CN217292345U

CN217292345U - Multifunctional stair climbing robot

Info

Publication number: CN217292345U
Application number: CN202221116672.5U
Authority: CN
Inventors: 邢一童; 辛成; 刘有昊; 赵文轩; 于家骅; 赵鑫鑫
Original assignee: Qingdao Huanghai University
Current assignee: Qingdao Huanghai University
Priority date: 2022-05-10
Filing date: 2022-05-10
Publication date: 2022-08-26
Anticipated expiration: 2032-05-10

Abstract

The utility model relates to a robot equipment field discloses multi-functional stair climbing robot, including frame, sucking disc formula manipulator and deformation wheel, one side on frame top is fixed with the camera frame, and inlays and be equipped with the camera lens on one side at camera frame top, sucking disc formula manipulator is all installed on the frame top of camera frame both sides, and sucking disc formula manipulator includes unable adjustment base, unable adjustment base's one end is rotated and is connected with first big arm, the one end of the big arm of second is rotated and is connected with telescopic joint, the sucking disc hand is installed to the one end of forearm, a side symmetry of frame is provided with two deformation wheels, the one end of main shaft all overlaps in proper order and is equipped with inner disc, outer dish, the opposite side symmetry of frame is provided with two planet wheels. The utility model discloses in not only realized the mode of crawler-type and wheeled walking in turn, be applicable to multiple operational environment, adopted sucking disc formula manipulator moreover to in more stably carry the object.

Description

Multifunctional stair climbing robot

Technical Field

The utility model relates to a robot equipment field specifically is multi-functional stair climbing robot.

Background

The wheel type structure is the most common moving mode, and has the advantages of simple and flexible structure, high speed, good stability, simple control and the like, so that the robot driven by the wheel type structure is developed at a high speed and widely applied, for example, in extreme environments such as fire scene rescue and the like, in order to reduce the entrance risk of people, the robot can be firstly adopted to enter the field in advance to detect the surrounding environment. But the wheel type structure has low walking efficiency in irregular terrain environment, poor obstacle crossing capability and poor stability.

The prior Chinese patent discloses a crawler-type robot with a stair climbing function, wherein the publication number is CN109823424A, the publication date is 2019-05-31, the technology of the patent has the function of rapidly and stably climbing stairs, and the crawler-type robot has the advantages of small volume, simple structure, capability of adapting to different stair shapes besides stable operation on flat ground and extremely strong obstacle crossing capability; still be provided with the arm to realize that article snatch, the function of placing.

However, the crawler-type robot still has the common defects of slow steering, difficult maintenance, insufficient economy, inconvenience and the like, and the single-arm jaw type mechanical arm is poor in grabbing capacity and not suitable for carrying large or irregular objects. In response to this situation, those skilled in the art have provided multifunctional stair climbing robots.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a multi-functional stair climbing robot to the climbing that proposes among the solution above-mentioned background art and the relatively poor problem of handling capacity.

In order to achieve the above object, the utility model provides a following technical scheme:

the multifunctional stair climbing robot comprises a rack, a sucker type manipulator and a deformation wheel, wherein a camera frame is fixed on one side of the top end of the rack, a lens is embedded in one side of the top of the camera frame, the sucker type manipulators are mounted on the top ends of the rack on two sides of the camera frame and comprise a fixed base, one end of the fixed base is rotatably connected with a first large arm, one end of the first large arm is rotatably connected with a second large arm, one end of the second large arm is rotatably connected with a telescopic joint, the output end of the telescopic joint is fixedly provided with a small arm, one end of the small arm is provided with a sucker hand, and two crawler belts are symmetrically embedded in the bottom end of the rack;

one side symmetry of frame is provided with two deformation wheels, and warp the wheel and include the main shaft, the one end of main shaft all overlaps in proper order and is equipped with inner disc, outer dish, and the outside of outer dish all waits the angle and is provided with a plurality of wheel hub, wheel hub's one end all rotates and cup joints on the lateral wall of outer dish, and wheel hub's the other end all integrates and is fixed with the arc wheel, the opposite side symmetry of frame is provided with two planet wheels, and the axis of planet wheel all rotates with the frame and is connected.

