CN103359198A - All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method - Google Patents
All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method Download PDFInfo
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- CN103359198A CN103359198A CN2013102853678A CN201310285367A CN103359198A CN 103359198 A CN103359198 A CN 103359198A CN 2013102853678 A CN2013102853678 A CN 2013102853678A CN 201310285367 A CN201310285367 A CN 201310285367A CN 103359198 A CN103359198 A CN 103359198A
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Abstract
The invention provides an all-directional horizontal-posture stair climbing robot. The stair climbing robot comprises a lower table plate and an upper table plate above the lower table plate; at least two sets of lower table plate lifting mechanisms which drive the lower table plate to ascend and descend are arranged below the lower table plate; at least four sets of upper table plate lifting mechanisms which drive the upper table plate to ascend and descend are arranged below the upper table plate. The stair climbing robot is characterized in that the lower table plate and the upper table plate are arranged in a front-back and staggered manner in the horizontal direction; a support rotating plate is arranged between the lower table plate and the upper table plate; rectilinearly-moving units are arranged at the bottom of the support rotating plate; the bottoms of the rectilinearly-moving units are arranged on the lower table plate; a rotating mechanism is arranged on the upper table plate and fixedly connected with the support rotating plate. The invention further provides a posture adjusting method, a zero-radius turning method, a stair climbing method and a rectilinear walking method for the stair climbing robot. According to the invention, the deficiencies of the prior art are overcome; the stair climbing robot can adapt to various ground conditions, can flexibly realize no-radius turning of any angle, and is favorable in maneuverability, simple in structure and ingenious in design.
Description
Technical field
The present invention relates to method, the attitude adjusting method of a kind of comprehensive horizontal attitude stair climbing robot, this robot no-radius turning and climb the building method, belong to walking robot and method and technology field thereof.
Background technology
Existing wheeled robot is climbed the building process and can be produced to rise and fall and jolt.In order to overcome the problems referred to above, those skilled in the art have also developed some and have been exclusively used in lifting mechanism (leg) the formula robot of climbing the building, although these robots have solved the problem that rises and falls and jolt, but its ubiquitous problem is not possess level ground walking and turning function, so that its practical use is very restricted, can't promotes on a large scale and come.
Summary of the invention
The technical problem to be solved in the present invention provides a kind ofly can climb building, obstacle detouring; Maintenance level in the loading motion process; Can no-radius turn, turn to manoevreability good climb building barrier-surpassing robot and method.
In order to solve the problems of the technologies described above, a technical scheme of the present invention has provided a kind of comprehensive horizontal attitude stair climbing robot, the upper table surface that comprises following table and the side of being located thereon, below following table, be provided with at least two group following table lifting mechanisms that drive its lifting, below upper table surface, be provided with at least four group upper table surface lifting mechanisms that drive its lifting, it is characterized in that: following table and upper table surface stagger in the horizontal direction, between following table and upper table surface, be provided with the support rotating plate, support rotating plate bottom is provided with the traveling priority unit, the bottom of traveling priority unit is located on the following table, be provided with rotating mechanism at upper table surface, rotating mechanism is captiveed joint with the support rotating plate.
Preferably, described following table and described upper table surface stagger before and after in the horizontal direction and are not more than the distance of 1/2 upper table surface length.
Another technical scheme of the present invention has provided a kind of attitude adjusting method of above-mentioned robot, it is characterized in that, step is:
Step 1, stretch out the upper table surface lifting mechanism, thereby so that the following table lifting mechanism is in vacant state, rotate rotating mechanism, following table turns an angle with respect to upper table surface;
Step 2, after robot is in stabilized conditions, stretch out the following table lifting mechanism or pack up the upper table surface lifting mechanism, so that the upper table surface lifting mechanism is in vacant state, rotate rotating mechanism, upper table surface with respect to following table rotate with step 1 in the adjustment of realization robot pose after the identical angle.
Another technical scheme of the present invention has provided a kind of no-radius forward method of above-mentioned robot, it is characterized in that, step is: after above-mentioned robot remains static, stretch out the upper table surface lifting mechanism, so that the following table lifting mechanism is in vacant state; Then, make following table unitary rotation respective angles by rotating mechanism, realize turning to.
Another technical scheme of the present invention has provided a kind of no-radius forward method of above-mentioned robot, it is characterized in that, step is: after above-mentioned robot remains static, pack up the upper table surface lifting mechanism or stretch out the following table lifting mechanism, so that the upper table surface lifting mechanism is in vacant state; Then, make upper table surface unitary rotation respective angles by rotating mechanism, realize turning to.
