KR101565945B1 - Platform of stairs climbing - Google Patents

Platform of stairs climbing Download PDF

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Publication number
KR101565945B1
KR101565945B1 KR1020140061798A KR20140061798A KR101565945B1 KR 101565945 B1 KR101565945 B1 KR 101565945B1 KR 1020140061798 A KR1020140061798 A KR 1020140061798A KR 20140061798 A KR20140061798 A KR 20140061798A KR 101565945 B1 KR101565945 B1 KR 101565945B1
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KR
South Korea
Prior art keywords
link
wheel
driver
driving
driving unit
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Application number
KR1020140061798A
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Korean (ko)
Inventor
홍희승
배장호
김종원
김화수
Original Assignee
서울대학교산학협력단
경기대학교 산학협력단
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Priority to KR1020140061798A priority Critical patent/KR101565945B1/en
Application granted granted Critical
Publication of KR101565945B1 publication Critical patent/KR101565945B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

The present invention relates to a platform for climbing stairs, and more specifically, to a platform for climbing stairs, which comprises a body, a driving mechanism placed on both sides of the body to be symmetrical, and a control mechanism. The driving mechanism comprises a first driving unit and a second driving unit. The first driving unit comprises: a first link extended to have a certain length and connected to be able to rotate around the sides of the body; a first rotation driving unit for rotating the first link around the sides of the body; and a first wheel connected to one end of the first link. The second driving unit comprises: a second link extended to have a certain length and connected to be able to rotate around the first link; a second wheel and a third wheel connected to both ends of the second link; a second rotation driving unit for rotating the second link around the first link; and a straight driving unit for varying the position of the second link. The first link and the second link are connected through a rotating joint. The straight driving unit changes the position of the rotating joint in the longitudinal direction of the second link to vary the position of the second link.

Description

{PLATFORM OF STAIRS CLIMBING}

The present invention relates to a stair climbing platform, and more particularly, to a stair climbing platform having a body; A driving mechanism disposed laterally and symmetrically on both sides of the body; And a control mechanism, wherein the driving mechanism includes a first driving unit and a second driving unit, wherein the first driving unit includes a first driving unit that is extended with a predetermined length and is pivotably connected to the side of the body, 1 link, a first turning driver for pivoting the first link about the side of the body, and a first wheel connected to one end of the first link, the second driving part having a predetermined length A second link extending and pivotally connected to the first link, a second wheel and a third wheel connected to both ends of the second link, a second wheel coupled to both ends of the second link for pivoting the second link about the first link, And a linear actuator for varying the position of the second link, wherein the first link and the second link are connected through a rotary joint, and the linear actuator is arranged to move the position of the rotary joint to the second link By displacement in the longitudinal direction directed to a stair climbing platform is variable to configure the position of the second link.

Robots have been developed for various purposes and are used in various environments. In recent years, various robots have been developed to perform their functions despite various environments in the room, such as robot cleaners equipped with artificial intelligence.

In the case of a general robot, traveling on a flat surface can be sufficiently implemented through a wheel having a structure similar to that of an automobile. However, in order to secure such running in a number of staircases existing in indoor and outdoor environments, special driving is required.

Various stair climbing platforms have been developed with special drive modules that perform such stair climbing and descent. However, when performing such climbing and descending of the stairs, there remains a problem of ensuring proper stability in accordance with the environment of the stairs, in addition to the problem of merely running up and down stairs.

Patent No. 1304107

SUMMARY OF THE INVENTION The present invention is directed to a stair climbing platform designed to solve the above problems, comprising: a body; A driving mechanism disposed laterally and symmetrically on both sides of the body; And a control mechanism, wherein the driving mechanism includes a first driving unit and a second driving unit, wherein the first driving unit includes a first driving unit that is extended with a predetermined length and is pivotably connected to the side of the body, 1 link, a first turning driver for pivoting the first link about the side of the body, and a first wheel connected to one end of the first link, the second driving part having a predetermined length A second link extending and pivotally connected to the first link, a second wheel and a third wheel connected to both ends of the second link, a second wheel coupled to both ends of the second link for pivoting the second link about the first link, And a linear actuator for varying the position of the second link, wherein the first link and the second link are connected through a rotary joint, and the linear actuator is arranged to move the position of the rotary joint to the second link By displacement in the longitudinal direction has its object to provide a stair climbing platform is variable to configure the position of the second link.