As the utility model discloses further scheme again: the central position department of a frame lateral wall inlays and is equipped with ultrasonic sensor, and ultrasonic sensor's output level sets up for measure the distance of robot apart from the stair stratum or judge whether the machine arrives the stair bottom, its advantage lies in that the measuring distance is far away than infrared sensor, and the nearest measuring distance is less.

As a further aspect of the present invention: a brushless motor is installed at the connecting position among the fixed base, the first big arm, the second big arm and the telescopic joint and used for achieving the effect of automatic rotation.

As a further aspect of the present invention: the cavity has all been seted up to the frame bottom of track position department for accomodate the track, and the both ends of track all through the telescopic link with the top interconnect of cavity realizes the automatic rising of track through the telescopic link.

As the utility model discloses further scheme again: the main shaft all is two of axial interval distribution, and inner disc, outer dish suit respectively in the main shaft tip that corresponds, and the other end of two main shafts that are close to each other all passes through shaft coupling and a servo motor's output fixed connection, just servo motor all installs in the inside of frame for the whole rotation of drive deformation wheel is marchd, and the other end of two main shafts that keep away from each other all passes through shaft coupling and a brushless motor's output fixed connection, just brushless motor all installs on the lateral wall of inner disc for the drive outer dish is whole rotatory about the directional ration of inner disc.

As a further aspect of the present invention: the bar has all been seted up at wheel hub's middle part and has been led to the groove, just the bar leads to and all slides to insert the minor axis in the groove, and on the one end of minor axis all equalled the angle was fixed in the lateral wall of inner disc, through the slip limiting displacement that minor axis and bar led to the groove, realized wheel hub, arc wheel together rotatory function that expandes or contract to replace the track climbing stair.

As a further aspect of the present invention: the arc wheel all adopts fire prevention rubber material, is applicable to environment such as scene of a fire rescue, and the mutual gomphosis of tip between two adjacent arc wheels ensures the tight seam of arc wheel shrink back, difficult deformation.

The utility model has the advantages that:

1. the crawler belt is used for running on a flat ground, when the ultrasonic sensor detects that the crawler belt approaches a stair, the telescopic rod is contracted to accommodate the crawler belt, meanwhile, the brushless motor at the inner disc rotates quantitatively, so that the outer disc also rotates quantitatively relative to the inner disc, the wheel hub and the arc-shaped wheel rotate and unfold together under the sliding limit of the short shaft and the strip-shaped through groove, the servo motor drives the inner disc to rotate integrally at the moment, and the arc-shaped wheel replaces the crawler belt to climb the stair, so that the crawler belt and the wheel type alternate walking function is realized;

2. the effect that an autogiration was realized to looping through a brushless motor between unable adjustment base, first big arm, the big arm of second and the telescopic joint, and telescopic joint then is used for the epitaxial length of automatically regulated forearm, ensures that the sucking disc hand adsorbs the object and carries out not co-altitude and put the action, and handling is more stable.

Drawings

The present invention will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic front view of a multi-functional stair climbing robot;

FIG. 2 is a side view of FIG. 1;

fig. 3 is a schematic bottom view of fig. 1.

In the figure: 1. a frame; 2. a camera head; 201. a lens; 3. an ultrasonic sensor; 4. a suction disc type manipulator; 401. a fixed base; 402. a first large arm; 403. a second large arm; 404. a telescopic joint; 405. a small arm; 406. a suction cup hand; 5. a crawler belt; 6. a telescopic rod; 7. a deformation wheel; 701. a main shaft; 702. an inner disc; 703. an outer disc; 704. a hub; 705. an arc-shaped wheel; 8. and a planet wheel.