Another technical scheme of the present invention has provided a kind of building method of climbing of above-mentioned robot, it is characterized in that, step is:
Step 1, adjust the as claimed in claim 1 attitude of robot, make the upper table surface of robot be in parallel state with following table, and with the axis of the traveling priority unit of robot over against tower;
Step 2, following table lifting mechanism are packed up and the upper table surface lifting mechanism extend out to the appropriate location, drive following table straight ahead LAP by the traveling priority unit, the one group of following table lifting mechanism that is positioned at front end rests on the step, the one group of following table lifting mechanism that is positioned at the rear end stretches out and props up ground, two groups of upper table surface lifting mechanisms that are positioned at front end are packed up to the appropriate location, drive the upper table surface LAP that advances by the traveling priority unit, two groups of upper table surface lifting mechanisms that are positioned at front end rest on the step;
Step 3, upper table surface lifting mechanism extend out to the appropriate location, drive following table straight ahead LAP by the traveling priority unit, the one group of following table lifting mechanism that is positioned at front end rests on the next stage step, the one group of following table lifting mechanism that is positioned at the rear end stretches out and props up ground, two groups of upper table surface lifting mechanisms that are positioned at front end are packed up to the appropriate location, drive the upper table surface LAP that advances by the traveling priority unit, two groups of upper table surface lifting mechanisms that are positioned at front end rest on the next stage step;
Step 4, the upper table surface lifting mechanism extend out to the appropriate location, drive following table straight ahead LAP by the traveling priority unit, the one group of following table lifting mechanism that is positioned at front end rests on the next stage step again, the one group of following table lifting mechanism that is positioned at the rear end stretches out the ground that props up the step of one-level described in the step 2, two groups of upper table surface lifting mechanisms that are positioned at front end are packed up to the appropriate location, drive the upper table surface LAP that advances by the traveling priority unit, two groups of upper table surface lifting mechanisms that are positioned at front end rest on the next stage step again, and two groups of upper table surface lifting mechanisms that are positioned at the rear end prop up the ground of the step of one-level described in the step 2;
Step 5, repeating step 2 are to step 4 until robot has been climbed all steps.
Preferably, the stroke that advances of described upper table surface and described following table is not more than 1/2 of upper table surface and following table length.
Another technical scheme of the present invention has provided a kind of straight line moving method of above-mentioned robot robot, it is characterized in that, step is:
Step 1, after above-mentioned robot is in stabilized conditions, the upper table surface lifting mechanism stretches out, the following table lifting mechanism is in vacant state;
Step 2, following table are by traveling priority unit straight ahead LAP;
Step 3, following table lifting mechanism stretch out until its bottom flushes with upper table surface lifting mechanism bottom; The upper table surface lifting mechanism is packed up, and the upper table surface lifting mechanism is in vacant state; Behind the upper table surface straight ahead LAP, the upper table surface lifting mechanism stretches out until its bottom flushes with following table lifting mechanism bottom;
Step 4, following table lifting mechanism are packed up, and the following table lifting mechanism is in vacant state;
Step 5, return step 2 repeated execution of steps 2 to step 4, until the robot motion is to desired location.
The present invention realizes walking or the upper motion of going downstairs before and after the robot by alternately lifting and the cooperation of traveling priority block operation of upper and lower table lifting mechanism; Realize the turning function of robot by the normal-running fit of upper and lower table top lifting and rotating mechanism.Robot ambulation or when climbing the building, upper and lower table top is by the driving of traveling priority unit, its stroke is not more than 1/2 of table top length, guarantees that the robot center of gravity drops in the support scope of lifting mechanism all the time.
The present invention has overcome the deficiencies in the prior art, is adapted to various states of ground, can realize neatly that no-radius is turned at any angle, and manoevreability is good, simple in structure, deft design.
Description of drawings
Fig. 1 is the mechanism principle figure (lateral plan) of a kind of comprehensive horizontal attitude stair climbing robot provided by the invention;
Fig. 2 is comprehensive horizontal attitude stair climbing robot mechanism principle figure (front elevation);
Fig. 3 is that comprehensive horizontal attitude stair climbing robot turns to schematic diagram (birds-eye view);
Fig. 4 is comprehensive horizontal attitude stair climbing robot walking schematic diagram;
Fig. 5 A1 to Fig. 5 A14 is that comprehensive horizontal attitude stair climbing robot is climbed the building schematic diagram.
