CN216266144U - Lifting mechanism and stair climbing robot - Google Patents

Abstract

The utility model provides a lifting mechanism and a stair climbing robot. Elevating system includes base and roof, base and roof are connected through at least a set of fork lifting unit, and every group cuts fork lifting unit and includes: groove rail: is arranged on the base and the top plate; still include first group's articulated rod, second group's articulated rod, third group's articulated rod, fourth group's articulated rod and well extension rod: connecting the connecting rod in the corresponding third group of hinged rods with the connecting rod in the fourth group of hinged rods; the wall of the middle connecting rod is provided with a long hole, the base faces the top plate, the long holes of the odd-numbered middle connecting rods are used for accommodating connecting shafts of the first group of hinged rods and the adjacent connecting rods of the second group of hinged rods, and the long holes of the even-numbered middle connecting rods are used for accommodating connecting shafts of the third group of hinged rods and the adjacent connecting rods of the fourth group of hinged rods. The lifting mechanism can be used for a stair climbing robot and has the characteristics of small volume and strong lifting capacity.

Description

Lifting mechanism and stair climbing robot

Technical Field

The utility model relates to a lifting mechanism and a stair climbing robot.

Background

Robots are used in many fields and can perform diverse tasks.

The robot is a robot specially used for searching survivors in the ruins of underground shopping malls after a major earthquake to perform rescue tasks and a stretcher robot used for transporting injured people after rescuing people. Walking on undulating ground is required, as well as sufficient support capacity.

In order to adapt to different rescue heights, the rescue robot needs to be provided with a lifting mechanism.

The existing rescue robot lifting mechanism is configured as follows: the common forms of the lifting mechanisms comprise a cross arm, a hydraulic pressure, an electric push rod, a lead screw and the like, and the lifting mechanisms have the following defects:

(1) the lifting capacity is limited: limited by the self structure of the lifting mechanism, small self size, short stroke and limited telescopic capacity, and is difficult to realize a large stroke lifting range.

(2) In order to meet the lifting requirement of a large stroke, the size of a power mechanism such as a hydraulic device, an electric push rod and a lead screw needs to be increased, which undoubtedly needs to increase the size of the robot.

(3) The bearing capacity is poor, and stability is difficult to guarantee, to the article of waiting to rescue of heavy weight, is difficult to guarantee to transport stability.

SUMMERY OF THE UTILITY MODEL

The present invention is to solve one of the above problems, and an object of the present invention is to provide a lifting mechanism and a stair climbing robot having stable performance and high driving and lifting capability.

In order to achieve the technical effects, the technical scheme adopted by the utility model is as follows:

the utility model provides a lifting mechanism, includes base and roof, base and roof are connected through at least a set of fork lifting unit, and every group cuts fork lifting unit and includes:

groove rail: is arranged on the base and the top plate;

a first set of hinge rods: the two connecting rods positioned at the end parts of the first group of hinged rods are respectively in shaft connection with the base and the top plate;

a second set of hinge rods: the two connecting rods positioned at the end parts of the second group of hinged rods are respectively in shaft connection with the base and the top plate; the second group of hinged rods and the first group of hinged rods are arranged at intervals along the first direction with the coupling positions of the base and the top plate, and the groove rails are arranged at intervals in the first direction with the coupling positions;

third set of articulated rods: the sliding block is positioned in the sliding rail;

fourth group hinge bar: the connecting rods are connected by a plurality of shafts, and the two connecting rods positioned at the end parts of the fourth group of hinged rods are both provided with sliding blocks which are positioned in the sliding rails; the joint of the fourth group of hinged rods and the upper rail groove of the base is positioned on one side close to the second group of hinged rods relative to the joint of the third group of hinged rods and the base sliding groove;

a middle connecting rod: connecting the connecting rod in the corresponding third group of hinged rods with the connecting rod in the fourth group of hinged rods; the wall of the middle connecting rod is provided with a long hole, the base faces the top plate, the long holes of the odd-numbered middle connecting rods are used for accommodating connecting shafts of the first group of hinged rods and the adjacent connecting rods of the second group of hinged rods, and the long holes of the even-numbered middle connecting rods are used for accommodating connecting shafts of the third group of hinged rods and the adjacent connecting rods of the fourth group of hinged rods.

In some embodiments of the utility model, the coupling positions of the second group of hinge rods and the first group of hinge rods with the base and the top plate are arranged at intervals along the second direction, and the groove rails are arranged in the intervals of the coupling positions in the second direction; the second direction is perpendicular to the first direction.