According to an aspect of the present invention, there is provided a stair climbing platform comprising: a body; A driving mechanism disposed laterally and symmetrically on both sides of the body; And a control mechanism, wherein the driving mechanism includes a first driving unit and a second driving unit, wherein the first driving unit includes a first driving unit that is extended with a predetermined length and is pivotably connected to the side of the body, 1 link, a first turning driver for pivoting the first link about the side of the body, and a first wheel connected to one end of the first link, the second driving part having a predetermined length A second link extending and pivotally connected to the first link, a second wheel and a third wheel connected to both ends of the second link, a second wheel coupled to both ends of the second link for pivoting the second link about the first link, And a linear actuator for varying the position of the second link, wherein the first link and the second link are connected through a rotary joint, and the linear actuator is arranged to move the position of the rotary joint to the second link By displacement in the longitudinal direction is configured to vary the position of the second link.

Preferably, the control mechanism includes a sensor unit and a control unit, wherein the sensor unit detects climbing or descending environment information of the step, and the control unit controls the climbing or descending environment information of the step, And controls the operation of the first rotation driver, the second rotation driver, and the linear driver.

Preferably, the first link includes a front end link portion having a predetermined bent portion at the central portion and having a predetermined angle with the bent portion interposed therebetween, and a rear end link portion, And the second link is connected to an end of the rear end link portion.

Preferably, the second link has both ends bent downward to have a front end, a middle portion, and a rear end, the second wheel connected to the front end, and the third wheel connected to the rear end And the stopper is configured to be connected to the first link and pivotally connected to the first link.

Preferably, the sensor unit senses a reaction force and a frictional force generated in the first to third wheels, and the control unit derives a positive span region by summing the reaction force vectors generated at the respective support points, The first rotary driver, the second rotary driver, and the linear driver are driven so that the radius of the inscribed circle is kept at the maximum.

Preferably, the body includes an electric cylinder embedded in the body, and a tilt sensor for sensing a tilt of the body, wherein the tilt sensor senses the tilt of the body and transmits the sensed tilt to the electric cylinder, The cylinder is configured to control the inclination of the body by varying the length according to the detected inclination.

The step-up climbing platform according to the present invention has the greatest stability in a given step environment and can perform step climbing and descending. That is, the sensor unit included in the control mechanism senses the step environment information, and the controller obtains the positive span area and the size of the inscribed circle of the positive span area through the step environment information to grasp the stability of the current position, The stability of the driving mechanism can be secured and the climbing and descending of the stairs can be performed.

1 to 3 are views showing a stair climbing platform according to an embodiment of the present invention.
4 and 5 illustrate the operation of a stair climbing platform in accordance with an embodiment of the present invention.
6 is a view showing an electric cylinder of a stair climbing platform according to an embodiment of the present invention.
FIG. 7 is a diagram illustrating operational steps of a stair climbing platform according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. The present embodiments are not intended to be limiting.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

The terms spatially relative, "below", "beneath", "lower", "above", "upper" May be used to readily describe an element or component and other element or components of the correlation. Spatially relative terms should be understood to include, in addition to the orientation shown in the drawings, terms that include different orientations of members during use or operation. For example, "upper" can be interpreted as "lower" when the members shown in the drawings are reversed. The members can also be oriented in different directions, so that spatially relative terms can be interpreted according to orientation.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. &Quot; comprises, "and / or" comprising ", as used herein, unless the recited element, step, operation and / Or additions.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

1 to 3 are views showing a step climbing platform 1 according to an embodiment of the present invention, and FIGS. 4 and 5 are views showing an operation of a step climbing platform 1 according to an embodiment of the present invention FIG. 6 is a view showing an electric cylinder 12 of a step-up climbing platform according to an embodiment of the present invention, and FIG. 7 is a view showing an operation step of a step climbing platform 1 according to an embodiment of the present invention to be.