The specific embodiment
For the present invention is become apparent, hereby with preferred embodiment, and cooperate accompanying drawing to be described in detail below.
In conjunction with Fig. 1 and Fig. 2, a kind of comprehensive horizontal attitude stair climbing robot provided by the invention, the upper table surface 3 that comprises following table 5 and the side of being located thereon, below following table 5, be provided with two groups or four groups of following table lifting mechanisms 2 driving its lifting, below upper table surface 3, be provided with four groups of upper table surface lifting mechanisms 1 that drive its lifting, following table 5 staggers in the horizontal direction with upper table surface 3, between following table 5 and upper table surface 3, be provided with support rotating plate 4, support rotating plate 4 bottoms are provided with traveling priority unit 6, the bottom of traveling priority unit 6 is located on the following table 5, be provided with rotating mechanism 7 at upper table surface 3, rotating mechanism 7 is captiveed joint with support rotating plate 4.Following table 5 is the characteristic that square guarantees robot omnibearing with the profile of upper table surface 3.
The radical function of robot provided by the invention is that obstacle detouring is climbed the building function, cooperates the up-and-down movement of realization robot by the alternately lifting of following table lifting mechanism 2 and upper table surface lifting mechanism 1; Traveling priority unit 6 drives the motion that realizes the robot front and rear direction; Realize the rotation of traveling priority unit drives direction by the rotating function of rotating mechanism 7, thereby realize the turning function of robot.
In conjunction with Fig. 3, a kind of comprehensive horizontal attitude stair climbing robot provided by the invention has two kinds of methods that turn to, and wherein a kind of step of forward method is:
After robot remains static, stretch out upper table surface lifting mechanism 1, so that following table lifting mechanism 2 is in vacant state; Then, make following table 5 unitary rotation respective angles by rotating mechanism 7, realize turning to.
The step of another kind of forward method is: after robot remains static, pack up upper table surface lifting mechanism 1 or stretch out following table lifting mechanism 2, so that upper table surface lifting mechanism 1 is in vacant state; Then, make upper table surface 3 unitary rotation respective angles by rotating mechanism 7, realize turning to.
When needs turn to when being 90 °, 180 °, 270 °, 360 °, because following table 5 be square with upper table surface 3, only need to rotate following table 5 and arrive correspondence position and get final product; If not above-mentioned angle, then following table 5 rotates respective angles, and corresponding upper table surface 3 rotates relative angle, realizes turning at any angle, adjusting.
The attitude adjusting method of a kind of robot provided by the invention the steps include:
Step 1, stretch out upper table surface lifting mechanism 1, thereby so that following table lifting mechanism 2 is in vacant state, rotate rotating mechanism 7, following table 5 turns an angle with respect to upper table surface 3;
Step 2, after robot is in stabilized conditions, stretch out following table lifting mechanism 2 or pack up upper table surface lifting mechanism 1, so that upper table surface lifting mechanism 1 is in vacant state, rotate rotating mechanism 7, upper table surface 3 with respect to following table 5 rotate with step 1 in the adjustment of realization robot pose after the identical angle.
In conjunction with Fig. 4, the straight line moving method of a kind of robot provided by the invention the steps include:
Step 1, when robot be in stabilized conditions after, upper table surface lifting mechanism 1 stretches out, following table lifting mechanism 2 is in vacant state;
Step 2, following table 5 are by traveling priority unit 6 straight ahead LAPs;
Step 3, following table lifting mechanism 2 stretch out until its bottom flushes with upper table surface lifting mechanism 1 bottom; Upper table surface lifting mechanism 1 is packed up, and upper table surface lifting mechanism 1 is in vacant state; Behind the upper table surface 3 straight ahead LAPs, upper table surface lifting mechanism 1 stretches out until its bottom flushes with following table lifting mechanism 2 bottoms;
Step 4, following table lifting mechanism 2 are packed up, and following table lifting mechanism 2 is in vacant state;
Step 5, return step 2 repeated execution of steps 2 to step 4, until the robot motion is to desired location.