Detailed Description

The following description will be clearly and completely described with reference to the drawings in the embodiment of the present invention, and please refer to fig. 1 to 3, the embodiment of the present invention is as follows:

multifunctional stair climbing robot, in fig. 1 and 2: the camera comprises a rack 1, a sucker type manipulator 4 and a deformation wheel 7, wherein a camera frame 2 is fixed on one side of the top end of the rack 1, a lens 201 is embedded in one side of the top of the camera frame 2, the sucker type manipulators 4 are installed on the top ends of the rack 1 on the two sides of the camera frame 2, the sucker type manipulator 4 comprises a fixed base 401, one end of the fixed base 401 is rotatably connected with a first large arm 402, one end of the first large arm 402 is rotatably connected with a second large arm 403, one end of the second large arm 403 is rotatably connected with a telescopic joint 404, the output end of the telescopic joint 404 is fixedly provided with a small arm 405, one end of the small arm 405 is provided with a sucker hand 406, and two caterpillar bands 5 are symmetrically embedded in the bottom end of the rack 1; the one side symmetry of frame 1 is provided with two deformation wheel 7, and deformation wheel 7 includes main shaft 701, the one end of main shaft 701 all overlaps in proper order and is equipped with inner disc 702, outer disc 703, and the outside of outer disc 703 all equals the angle and is provided with a plurality of wheel hub 704, the one end of wheel hub 704 all rotates and cup joints on the lateral wall of outer disc 703, and the other end of wheel hub 704 all integrates and is fixed with arc wheel 705, the opposite side symmetry of frame 1 is provided with two planet wheels 8, and the axis of planet wheel 8 all rotates with frame 1 and is connected.

In fig. 2: the central position of one lateral wall of the rack 1 is embedded with an ultrasonic sensor 3, the output end of the ultrasonic sensor 3 is horizontally arranged and used for measuring the distance between the robot and the stair stratum or judging whether the robot reaches the bottom of the stair, and the stair-climbing robot has the advantages that the measuring distance is far away from the infrared sensor, and the nearest measuring distance is small

In fig. 3: the cavity has all been seted up to 1 bottom of frame of 5 positions of track for accomodate track 5, and the top interconnect of telescopic link 6 and cavity is all passed through at the both ends of track 5, realizes track 5's automatic rising through telescopic link 6.

In fig. 1 and 2: the spindles 701 are axially distributed at intervals, the inner disks 702 and the outer disks 703 are respectively sleeved at the ends of the corresponding spindles 701, the other ends of the two spindles 701 close to each other are fixedly connected with the output end of a servo motor through a coupler, the servo motors are all installed inside the rack 1 and used for driving the deformation wheel 7 to integrally rotate and advance, the other ends of the two spindles 701 far away from each other are all fixedly connected with the output end of a brushless motor through a coupler, and the brushless motors are all installed on the outer side wall of the inner disk 702 and used for driving the outer disks 703 to integrally rotate directionally and quantitatively relative to the inner disks 702; the middle parts of the wheel hubs 704 are provided with strip-shaped through grooves, short shafts are slidably inserted in the strip-shaped through grooves, one ends of the short shafts are fixed on the outer side wall of the inner disc 702 at equal angles, and the wheel hubs 704 and the arc-shaped wheels 705 are rotated together to expand or contract under the sliding limiting action of the short shafts and the strip-shaped through grooves, so that the crawler 5 is replaced for climbing stairs; the arc-shaped wheels 705 are made of fireproof rubber and are suitable for fire scene rescue and other environments, the end portions of the two adjacent arc-shaped wheels 705 are mutually embedded, and the arc-shaped wheels 705 are ensured to be tightly jointed and not easy to deform after being contracted.

The utility model discloses a theory of operation is: when an earthquake or fire occurs in a certain place, the stair climbing robot can be used for preventing casualties of people, when the stair climbing robot is used, the crawler 5 is used for running on flat ground, the lens 201 at the top of the camera frame 2 records the actual condition of the detected ground, the internal condition is quickly and accurately transmitted to rescuers through the internal image transportation module, and the rescue is implemented under the condition of ensuring safety; when the ultrasonic sensor 3 detects that the distance is within ten meters before the stair, the telescopic rod 6 is contracted to accommodate the crawler 5, meanwhile, the brushless motor at the position of the inner disc 702 rotates quantitatively, so that the outer disc 703 also rotates quantitatively relative to the inner disc 702, the wheel hub 704 and the arc wheel 705 rotate together to unfold under the sliding limit of the short shaft and the strip-shaped through groove, at the moment, the servo motor drives the inner disc 702 to rotate integrally, the arc wheel 705 replaces the crawler 5 to climb the stair, and the function of alternately walking in a crawler type and a wheel type is realized; so adopt combined type moving mechanism, two deformation wheel 7 are as the drive wheel, and two planet wheels 8 are as following the driving wheel, mainly use when climbing stair, and crawler is used for walking on ground, has both satisfied the requirement of this stair climbing robot multiple operational environment, and the walking is more stable, can reduce the turn radius when indoor work again to through front wheel dispersion drive, minimize power loss, extension operating time.