A step climbing platform (1) according to the present invention comprises a body (10); A driving mechanism disposed laterally and symmetrically on both sides of the body (10); Wherein the first driving unit 100 includes a first driving unit 100 and a second driving unit 200. The first driving unit 100 includes a first driving unit 100 having a predetermined length, A first rotation driver pivotally connecting the first link 110 to the side of the body 10 and a second rotation driver pivoting the first link 110 about the side of the body 10, And a second link coupled to one end of the first link and having a predetermined length, the second link being pivotally connected to the first link, A second wheel 214 and a third wheel 220 connected to both ends of the second link 210 and a second wheel 210 rotating the second link 210 with respect to the first link 110, And a linear actuator for varying the position of the second link 210. The first link 110 and the second link 210 are connected to each other through a rotary joint Is determined, the linear actuator, to displace the position of the rotary joint in the longitudinal direction of the second link (210) is configured to vary the position of the second link (210).

The body 10 is connected to a driving mechanism to be described later to constitute a main body which is climbed or descended from the stairs by the stair climbing platform 1 according to the present invention. In the body 10, a predetermined driver may be provided, and various kinds of moving objects may be accommodated, but the present invention is not limited thereto. Further, it may preferably have a symmetrical structure.

The driving mechanism is arranged symmetrically on both sides of the body 10. [ The driving mechanism is responsible for the substantial driving of the step climbing platform 1 according to the present invention and is arranged symmetrically on both sides of the body 10 so that the left driving mechanism 20A and the right driving mechanism 20B, Respectively. It will be understood that the description of the driving mechanism described below applies to the left driving mechanism 20A and the right driving mechanism 20B, respectively.

The driving mechanism includes a first driving part 100 and a second driving part 200.

 The first driving part 100 includes a first link 110 extending with a predetermined length and pivotally connected to a side of the body 10, a second link 110 connecting the first link 110 to the body 10, And a first wheel 118 connected to one end of the first link 110. The first wheel 118 is coupled to the first wheel 118,

The first link 110 is a bar-shaped member having a predetermined length and is connected to the side of the body 10 and rotatably connected to the body 10. Accordingly, the first link 110 may be connected to the side of the body 10 through a predetermined shaft 102.

A predetermined rotation driver is provided for turning the first link 110, which is referred to herein as a first rotation driver (not shown) for convenience. The first rotation driver pivots the first link (110) relative to the body (10). The first rotation driver may be provided in the first link 110, or may be provided in the body 10, and the arrangement thereof is not limited. The entire first driving part 100 including the first link 110 according to the first rotation driver can rotate about the shaft 102 connected to the body 10 as shown by an arrow A in FIG. . Meanwhile, the rotation of the first driving part 100 may be accompanied by the rotation of the second driving part 200 connected thereto.

A first wheel (118) is connected to one end of the first link (110). The first wheel 118 is connected to one end of the first link 110 through a predetermined shaft 120 and rotates.

Preferably, the first link 110 includes a front end link portion 112 having a predetermined bent portion 114 at a central portion and having a predetermined angle with the bent portion 114 therebetween, The first wheel 118 is connected to an end of the front end link portion 112 and the second link 210 is connected to an end portion of the rear end link portion 116 Structure. Accordingly, the first link 110 is configured to rotate in the direction of the arrow? And the first wheel 118 and the second link 210 are connected to both ends of the bending portion 114. The first and second links 118 and 210 may be connected to each other.

The second driving unit 200 includes a second link 210 extending with a predetermined length and pivotally connected to the first link 110, a second link 210 connected to both ends of the second link 210, A second rotation driver for rotating the second link 210 relative to the first link 110 and a second rotation driver for rotating the second link 210, And a linear actuator.