In some embodiments of the present invention, the grooved rail comprises a first section of grooved rail and a second section of grooved rail, each section of grooved rail comprises slider grooves, and the slider grooves of the two grooved rails face in opposite directions.

In some embodiments of the utility model, the long holes on the middle connecting rods are arranged in a segmented manner, the long holes on one side, close to the second group of hinge rods, of the odd number of middle connecting rods are used for accommodating connecting shafts of the first group of hinge rods, and the long holes on one side, close to the first group of hinge rods, of the odd number of middle connecting rods are used for accommodating connecting shafts of the third group of hinge rods; the long holes on one side, close to the second group of hinged rods, of the even number of middle connecting rods are used for accommodating connecting shafts of the fourth group of hinged rods, and the long holes on one side, close to the first group of hinged rods, of the even number of middle connecting rods are used for accommodating connecting shafts of the third group of hinged rods.

In some embodiments of the present invention, the scissors lifting assembly comprises two sets, which are arranged on the base at intervals.

In some embodiments of the present invention, the connecting rod assembly further comprises a plurality of connecting rod sets, each connecting rod set comprising two connecting rods; direction from base to top plate:

the odd groups of connecting rod groups are respectively connected with connecting shafts of adjacent shaft rods in a third group of hinged rods in the two groups of scissor lifting assemblies, and connecting shafts of adjacent shaft rods in a fourth group of hinged rods;

the even group of connecting rod groups are respectively connected with the connecting shafts of the adjacent shaft rods in the first group of hinged rods in the two groups of scissor lifting assemblies, and the connecting shafts of the adjacent shaft rods in the second group of hinged rods.

In some embodiments of the utility model, further comprising:

a jacking plate: two connecting rods in the first group of connecting rod groups from the base to the top plate are connected;

the lifting driving mechanism: the power output end is connected with the jacking plate.

In some embodiments of the present invention, the lifting driving mechanism is a reed jacking mechanism.

In some embodiments of the present invention, there is further provided a stair climbing robot, including a robot main body and the aforementioned lifting mechanism, wherein the robot main body is disposed on the top plate.

In some embodiments of the utility model, the underside of the base is provided with an articulated arm for mounting the lifting mechanism to the robot running gear.

Compared with the prior art, the lifting mechanism and the robot provided by the utility model have the beneficial effects that:

(1) the large-magnification stroke lifting device of the stair climbing stretcher robot is used for realizing the rapid lifting function of the robot, has the characteristics of small volume and strong lifting capability, does not need to increase the volume of the robot, and has a compact structure;

(2) each group of scissor lifting assemblies is provided with four groups of rods, so that sufficient supporting capacity can be ensured, and further, the supporting capacity can be improved by configuring a double-side scissor lifting assembly;

(3) the lifting height can be improved by configuring the number of the rods in the scissor lifting assembly, and the configuration is flexible.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a structural diagram of a fully lowered state of a lifting mechanism;

FIG. 2 is a schematic diagram of a part of the lifting mechanism in a lifting state;

FIG. 3 is a schematic structural view of the lifting mechanism in a completely green state;

FIG. 4 is a schematic view of a walking chassis structure;

FIG. 5 is a cross-sectional structural view of the walking chassis;

FIG. 6 is a schematic view of a hub construction;

FIG. 7 is a schematic view of a small wheel structure;

FIG. 8 is a schematic view of the locking structure;

FIG. 9 is a schematic view of a wheel structure constructed from a set of wheel structures;

FIG. 10 is a schematic view of a wheel structure constructed from two sets of wheel structures;

in the above drawings:

1-hub, 101-hub body, 102-shaft hole, 103-wheel support, 104-shaft groove and 105-wheel support through hole;

2-small wheel, 201-wheel body, 202-first side wheel shaft, 203-second side wheel shaft;

3-lock catch, 301-lock catch main body part, 302-lock catch through hole, 303-U-shaped wheel groove and 304-step structure.

4-a fixing piece;

5-a connecting shaft;

601-a first side main front wheel, 602-a first side main rear wheel, 6031-a first side main track support, 6032-track supporting wheels, 6033-a first side main track body, 604-a first side main middle wheel;

701-a second side main front wheel, 702-a second side main rear wheel, 7031-a first side main track support, 7032-a track support wheel, 7033-a first side main track, 704-a second side main middle wheel;

801-first drive mechanism, 802-second drive mechanism, 803-turbine drive assembly;

901-base, 902-base shield;

1001-first side auxiliary front wheel, 1002-first side auxiliary rear wheel, 1003-first side auxiliary track, 10031-first side mounting long hole, 1004-first side extension handle and 1005-first side universal wheel;

