selected by a person skilled in the art as required, and are not described in detail herein.
As shown in fig. 5, at this time, under the driving of the two pairs of synchronous pulley sets, the whole of the first movable supporting pulley set and the rear supporting pulley of the second movable supporting pulley set move downward at the same time until the rear supporting pulley of the first movable supporting pulley set and the rear supporting pulley of the second movable supporting pulley set contact the ground. Then under the driving of the feed motion of the stepping motor fixed on the vertical rod of the first movable wheel set and the screw rod, the front supporting wheel of the first movable supporting wheel set moves longitudinally to contact with a first-step horizontal plane of a stair or a step-shaped obstacle, and at the moment, a first action group is completed.
As shown in fig. 6, the first movable supporting wheel set moves downward integrally relative to the frame under the driving of the first synchronous pulley set, and at the same time, the rear supporting wheel of the second movable supporting wheel set continues to move downward relative to the frame under the driving of the second synchronous pulley set, and the frame moves upward integrally to a height of 0.2H from the first-order horizontal plane of the stair or the stepped obstacle, and at this time, the second action set is completed.
As shown in fig. 7, the robot moves forward as a whole under the driving of the front power wheel of the first movable supporting wheel set. When the distance between the front power wheel of the first movable supporting wheel set and the vertical plane of the second stair or the step is 5-20 mm, the whole frame moves downwards, the front power wheel of the second movable supporting wheel set is in contact with the first stair or the step, and at the moment, the third action set is completed.
Next, as shown in fig. 8, the first movable supporting wheel set is integrally moved upward to a height of 0.2H from the horizontal plane of the second stair or step under the support of the second movable supporting wheel set. And then, under the drive of a front power wheel of the second movable supporting wheel set, the robot integrally moves forwards, and when the distance between the front power wheel of the second movable supporting wheel set and the vertical plane of the second stage step is 5-20 mm, the first movable wheel set integrally moves downwards until the front supporting wheel of the first movable supporting wheel set is contacted with the second stage mole ants or the plane of the step. At this point the fourth action group is completed.
As shown in fig. 9, under the support of the first movable supporting wheel set and the second movable supporting wheel set, the whole frame of the robot and the front power wheel of the second movable supporting wheel set move upward to a height of 0.2H from the horizontal plane of the third stair or step, and the robot stops moving forward when the whole robot moves forward to a position 5 to 20 mm from the vertical plane of the stair or step to the rear supporting wheel of the second movable supporting wheel set under the drive of the front power wheel of the first movable supporting wheel set. And then the whole robot frame and the front power wheel of the second movable support wheel set move downwards to be contacted with a horizontal plane of a third-stage stair or a step, and at the moment, a fifth action group is completed.
As shown in fig. 10, under the support of the whole first movable supporting wheel set and the front power wheel of the second movable supporting wheel set, the rear supporting wheel of the second movable supporting wheel set stops moving forward when moving upward to a distance of 0.2H from the horizontal plane of the first stair or step. Under the drive of the front power wheel of the second movable supporting wheel group, the robot integrally moves forwards until the distance between the front supporting wheel of the first movable supporting wheel group and the vertical plane of the third-pole stair or the step is 5-20 mm, and then stops moving forwards. And then the rear supporting wheel of the second movable supporting wheel set moves downwards to be in contact with the horizontal plane of the first-stage stair or step. At this point the sixth action group is complete.
At this time, the robot returns to the state of the third action group in the state of the stairs or steps, and the robot repeats three to six action groups to move in all the subsequent step. When no stairs or steps are arranged in front of the robot, the robot moves the first movable supporting wheel set and the second movable supporting wheel set in sequence, and when the robot is in a stable state on a plane, the first movable supporting wheel set and the second movable supporting wheel set are upwards retracted, so that the movement of the robot on the normal plane is not influenced. The process of going down stairs is exactly the reverse of the process of going up stairs, the motion principle is the same, and the process of going down stairs is not explained.
The utility model provides a changeable stair-climbing transportation robot of width, whole automobile body adopt the aluminum pipe to make for the material, make the automobile body have durable stable structure, can bear great external force. On the chassis, Mecanum wheels are adopted, so that the front, back, left and right travelling of the vehicle body can be ensured. In addition, the core mechanism of the robot mainly comprises an auxiliary frame, supporting legs, a core frame and a telescopic device.
While the embodiments of the invention have been described above, it is not intended to be limited to the details shown, or described, but rather to cover all modifications, which would come within the scope of the appended claims, and all changes which come within the meaning and range of equivalency of the art are therefore intended to be embraced therein.