The second link 210 is pivotally connected to the first link 110 in the form of a bar having a predetermined length. Accordingly, the second link 210 may be connected to the first link 110 through a predetermined shaft 202. In addition, a predetermined rotation driver is provided for turning the second link 210, and is referred to as a second rotation driver (not shown) for distinguishing from the first rotation driver. The second rotation driver may be provided in the first link 110 or the second link 210, but the arrangement thereof is not limited. The entire second drive unit 200 including the second link 210 is driven by the second rotation driver to rotate about the predetermined shaft 202 connecting the first link 110 and the second link 210 It can be rotated as shown in Fig. 4B.

The second wheel (214) and the third wheel (220) are connected to both ends of the second link (210). The second wheel 214 and the third wheel 220 are connected to both ends of the second link 210 through predetermined shafts 222 and 224 and rotate.

The second link 210 may have a front end portion 214, a middle portion 212 and a rear end portion 216 that are bent downward at both ends of the second link 210, The second wheel 214 is connected to the rear end 216 and the third wheel 220 is connected to the rear end 216. The stop 212 is connected to the first link 110, 110, respectively.

Meanwhile, the second link 210 may be displaced in the linear direction with respect to the first link 110. At this time, a predetermined linear driver (not shown) may be provided to perform the linear displacement of the second link 210.

The linear movement of the second link 210 may be described as the position of the second link 210 relative to the connection point between the first link 110 and the second link 210 is displaced. That is, the rotation of the second link 210 by the second rotation driver is centered on the connection point between the first link 110 and the second link 210, so that the displacement of the second link 210 with respect to the connection point The linear displacement of the second link 210 is accompanied by a change in the position of the second link 210 relative to the connection point. Accordingly, the entire second drive unit 200 including the second link 210 can be displaced in the forward and backward directions as shown in FIG. 4C.

That is, when it is understood that the first link 110 and the second link 210 are connected to each other through a predetermined rotation joint so as to be swivelable, the linear actuator moves the position of the rotation joint to the second link 210 So that the position of the second link 210 can be changed.

The linear actuator may be, for example, a driver using a predetermined ball screw. Therefore, the second link 210 can achieve linear displacement in the anteroposterior direction by the ball screw. In addition, the linear driver may be embedded in the second link 210.

Meanwhile, each of the first to third wheels 118, 218, and 220 may be driven through a rotation driving device such as a predetermined motor. The rotation driving device may be connected to the first to third wheels 118, 218 and 220 to drive the first to third wheels 118, 218 and 220, respectively. At this time, the rotation driving device may be embedded in the first link 110 and the second link 210, and may transmit power through a member such as a predetermined bevel gear.

The control mechanism (not shown) is provided to control the driving of the above-described driving mechanism. The control mechanism appropriately controls driving of the driving mechanism so that the step-up climbing platform 1 according to the present invention stably climbs and descends the steps. The control mechanism may be a predetermined processing device including predetermined data and calculation devices, and may be disposed in the body 10 described above, but is not limited thereto.

Preferably, the control mechanism includes a sensor unit (not shown) and a control unit (not shown), and the sensor unit senses climbing or descending environment information of the step, And controls operation of the first rotation driver, the second rotation driver, and the linear driver according to the climbing or descending environment information.

The sensor unit may be a predetermined piezoelectric sensor that senses a frictional force, a reaction force, or the like applied to the wheel, but is not limited thereto. The sensor unit senses information on the climbing or descending environment of the stairs, generates a predetermined electric signal containing the information, and transmits the electric signal to the controller.

The control unit receives an electric signal containing climbing or descending environment information of the step detected by the sensor unit, and controls driving of the driving mechanism on the basis of the electric signal. At this time, the driving control of the driving mechanism is performed by controlling the operation of the first rotation driver, the second rotation driver, and the linear driver. For example, the turning angle of the first link 110 by the first rotation driver, The turning angle of the second link 210 by the second rotation driver, and the linear displacement of the second link 210 by the linear driver.