1101-a second side auxiliary front wheel, 1102-a second side auxiliary rear wheel, 1103-a second side auxiliary track, 11031-a second side mounting long hole, 1104-a second side extension handle and 1105-a second side universal wheel;

12-base, 1201-articulated arm;

13-a top plate;

1401-a first section of groove track, 1402-a second section of groove track;

15-a first set of articulated links;

16-a second set of articulated links;

17-a third set of articulated links;

18-a fourth set of articulated links;

19-middle connecting rod;

20-a jacking plate;

21-a connecting rod;

22-reed jacking mechanism.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

It will be understood that when an element is referred to as being "disposed on," "connected to," another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "upper", "lower", "bottom", and the like, as used herein, are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present invention and simplicity of description, and do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and are not to be considered limiting.

The first embodiment of the present invention provides a lifting mechanism, which has a structure shown in fig. 1 to 3, and includes a base 12 and a top plate 13, wherein the base 12 and the top plate 13 are connected via at least one set of scissor lifting assemblies, and in a use state, the position of the base 12 is relatively fixed, and the extension and retraction of the scissor lifting assemblies can control and adjust the distance between the base 12 and the top plate 13.

Every group cuts fork lifting unit includes: grooved rails and four sets of articulated rods.

Groove rail: are respectively arranged on the base 12 and the top plate 13; in this embodiment, the grooved rail is a segmented structure, the base 12 includes two grooved rails, which are respectively a first grooved rail 1401 and a second grooved rail 1402, the two grooved rails can be butted or arranged at intervals, the directions of the notches of the slider grooves of the two grooved rails face to the side, and the directions of the notches of the slider grooves of the two grooved rails face to the opposite directions; the top plate 13 also has correspondingly arranged groove tracks, which are not visible in the figure;

first set of hinge rods 15: the telescopic connecting rod chain mechanism comprises a plurality of connecting rods in shaft connection, a connecting rod chain is formed between every two connecting rods, two adjacent connecting rods can rotate mutually, and the first group of hinged rods 15 stretch out and draw back in the rotating process; two connecting rods positioned at the end parts of the first group of hinged rods 15 are respectively and axially connected with the base 12 and the top plate 13 and can rotate relative to the base 12 and the top plate 13;

second set of hinge rods 16: the two connecting rods positioned at the end parts of the second group of hinged rods 16 are respectively in shaft connection with the base and the top plate and can rotate relative to the base 12 and the top plate 13; the second group of hinged rods 15 and the first group of hinged rods 15 are arranged at intervals along the first direction with the axial connection positions of the base 12 and the top plate 13, adjacent connecting rods can rotate along the direction parallel to the first direction, and the grooved rails are arranged in the intervals of the first direction of the axial connection positions;

third group hinge lever 17: the connecting rods are connected by a plurality of shafts, two connecting rods positioned at the end parts of the third group of hinged rods 17 are both provided with sliding blocks, and the sliding blocks are positioned in the sliding rails; specifically, the first grooved rail 1401 is positioned at one side close to the first group of hinged rods 15, the second grooved rail 1402 is positioned close to the second group of hinged rods 16, and the third group of hinged rods 17 are installed with the first grooved rail 1401 in a matching way;

fourth group hinge lever 18: the connecting rods are connected by a plurality of shafts, two connecting rods positioned at the end parts of the fourth group of hinged rods 18 are both provided with sliding blocks, and the sliding blocks are positioned in the sliding rails; the fourth group of hinged rods 18 is matched with the second grooved rail 1402, and the joint of the fourth group of hinged rods 18 and the sliding groove on the base 12 is positioned on one side close to the second group of hinged rods 16 relative to the joint of the third group of hinged rods 17 and the sliding groove of the base;

the middle connecting rod 19: the connecting rods in the third group of hinged rods 17 and the connecting rods in the fourth group of hinged rods 18 are connected correspondingly, and here, the correspondence refers to that: one end of the middle connecting rod 19 is connected with the shaft connecting position of the first connecting rod and the second connecting rod in the third group of hinged rods 17, and the other end of the middle connecting rod is connected with the shaft connecting position of the first connecting rod and the second connecting rod in the fourth group of hinged rods 18;

the rod walls of the middle extension rods 19 are provided with long holes 1901, and the long holes 1901 of the odd-numbered middle extension rods 19 are used for accommodating connecting shafts of adjacent connecting rods of the first group of hinge rods 15 and the second group of hinge rods 16 from the base 12 to the top plate 13, and the long holes 1901 of the even-numbered middle extension rods 19 are used for accommodating connecting shafts of adjacent connecting rods of the third group of hinge rods 17 and the fourth group of hinge rods 18. At the corresponding coupling position, the coupling shaft between the two links is lengthened, so that the extension is disposed in the corresponding long hole 1901.