Claims (7)
1. The variable-width stair climbing transportation robot is characterized by comprising a frame and a stair climbing movable supporting mechanism;
wherein the content of the first and second substances,
the frame includes:
the vertical support frame comprises a left half frame and a right half frame which are oppositely arranged;
the telescopic cargo placing bottom plate comprises a fixed plate and a movable plate, the fixed plate is fixed with the bottom end of the left half frame, and the movable plate is fixed with the bottom end of the right half frame;
the electric push rod is arranged below the fixed plate, the output end of the electric push rod is horizontally arranged along the transverse direction of the frame and is connected to the movable plate, and the electric push rod drives the movable plate to expand or retract.
2. The stair climbing transportation robot with the variable width according to claim 1, wherein the stair climbing movable support mechanism comprises:
a first vertical direction driving mechanism provided on the vertical support frame;
a horizontal direction driving mechanism arranged at an output end of the first vertical direction driving mechanism;
the first movable supporting wheel set is connected with the output end of the horizontal driving mechanism, the first movable supporting wheel set moves up and down along the vertical supporting frame under the driving of the first vertical driving mechanism and moves horizontally along the front and back directions of the frame under the driving of the horizontal driving mechanism, the first movable supporting wheel set comprises a first front supporting wheel set positioned on the front side of the frame, a first back supporting wheel set positioned on the back side of the frame and an upper connecting cross beam connected between the first front supporting wheel set and the first back supporting wheel set, the first front supporting wheel set comprises a front supporting wheel linear driver, a first front supporting wheel driving motor and a first front supporting wheel, the output end of the front supporting wheel linear driver is vertically arranged downwards and drives the first front supporting wheel to move up and down in the vertical direction, the first front supporting wheel driving motor drives the first front supporting wheel to rotate so as to drive the whole first movable wheel set to horizontally move;
the second vertical direction driving mechanism is arranged on the vertical supporting frame and is positioned at the rear side of the first vertical direction driving mechanism;
second movable support wheelset, it is located the rear side of first movable support wheelset just includes supporting wheelset, second back supporting wheelset and connection before the second supporting wheelset with L type tie-beam between the supporting wheelset behind the second, behind the second supporting wheelset with connect through the slider between the L type tie-beam support wheelset is connected to behind the second supporting wheelset is connected to the vertical direction actuating mechanism's of second output and along under the vertical direction actuating mechanism's of second drive vertical support frame reciprocates.
3. The variable-width stair climbing transportation robot according to claim 2, wherein the frame further comprises:
an X-shaped connecting piece arranged between the left half frame and the right half frame;
and the two horizontal sliding rails are arranged up and down, and one end of each horizontal sliding rail is fixed with the left half frame and the other end of each horizontal sliding rail is fixed with the right half frame.
4. The variable-width stair climbing transportation robot according to claim 3,
the frame also comprises four Mecanum wheels and Mecanum wheel motors which are respectively connected with the Mecanum wheels;
two of the Mecanum wheels are positioned below the left half frame, and the other two Mecanum wheels are positioned below the right half frame.
5. The stair climbing transportation robot with variable width according to claim 4, wherein the second front supporting wheel set comprises a second front supporting wheel driving motor and a second front supporting wheel, and the second front supporting wheel driving motor drives the second front supporting wheel to rotate so as to drive the whole vehicle frame and the second movable wheel set to move horizontally.
6. The stair climbing transportation robot with the variable width according to claim 5, wherein the first vertical driving mechanism and the second vertical driving mechanism are synchronous belts.
7. The stair climbing transportation robot with the variable width according to claim 6, wherein the horizontal driving mechanism and the front support wheel linear driver are both a motor + coupling + lead screw guide rail mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121464262.5U CN215284983U (en) | 2021-06-30 | 2021-06-30 | Width-variable stair-climbing transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121464262.5U CN215284983U (en) | 2021-06-30 | 2021-06-30 | Width-variable stair-climbing transportation robot |
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| Publication Number | Publication Date |
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| CN215284983U true CN215284983U (en) | 2021-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121464262.5U Active CN215284983U (en) | 2021-06-30 | 2021-06-30 | Width-variable stair-climbing transportation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115432081A (en) * | 2022-08-29 | 2022-12-06 | 南京福亿智能机器人科技有限公司 | Climb building frame and device of climbing building for device |
-
2021
- 2021-06-30 CN CN202121464262.5U patent/CN215284983U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115432081A (en) * | 2022-08-29 | 2022-12-06 | 南京福亿智能机器人科技有限公司 | Climb building frame and device of climbing building for device |
| CN115432081B (en) * | 2022-08-29 | 2024-01-16 | 南京福亿智能机器人科技有限公司 | Frame for stair climbing device and stair climbing device |
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