In addition, the sucker type mechanical arm 4 is added to bring convenience to pick up goods or take away some wastes in rescue, the sucker hand 406 is in a releasing state through a programmed program, in the process, the fixed base 401, the first large arm 402, the second large arm 403 and the telescopic joint 404 sequentially pass through the brushless motor to achieve an automatic rotating effect, the telescopic joint 404 is used for automatically adjusting the extension length of the small arm 405, and the sucker hand 406 is in an absorbing state after reaching the position of an article, so that the object is lifted and placed at different heights, and the carrying process is more stable.

The above-mentioned, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. A multifunctional stair climbing robot comprises a rack (1), a sucker type manipulator (4) and a deformation wheel (7), and is characterized in that a camera head (2) is fixed on one side of the top of the rack (1), a lens (201) is embedded in one side of the top of the camera head (2), the sucker type manipulator (4) is mounted on the top of the rack (1) on the two sides of the camera head (2), the sucker type manipulator (4) comprises a fixed base (401), one end of the fixed base (401) is rotatably connected with a first big arm (402), one end of the first big arm (402) is rotatably connected with a second big arm (403), one end of the second big arm (403) is rotatably connected with a telescopic joint (404), a small arm (405) is fixed at the output end of the telescopic joint (404), and a sucker hand (406) is mounted at one end of the small arm (405), two crawler belts (5) are symmetrically embedded at the bottom end of the frame (1);

the utility model discloses a quick-witted structure, including frame (1), one side symmetry of frame (1) is provided with two deformation wheel (7), and deformation wheel (7) include two sets of main shafts (701), the one end of main shaft (701) all is equipped with inner disc (702), outer dish (703) in proper order, and the outside of outer dish (703) all waits the angle and is provided with a plurality of wheel hub (704), the one end of wheel hub (704) all rotates and cup joints on the lateral wall of outer dish (703), and the other end of wheel hub (704) all integrates and is fixed with arc wheel (705), the opposite side symmetry of frame (1) is provided with two planet wheel (8), and the axis of planet wheel (8) all rotates with frame (1) and is connected.

2. The multifunctional stair climbing robot according to claim 1, wherein an ultrasonic sensor (3) is embedded in the center of one side wall of the rack (1), and the output end of the ultrasonic sensor (3) is horizontally arranged.

3. The multifunctional stair climbing robot according to claim 1, wherein a brushless motor is installed at the connection position among the fixed base (401), the first large arm (402), the second large arm (403) and the telescopic joint (404).

4. The multifunctional stair climbing robot according to claim 1, wherein a cavity is formed in the bottom of the frame (1) at the position of the crawler (5), and two ends of the crawler (5) are connected with the top of the cavity through telescopic rods (6).

5. The multifunctional stair climbing robot according to claim 1, wherein the spindles (701) are axially spaced, the inner disc (702) and the outer disc (703) are respectively sleeved on the ends of the corresponding spindles (701), the other ends of the two spindles (701) close to each other are fixedly connected to an output end of a servo motor through a coupler, the servo motors are all installed inside the frame (1), the other ends of the two spindles (701) away from each other are fixedly connected to an output end of a brushless motor through a coupler, and the brushless motors are all installed on an outer side wall of the inner disc (702).

6. The multifunctional stair climbing robot according to claim 1, wherein a strip-shaped through groove is formed in the middle of each hub (704), a short shaft is slidably inserted into each strip-shaped through groove, and one end of each short shaft is fixed on the outer side wall of the inner disc (702) at equal angles.

7. The multifunctional stair climbing robot according to claim 1, wherein the arc-shaped wheels (705) are made of fireproof rubber, and the ends of the two adjacent arc-shaped wheels (705) are embedded with each other.