The first set of hinge rods 15 and the second set of hinge rods 16 are fixed relatively to the base 12 and the top plate 13; different from the two groups of hinge rods, the two ends of the third group of hinge rods 17 and the fourth group of hinge rods 18 are movable ends. The purpose of the long hole 1901 on the middle connecting rod 19 is to limit the movement of the third and fourth groups of hinged rods 17 and 18, so as to ensure that the lifting mechanism can lift in the vertical direction.

In some embodiments of the present invention, the coupling positions of the second set of hinge rods 16 and the base 12 and the top plate 13 and the coupling positions of the first set of hinge rods 15 and the base 12 and the top plate 13 are both spaced in the second direction, and the groove rails are disposed in the second direction of the coupling positions; the second direction is perpendicular to the first direction. The structure can enhance the compactness of the whole structure and avoid the motion interference among the groups of shaft rods.

In some embodiments of the present invention, the long holes 1901 on the middle extension rods are arranged in segments, the long holes on the side of the odd number of middle extension rods close to the second group of hinge rods 16 are used for accommodating the connecting shafts of the first group of hinge rods 15, and the long holes on the side close to the first group of hinge rods 15 are used for accommodating the connecting shafts of the third group of hinge rods 17; the long holes on the side of the even number of middle extension bars close to the second set of hinge bars 16 are used for accommodating the connecting shafts of the fourth set of hinge bars 18, and the long holes on the side close to the first set of hinge bars 15 are used for accommodating the connecting shafts of the third set of hinge bars 17. The long hole 1901 has a segmented structure, so that the motion interference between adjacent motion rods can be further avoided.

In some embodiments of the present invention, in order to further improve the structural stability of the lifting mechanism, the scissors lifting assembly includes two sets, which are spaced apart from each other on the base 12. Specifically, the rod sets of the two sets of lifting assemblies are arranged on the base 12 in parallel. The two groups of mechanisms adopt symmetrical structures.

In some embodiments of the present invention, the connecting rod assembly further comprises a plurality of connecting rod sets, each connecting rod set comprises two connecting rods 21; direction from base 12 to top plate 13:

the odd groups of connecting rod groups are respectively connected with connecting shafts of adjacent shaft rods in a third group of hinged rods 17 in the two groups of scissor lifting assemblies, and connecting shafts of adjacent shaft rods in a fourth group of hinged rods 18;

the even groups of connecting rod groups are respectively connected with connecting shafts of adjacent shaft rods in the first group of hinged rods 15 and connecting shafts of adjacent shaft rods in the second group of hinged rods 16 in the two groups of scissor lifting assemblies.

The connecting rod group is used for connecting the two groups of scissor lifting assemblies, so that the two groups of lifting assemblies move synchronously, and stable lifting action is ensured.

In some embodiments of the utility model, further comprising:

jacking plate 20: two connecting rods 21 in a first group of connecting rod groups from the base 12 to the top plate 13;

the lifting driving mechanism: the power output end is connected with a jacking plate 20, and in the embodiment, the lifting driving mechanism is a reed jacking mechanism 22. The reed jacking mechanism 22 is arranged on the bottom plate 12, and the telescopic reeds 22 are connected with the jacking plate 20.

The jacking plate 20 is shaped like a Chinese character 'ji', and can cover the reed jacking mechanism 22, so that a certain protection effect is provided.

The second embodiment of the present invention further provides a stair climbing robot, which is a robot capable of climbing on a climbing road in a broad sense, and may be a stair or a steep slope.

The stair climbing robot includes a robot main body and the lifting mechanism provided in the foregoing first embodiment.

For the assembly of the chassis and the walking, the base 12 side is provided with an articulated arm 1201 for mounting the lifting mechanism to the robot walking mechanism.

The walking chassis can be realized by the following structures comprising:

a first side main travel mechanism;

the second side main walking mechanism: the first side main walking mechanism is arranged at intervals;

connecting the shaft: connecting the first side main traveling mechanism and the second side main traveling mechanism; the first side main travelling mechanism and the second side main travelling mechanism can travel synchronously;

the first side auxiliary walking mechanism: the connecting shaft 5 is in shaft connection with the main travelling mechanism at the side close to the first side;

the second side auxiliary walking mechanism: and the connecting shaft 5 is in shaft connection with the main travelling mechanism at the side close to the second side.