Through the driving control of each of the rotary actuators and the linear actuators as described above, the step climbing platform 1 according to the present invention performs climbing and descending of the stairs while maintaining stability to a given step climbing environment and a descending environment . That is, the first rotation driver, the second rotation driver, and the linear driver are appropriately driven according to the specifications of the given step, and the turning and displacement of the first link 110 and the second link 210 are determined, So that stable climbing and descending can be performed.

Preferably, the sensor unit senses a reaction force and a frictional force generated by the first to third wheels 118, 214 and 220, and the control unit calculates a positive span region by summing the reaction force vectors generated at the respective support points And drives the first rotation driver, the second rotation driver, and the linear driver such that the radius of the inscribed circle of the positive span region is maximized.

That is, when climbing and descending in the given step environment, the positive span area derived through the sum of the reaction force vectors generated at the respective supporting points can be used to climb and descend the stairs have.

Hereinafter, the derivation of the positive span region and the algorithm for the stability evaluation will be described.

First, as shown in Fig. 1, the reaction force and the frictional force of each wheel generated in the stairs are derived. Fig. 1 conceptually shows the reaction force and the frictional force applied to each wheel of the step-up climbing platform 1 according to the present invention in a predetermined attitude in a predetermined stair environment. At this time, the reaction force and the frictional force of each wheel can be made through the predetermined sensor unit as described above, and the derived reaction force and frictional force can be transmitted to the control unit with a predetermined electric signal. Of course, a predetermined calculation process or the like may be applied in the derivation of the reaction force and the frictional force, and such calculation may be performed in the sensor unit or the control unit.

Figure 112014048392870-pat00001

<Figure 1> Deriving Strength to Specific Stance during Stair Climbing Process

Then, a positive span region is derived through the reaction forces and the frictional force regions including the load at the center of gravity. Figure 2 shows the positive span region, and the circle with the red line in the blue line shows the inscribed circle through the shortest distance between the boundary and the origin of the positive span region. The derivation of the positive span region may be performed through a predetermined algorithm stored in the control unit. The algorithm may include information on the stair climbing environment sensed by the sensor unit and the attitude of the stair climbing platform 1 according to the present invention So that the positive span region can be derived.

Figure 112014048392870-pat00002

<Figure 2> Derivation of positive span region and inscribed circle

The derivation of the positive span region and the determination of the stability can be performed as follows.

A convex hull (outermost line) is formed by using forces acting on each element such as a load acting on the center of gravity of the step climbing platform according to the present invention, and a vertical drag and a maximum static frictional force of each wheel. At this time, the equation for determining the vertical drag of each wheel is shown in Equation 1 below.

Figure 112014048392870-pat00003

<Formula 1>

Here, N1, N2, and N3 are the vertical forces of each wheel that satisfy the hydrostatic equilibrium form, and select a set that minimizes Nt. At this time, a predetermined program such as MATLAB can be used.

Accordingly, the convex hull can be constructed using the obtained vertical drag force and the maximum static friction vector. In other words, it is possible to construct the convex hull by creating an outline connecting the vector values of the vertical forces and the maximum static frictional forces of the respective loads and the wheels. Among the line segments constituting the Convex Hull, the distance between the line segment with the shortest distance from the first origin and the line segment with the shortest distance from the origin (the same as the inscribed circle radius) can be used as a safety factor. The safety factor is determined based on the weakest of the forces applied in various directions through the positive span, and the size is determined according to the magnitude of the force.

On the other hand, when the first wheel moves up and down the step plane, when the position of the first wheel is grasped, the positions of the second and third wheels can be grasped by kinematic calculation. In addition, the process of moving the first wheel on the stepped surface is divided into steps, the position of the second link 210 is determined for each step, and the Safety factor according to the change of the position of the second link 210 can be derived. Here, the driving trajectory may be selected to maintain optimal stability during the climbing and descending processes in accordance with the constraint conditions such as the derived safety factor and the moving speed of the second link 210.

This process is repeated in the process of ascending or descending the stairs, and the position of the second link 210 is selected so as to maintain the highest stability in the process. Accordingly, the driving of the linear driver is determined, and the driving trajectory of the second link 210 can be also determined during the step-up and down steps.