The first side auxiliary travelling mechanism and the second side auxiliary travelling mechanism are positioned in front of the travelling direction. And in the process that the first side main walking mechanism and the second side main walking mechanism move forwards, the first side auxiliary walking mechanism and the second side auxiliary walking mechanism walk forwards synchronously. Meanwhile, the first side auxiliary walking mechanism and the second side auxiliary walking mechanism can rotate around the connecting shaft 5, when the walking chassis walks to a climbing road section, the first side auxiliary walking mechanism and the second side auxiliary walking mechanism rotate around the connecting shaft 5, and then the walking chassis finishes climbing walking.

In some embodiments of the present invention, a structure for implementing the first side main traveling mechanism and the second side main traveling mechanism is further provided.

The first side main traveling mechanism includes: a first side main front wheel 601 and a first side main rear wheel 602 which are arranged at intervals, and a first side main crawler belt is arranged around the first side main front wheel 601 and the first side main rear wheel 602;

the second side main travel mechanism includes: a second side main front wheel 701 and a second side main rear wheel 702 which are arranged at intervals, and a second side main crawler belt is arranged around the second side main front wheel 701 and the second side main rear wheel 702;

the first side main front wheel 601 and the second side main front wheel 701 are connected through a connecting shaft 5, the first side main rear wheel 602 is connected with the second side main rear wheel 702, the first side main rear wheel 602 is connected with a first driving mechanism 801, the second side main rear wheel 702 is connected with a second driving mechanism 802, and the two main rear wheels are used as driving wheels and are driven to rotate respectively. The driving wheels on the two sides can be respectively and independently driven, and the functions of integral movement differential steering and pivot steering of the chassis base are realized.

Furthermore, the connecting shaft 5 is also a driven rotating structure, a worm is adopted, and the walking chassis further comprises a turbine driving assembly 803 which is matched with the worm to drive the worm to rotate.

Further, a belt or a crawler may be provided around the first side main front wheel 601 and the first side main rear wheel 602, and in this embodiment, the crawler is used in consideration of the need of the traveling chassis to travel on the ground such as stairs.

Further, in some embodiments of the present invention, the first side main traveling mechanism further includes: a first side main middle wheel 604, wherein the first side main middle wheel 604 is positioned above the middle part of the first side main front wheel 601 and the first side main rear wheel 602, and a first side main crawler belt is arranged around the first side main front wheel 601, the first side main middle wheel 604 and the first side main rear wheel 602;

the corresponding second side main traveling mechanism further includes: a second side main middle wheel 704, the second side main middle wheel 704 being located above the middle of the second side main front wheel 701 and the second side main rear wheel 702, and a second side main track being provided around the second side main front wheel 701, the second side main middle wheel 704, and the second side main rear wheel 702.

In some embodiments of the present invention, there is further provided a track and primary travel mechanism engagement structure. The first side main track comprises a first side main track support 6031, track supporting wheels 6032 arranged on the first side main track support 6031 at intervals, and a first side main track body 6033 arranged around the first side main front wheel 601, the first side main middle wheel 604, the first side main rear wheel 602 and the track supporting wheels 6032; the first side main front wheel 601 and the first side main rear wheel 602 are coupled to a first side track shoe support 6031, and the first side track support wheels 6032 are arranged between the first side main front wheel 601 and the first side main rear wheel 602.

Correspondingly, the second side main track comprises a second side main track support 7031, track supporting wheels 7032 arranged on the second side main track support 7031 at intervals, and a second side main track body 7033 arranged around the second side main front wheel 701, the second side main middle wheel 704, the second side main rear wheel 702 and the track supporting wheels 7032; wherein, the second side main front wheel 701 and the second side main rear wheel 702 are coupled with the second side track shoe bracket 7031, and the second side track supporting wheel 7032 is arranged between the second side main front wheel 701 and the second side main rear wheel 702.

The walking chassis further comprises a chassis base 901 and a chassis shield 902, the chassis base 901 is connected with a first side crawler support 6031 and a second side crawler support 7031, the connecting shaft 5, the worm and gear drive assembly 802, the drive mechanism 801 and the like are all arranged on the chassis base 901, and the drive mechanism 801 is connected with a first side main rear wheel and a second side main rear wheel; the chassis cover 902 protects the chassis base 901 and the drive mechanism 801.

The articulated arm 1201 is connected to the finger board base 901 to enable the installation of the lifting mechanism and the walking chassis.

The whole body of the chassis base 901 and the chassis shield 902 is formed by machining hard aluminum alloy.

In some embodiments of the present invention, an implementation structure of the auxiliary walking mechanism is further provided.

The first side auxiliary walking mechanism comprises: a first side auxiliary front wheel 1001 and a first side auxiliary rear wheel 1002 which are arranged at intervals, and a first side auxiliary crawler 1003 which is arranged around the first side auxiliary front wheel 1001 and the first side auxiliary rear wheel 1002;

the second side auxiliary walking mechanism comprises: a second side auxiliary front wheel 1101 and a second side auxiliary rear wheel 1102 arranged at an interval, and a second side auxiliary crawler 1103 arranged around the second side auxiliary front wheel 1101 and the second side auxiliary rear wheel 1102;

the first side auxiliary rear wheel 1002 is coupled with the connecting shaft 5; the second side auxiliary rear wheel 1102 is journaled to the connecting shaft 5.

In the structure, the main track and the auxiliary track are both formed by casting special hard rubber, the outer side of the track is provided with special cross grains to increase the stair climbing capacity, and the inner side of the track is meshed with the driving wheel and the driven wheel by independently designing tooth shapes.

Further, in some embodiments of the utility model: a first side auxiliary front wheel 1001 and a first side auxiliary rear wheel 1002 are aligned in the extending direction of the first side main front wheel 601 and the first side main rear wheel 602; the second side auxiliary front wheel 1101 and the second side auxiliary rear wheel 1102 are aligned in the extending direction of the second side main front wheel 701 and the second side main rear wheel 702; the first side auxiliary rear wheel 1002 is coupled to the link shaft 5, and the second side auxiliary rear wheel 1102 is coupled to the link shaft 5.

In some embodiments of the utility model: the first side auxiliary crawler comprises a first side auxiliary crawler support 1003 and a first side auxiliary crawler body 1004, a first side auxiliary front wheel 1001 and a first side auxiliary rear wheel 1002 are in shaft connection with the first side auxiliary crawler support 1003, and the first side auxiliary crawler body 1004 is arranged around the first side auxiliary front wheel 1001 and the first side auxiliary rear wheel 1002;

accordingly, the second side-secondary track includes a second side-secondary track frame 1103 and a second side-secondary track body 1104, the second side-secondary front wheel 1101 and the second side-secondary rear wheel 1102 are coupled to the second side-secondary track frame 1103, and the second side-secondary track body 1104 is disposed around the second side-secondary front wheel 1101 and the second side-secondary rear wheel 1102.

The first side auxiliary walking mechanism comprises: a first side extension bar 1004 and a first side universal wheel 1005 mounted on the first side extension bar 1004, wherein the first side extension bar 1004 is connected with the first side auxiliary crawler frame 1003 and extends to the front of the first side main front wheel 601;

the second side auxiliary walking mechanism comprises: a second side extension handle 1104 and a second side universal wheel 1105 mounted on the second side extension handle 1104, wherein the second side extension handle 1104 is connected to the second side sub crawler frame 1103 and extends forward of the second side main front wheel 701.

Because the universal wheels are arranged, the direction moving property of the walking chassis is more flexible, the small turning radius steering or pivot steering of the chassis base when the auxiliary track and the main track form an included angle can be realized, and the walking chassis base can meet the full adaptation of multiple terrains.

The length of the first side auxiliary travelling mechanism and the length of the second side auxiliary travelling mechanism are increased by the design of the extension handle, so that the first side auxiliary travelling mechanism and the second side auxiliary travelling mechanism form a luffing mechanism relative to the main travelling mechanism. The walking chassis is more suitable for climbing of large-amplitude stairs, and the walking stability of the walking mechanism is enhanced. In this embodiment, the wheel base of both sides main track is 450mm, and the wheel base of assisting the track is 240mm, and total track effective length is 690mm when main track and assisting the track keep the coplanar, can stride across tertiary step span completely, keeps the even running that the chassis base climbed the building.

Furthermore, a structure for assisting the walking mechanism to adjust the walking length is provided. Specifically, in some embodiments of the present invention:

a first side mounting long hole 10031 is formed in the first side crawler frame 1003 in the extending direction of the first side crawler frame 1003, and the first side extension handle 1004 is mounted to the first side mounting long hole 10031 through a fixing member;

a second side mounting elongated hole 11031 is provided along the extending direction of the second side track frame 1103, and the second side extension handle 1104 is mounted to the second side mounting elongated hole 11031 via a fixing member.

The mounting position of the first side extension handle 1004 relative to the first side crawler frame 1003 can be adjusted, and the position is fixed through the fixing piece after the adjustment; similarly, the second side extension handle 1104 is adjustable relative to the first side track frame 1003 and is fixed in position by the fixing member after being adjusted. Based on the structure, the overall length of the first side auxiliary walking mechanism and the second side auxiliary walking mechanism is adjustable.