During operation, the displacement of the second link 210 is recognizable through a sensor member such as a predetermined encoder, and the accuracy of the attitude is detected by a predetermined tilt sensor, which can be mounted on each link and body 10 . The inclination of the body 10 can be grasped by the inclination sensor to maintain a predetermined inclination during the step of climbing and descending. The inclination of the body 10 is embedded in the body 10 and is connected to the first link 110 Or the like. For example, the driving unit is composed of a predetermined electric cylinder 12, and the slope of the body 10 can be appropriately maintained during the step-up and down steps. 6 is a view showing an example of the electric cylinder 12. One end is connected to the inner side of the body 10 and the other end is connected to the first link 110. [ The electric cylinder 12 is variable in length depending on the displacement of the piston in the cylinder, and is configured to control the inclination of the body 10 accordingly.

In the positive span region, the greater the radius of the inscribed circle, the greater the stability of the step-up climbing platform 1 according to the present invention. Accordingly, the control unit of the control mechanism included in the step-up climbing platform 1 according to the present invention detects a positive (positive) climbing environment according to the step-climbing environment sensed by the sensor unit and information on the posture of the step- The span region is derived to evaluate the stability in the current position and the operation is controlled so that the radius of the inscribed circle of the positive span region is maximized within a given environment. Here, the controller may appropriately control the driving of each of the first rotation driver, the second rotation driver, and the linear driver included in the driving mechanism to determine the driving and posture of the step-up climbing platform 1 according to the present invention .

FIG. 3 shows an example of a process of climbing a stair climbing platform 1 according to the present invention. The step-up climbing platform 1 according to the present invention can perform the step-up climbing as shown in FIG. 3 according to the above-described process.

Figure 112014048392870-pat00004

<Figure 3> Example of climbing a stair climbing platform

A step-by-step climbing process of the step-up climbing platform 1 according to the present invention is shown in FIG. First, approach the steps and recognize the shape of the steps. The recognition of the step shape can be performed by the sensor unit, and the environmental information about the step is transmitted to the control unit through the sensor unit. Next, the controller determines the optimal climbing driving strategy, recognizes the slope and posture of each link during the climbing process, and determines the rotation angle of each link so that the magnitude of the inscribed circle of the positive span region is maximized, The drive of the driver and the linear driver can be controlled.

The step-up climbing platform (1) according to the present invention is capable of achieving the greatest stability in a given step environment and performing step climbing and descending. That is, the sensor unit included in the control mechanism senses the step environment information, and the controller obtains the positive span area and the size of the inscribed circle of the positive span area through the step environment information to grasp the stability of the current position, The stability of the driving mechanism can be secured and the climbing and descending of the stairs can be performed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It should be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the invention.

1: Stair climbing platform
10: Body
20A, 20B: driving mechanism
100:
102: Shaft
110: first link
112: shear link portion
114:
116: rear end link portion
118: First wheel
120: shaft
200: second driving section
202: shaft
210: second link
212:
214:
216: rear end
218: the second wheel
220: Third wheel
222: shaft
224: Shaft

Claims (6)