A signal receiver can be arranged on the walking chassis and can be in wireless communication with the handheld controller. When the signal receiver receives the control signal, the worm and the worm of the worm wheel are adjusted to rotate, so that the first side auxiliary walking mechanism and the second side auxiliary walking mechanism rotate relative to the worm, and the ground surface walks or climbs a stair.

The second embodiment of the present invention further provides a walking robot based on the aforementioned walking chassis. The walking robot comprises a robot main body and the walking chassis, wherein the robot main body is arranged on the walking chassis.

The third embodiment of the present invention further provides a wheel which can be installed as a universal wheel on the first side extension handle 1004 and the second side extension handle 1104 and has the characteristics of small volume and strong bearing capacity.

The single wheel comprises at least one set of wheel structures, and the wheel structures comprise a hub 1, a small wheel 2 and a lock catch 3.

Hub 1: the hub comprises a hub main body 101, wherein the hub main body 101 is circular, and a shaft hole 102 is formed in the center of the hub main body; toothed wheel supports 103 are arranged along the outer peripheral wall of the hub main body 101 at intervals, and shaft grooves 104 are formed in the end parts of the wheel supports 103, which extend along the radial direction of the hub main body 101; each of the wheel holders 103 has the same size and is arranged on the hub main body 101 at an equal angular interval.

A small wheel 2: comprises a wheel body 201, a first side wheel shaft 202 and a second side wheel shaft 203 which are arranged along the two axial sides of the wheel body; the first side wheel shaft 202 and the second side wheel shaft 203 are respectively arranged in the shaft grooves 104 of two adjacent wheel holders; the axle groove 104 is a semicircular groove, the first side wheel axle 202 and the second side wheel axle 203 are positioned in the wheel groove 104 and can rotate freely, and meanwhile, the wheel groove 104 can bear the load of the small wheel 2, so that the bearing capacity of the wheel is improved.

And (3) locking and buckling: the lock catch main body part 301 forms a U-shaped wheel groove structure and can be installed at each wheel hub in a matched mode, the U-shaped wheel groove 303 is clamped at the position of the shaft groove 104, the lock catch main body part 301 is connected with the wheel support 103, the lock catch main body part is matched with the wheel support 103 to limit the wheel shaft on the corresponding side, and the wheel shaft cannot be stopped from rotating in a space limited by the lock catch main body part and the wheel support 103.

In order to solve the problem of installation between the lock catch 3 and the wheel holder 103, in some embodiments of the present invention, the wheel holder 103 is provided with a wheel holder through hole 105 penetrating through the thickness direction thereof, and the wheel holder through hole 105 is located below the wheel groove 104, i.e., the through hole 105 is located on a side closer to the center of the wheel hub relative to the wheel groove 104; the two side walls of the U-shaped wheel groove 303 of the lock catch are provided with lock catch through holes 302, when the lock catch 3 is installed at the wheel hub 1, the lock catch through holes 302 are opposite to the wheel support through holes 105, and the fixing piece 4 penetrates through the lock catch through holes 301 and the wheel support through holes 105 to fix the lock catch 3 and the wheel hub 1.

As a more preferable embodiment, in some embodiments of the present invention, after the lock catch 3 is mounted to the wheel holder 103, the inner walls of the two sides of the U-shaped wheel groove 303 of the lock catch are attached to the two sides of the wheel holder 103, and this structure can ensure the stability of the mounting of the small wheel 2 and avoid the shaking after the mounting.

In order to further improve the fixing effect of the lock catch 3 on the small wheel 2, in some embodiments of the present invention, the radial depth of the inner wall of the lock catch U-shaped wheel groove 303 near the groove bottom is greater than the radial depths of the two side walls, and the two side walls opposite to the groove bottom form a stepped structure 304 to form a stepped groove. The stepped structure has a limiting effect on the wheel shaft, and the wheel shaft is prevented from sliding in the lock catch 3 in a transition mode and falling off.

In some embodiments of the present invention, 12 wheel holders 103 are uniformly arranged along the outer peripheral wall of the hub, and the arrangement gap between every two adjacent wheel holders 103 is a central angle of 30 °.

In order to further improve the bearing capacity of the wheel, the utility model comprises two groups of wheel structures, and the wheel hubs of the two groups of wheel structures are fixedly arranged on the same wheel shaft. The bearing capacity of the whole wheel can be improved by the structural cooperation of the multiple groups of wheels, and the wheel is suitable for products with large volume and heavy weight.