For a stair climbing platform,
Body;
A driving mechanism disposed laterally and symmetrically on both sides of the body; And
Control mechanism,
The driving mechanism may include:
A first driving unit, and a second driving unit,
Wherein the first driving unit includes:
A first link extending with a predetermined length and pivotally connected to a side of the body,
A first rotation driver for pivoting the first link about a side of the body,
And a first wheel coupled to one end of the first link,
Wherein the second driver comprises:
A second link extending with a predetermined length and pivotally connected to the first link,
A second wheel and a third wheel connected to both ends of the second link,
A second rotation driver for pivoting said second link relative to said first link, and
And a linear actuator for varying a position of the second link,
The first link and the second link are connected through a rotary joint,
The linear actuator includes:
And displacing the position of the rotary joint in the longitudinal direction of the second link to vary the position of the second link. The method according to claim 1,
The control mechanism includes a sensor unit and a control unit,
The sensor unit detects climbing or descending environment information of the step,
Wherein the controller controls operations of the first rotation driver, the second rotation driver, and the linear driver according to climb or descent environment information of the step detected by the sensor unit. The method according to claim 1,
Wherein the first link comprises:
And has a predetermined bent portion in the central portion,
A front end link portion having a predetermined angle with the bent portion interposed therebetween, and a rear end link portion,
The first wheel is connected to an end of the front end link portion,
And the second link is connected to an end of the rear end link portion. The method according to claim 1,
Wherein the second link comprises:
Both ends of which are bent downward to have a front end portion, a middle portion, and a rear end portion,
The second wheel is connected to the front end portion and the third wheel is connected to the rear end portion,
Wherein the stop is connected to the first link and pivotally connected to the first link. 3. The method of claim 2,
The sensor unit senses a reaction force and a frictional force generated in the first to third wheels,
Wherein,
A positive span region is derived by adding the reaction force vectors generated at the respective supporting points,
And drives the first rotation driver, the second rotation driver, and the linear driver such that the radius of the inscribed circle of the positive span region is maintained at a maximum. The method according to claim 1,
The body,
An electric cylinder incorporated in the body, and
And a tilt sensor for sensing a tilt of the body,
The inclination sensor senses the inclination of the body and transmits the sensed inclination to the electric cylinder,
Wherein the electric cylinder has a length varying in accordance with a detected inclination to control inclination of the body.
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CN107186691A (en) * 2017-06-13 2017-09-22 浙江工业大学 A kind of robot guiding mechanism for specific road surface
CN107953347A (en) * 2017-12-29 2018-04-24 洛阳理工学院 A kind of level land and the dual-purpose Labour-saving car of step and the clean robot based on the Labour-saving car
KR20190021645A (en) * 2017-08-23 2019-03-06 네이버랩스 주식회사 Moving robot
CN113650697A (en) * 2021-10-08 2021-11-16 哈尔滨理工大学 Reducing body of rod climbing mechanism
WO2022203398A1 (en) * 2021-03-24 2022-09-29 호서대학교산학협력단 Mobile robot driving wheel deforming device and mobile robot comprising same
WO2022203397A1 (en) * 2021-03-24 2022-09-29 호서대학교산학협력단 Wheel device for mobile robot capable of driving on rough terrain and overcoming obstacles, and mobile robot including same
KR102468550B1 (en) 2021-06-09 2022-11-22 (주)필드로 Rough Terrain Driving Mobile Robot
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CN107186691A (en) * 2017-06-13 2017-09-22 浙江工业大学 A kind of robot guiding mechanism for specific road surface
CN107186691B (en) * 2017-06-13 2023-05-23 浙江工业大学 Robot guiding mechanism for specific pavement
KR102026915B1 (en) * 2017-08-23 2019-09-30 네이버랩스 주식회사 Moving robot
KR20190021645A (en) * 2017-08-23 2019-03-06 네이버랩스 주식회사 Moving robot
CN107953347A (en) * 2017-12-29 2018-04-24 洛阳理工学院 A kind of level land and the dual-purpose Labour-saving car of step and the clean robot based on the Labour-saving car
CN107953347B (en) * 2017-12-29 2024-01-19 洛阳理工学院 Dual-purpose laborsaving car of level land and step and cleaning robot based on laborsaving car
WO2022203398A1 (en) * 2021-03-24 2022-09-29 호서대학교산학협력단 Mobile robot driving wheel deforming device and mobile robot comprising same
WO2022203397A1 (en) * 2021-03-24 2022-09-29 호서대학교산학협력단 Wheel device for mobile robot capable of driving on rough terrain and overcoming obstacles, and mobile robot including same
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KR20230008372A (en) 2021-07-07 2023-01-16 한국에너지기술연구원 Continuous Direct Air Capture system and Method
CN113650697A (en) * 2021-10-08 2021-11-16 哈尔滨理工大学 Reducing body of rod climbing mechanism
CN113650697B (en) * 2021-10-08 2023-10-13 哈尔滨理工大学 Reducing rod body climbing mechanism
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