In some embodiments of the present invention, the wheel holders of the two wheel structures are arranged in a staggered manner, and taking the structure in which the wheel holders 103 on a single wheel hub are arranged at a central angle of 30 ° as an example, the wheel holders of the two wheel structures are arranged in a staggered manner by 15 °. Can guarantee like this that every two arbitrary wheels of group wheel structure hold in the palm the clearance between 103 all to set up the wheel of another group wheel structure and hold in the palm 103, improve the support ability of wheel.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. The utility model provides a lifting mechanism, its characterized in that, includes base and roof, base and roof are connected through at least a set of fork lifting unit, and every group fork lifting unit includes:

groove rail: is arranged on the base and the top plate;

a first set of hinge rods: the two connecting rods positioned at the end parts of the first group of hinged rods are respectively in shaft connection with the base and the top plate;

a second set of hinge rods: the two connecting rods positioned at the end parts of the second group of hinged rods are respectively in shaft connection with the base and the top plate; the second group of hinged rods and the first group of hinged rods are arranged at intervals along the first direction with the coupling positions of the base and the top plate, and the groove rails are arranged at intervals in the first direction with the coupling positions;

third set of articulated rods: the sliding block is positioned in the sliding rail;

fourth group hinge bar: the connecting rods are connected by a plurality of shafts, and the two connecting rods positioned at the end parts of the fourth group of hinged rods are both provided with sliding blocks which are positioned in the sliding rails; the joint of the fourth group of hinged rods and the upper rail groove of the base is positioned on one side close to the second group of hinged rods relative to the joint of the third group of hinged rods and the base sliding groove;

a middle connecting rod: connecting the connecting rod in the corresponding third group of hinged rods with the connecting rod in the fourth group of hinged rods; the wall of the middle connecting rod is provided with a long hole, the base faces the top plate, the long holes of the odd-numbered middle connecting rods are used for accommodating connecting shafts of the first group of hinged rods and the adjacent connecting rods of the second group of hinged rods, and the long holes of the even-numbered middle connecting rods are used for accommodating connecting shafts of the third group of hinged rods and the adjacent connecting rods of the fourth group of hinged rods.

2. The lifting mechanism as claimed in claim 1, wherein the coupling positions of the second set of hinge rods and the first set of hinge rods with the base and the top plate are spaced in the second direction, and the grooved rails are disposed in the spacing in the second direction of the coupling positions; the second direction is perpendicular to the first direction.

3. The lift mechanism of claim 1, wherein the grooved rail comprises a first section of grooved rail and a second section of grooved rail, each section of grooved rail comprising slider grooves, the slider grooves of the two end grooved rails facing in opposite directions.

4. The lifting mechanism as claimed in claim 1, wherein the elongated holes of the middle extension rods are arranged in a segmented manner, and the elongated holes of odd number of the middle extension rods on the side close to the second set of hinge rods are used for accommodating the connecting shafts of the first set of hinge rods, and the elongated holes on the side close to the first set of hinge rods are used for accommodating the connecting shafts of the third set of hinge rods; the long holes on one side, close to the second group of hinged rods, of the even number of middle connecting rods are used for accommodating connecting shafts of the fourth group of hinged rods, and the long holes on one side, close to the first group of hinged rods, of the even number of middle connecting rods are used for accommodating connecting shafts of the third group of hinged rods.

5. The lift mechanism of any one of claims 1 to 4, wherein the scissor lift assemblies comprise two spaced apart sets disposed on the base.

6. The lift mechanism of claim 5, further comprising a plurality of sets of connecting rods, each set of connecting rods comprising two connecting rods; direction from base to top plate:

the odd groups of connecting rod groups are respectively connected with connecting shafts of adjacent shaft rods in a third group of hinged rods in the two groups of scissor lifting assemblies, and connecting shafts of adjacent shaft rods in a fourth group of hinged rods;

the even group of connecting rod groups are respectively connected with the connecting shafts of the adjacent shaft rods in the first group of hinged rods in the two groups of scissor lifting assemblies, and the connecting shafts of the adjacent shaft rods in the second group of hinged rods.

7. The lift mechanism of claim 6, further comprising:

a jacking plate: two connecting rods in the first group of connecting rod groups from the base to the top plate are connected;

the lifting driving mechanism: the power output end is connected with the jacking plate.

8. The lift mechanism of claim 7, wherein the lift drive mechanism is a reed jack.

9. A stair climbing robot comprising a robot main body and the lifting mechanism of any one of claims 1 to 8, the robot main body being provided on the top plate.

10. A stair climbing robot as claimed in claim 9 wherein the base is provided with an articulated arm on an underside thereof for mounting the lifting mechanism to the robot running gear.

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