In conjunction with Fig. 5 A1 to Fig. 5 A14, a kind of building method of climbing of above-mentioned robot is characterized in that, step is:
Step 1, adjust the attitude of robot, make the upper table surface 3 of robot be in parallel state with following table 5, and with the axis of the traveling priority unit 6 of robot over against tower;
Step 2, following table lifting mechanism 2 are packed up and upper table surface lifting mechanism 1 extend out to the appropriate location, drive following table 5 straight ahead LAPs by traveling priority unit 6, the one group of following table lifting mechanism 2 that is positioned at front end rests on the step, the one group of following table lifting mechanism 2 that is positioned at the rear end stretches out and props up ground, two groups of upper table surface lifting mechanisms 1 that are positioned at front end are packed up to the appropriate location, drive upper table surfaces 3 LAP that advances by traveling priority unit 6, two groups of upper table surface lifting mechanisms 1 that are positioned at front end rest on the step;
Step 3, upper table surface lifting mechanism 1 extend out to the appropriate location, drive following table 5 straight ahead LAPs by traveling priority unit 6, the one group of following table lifting mechanism 2 that is positioned at front end rests on the next stage step, the one group of following table lifting mechanism 2 that is positioned at the rear end stretches out and props up ground, two groups of upper table surface lifting mechanisms 1 that are positioned at front end are packed up to the appropriate location, drive upper table surfaces 3 LAP that advances by traveling priority unit 6, two groups of upper table surface lifting mechanisms 1 that are positioned at front end rest on the next stage step;
Step 4, upper table surface lifting mechanism 1 extend out to the appropriate location, drive following table 5 straight ahead LAPs by traveling priority unit 6, the one group of following table lifting mechanism 2 that is positioned at front end rests on the next stage step again, the one group of following table lifting mechanism 2 that is positioned at the rear end stretches out the ground that props up the step of one-level described in the step 2, two groups of upper table surface lifting mechanisms 1 that are positioned at front end are packed up to the appropriate location, drive upper table surfaces 3 LAP that advances by traveling priority unit 6, two groups of upper table surface lifting mechanisms 1 that are positioned at front end rest on the next stage step again, and two groups of upper table surface lifting mechanisms 1 that are positioned at the rear end prop up the ground of the step of one-level described in the step 2;
Step 5, repeating step 2 are to step 4 until robot has been climbed all steps.
When climbing the building obstacle detouring, driving and upper table surface 3 stagger 1/2 stroke of following table 5 by traveling priority unit 6, when then guaranteeing upper and lower table top relative motion, upper table surface 3 remains in the following table 5 support Interval sections, thereby is unlikely to the robot crank.
Claims (8)
1. comprehensive horizontal attitude stair climbing robot, the upper table surface (3) that comprises following table (5) and the side of being located thereon, be provided with at least two group following table lifting mechanisms (2) that drive its lifting in the below of following table (5), be provided with at least four group upper table surface lifting mechanisms (1) that drive its lifting in the below of upper table surface (3), it is characterized in that: following table (5) staggers in the horizontal direction with upper table surface (3), between following table (5) and upper table surface (3), be provided with support rotating plate (4), support rotating plate (4) bottom is provided with traveling priority unit (6), the bottom of traveling priority unit (6) is located on the following table (5), be provided with rotating mechanism (7) at upper table surface (3), rotating mechanism (7) is captiveed joint with support rotating plate (4).
2. a kind of comprehensive horizontal attitude stair climbing robot as claimed in claim 1 is characterized in that: described following table (5) staggers in the horizontal direction with described upper table surface (3) and is not more than the distance of 1/2 upper table surface (3) length.
3. the attitude adjusting method of robot as claimed in claim 1 is characterized in that, step is:
Step 1, stretch out upper table surface lifting mechanism (1), thereby so that following table lifting mechanism (2) is in vacant state, rotate rotating mechanism (7), following table (5) turns an angle with respect to upper table surface (3);
Step 2, after robot is in stabilized conditions, stretch out following table lifting mechanism (2) or pack up upper table surface lifting mechanism (1), so that upper table surface lifting mechanism (1) is in vacant state, rotate rotating mechanism (7), upper table surface (3) with respect to following table (5) rotate with step 1 in the adjustment of realization robot pose after the identical angle.
4. no-radius forward method of robot as claimed in claim 1, it is characterized in that, step is: after robot as claimed in claim 1 remains static, stretch out upper table surface lifting mechanism (1), so that following table lifting mechanism (2) is in vacant state; Then, make following table (5) unitary rotation respective angles by rotating mechanism (7), realize turning to.
5. no-radius forward method of robot as claimed in claim 1, it is characterized in that, step is: after robot as claimed in claim 1 remains static, pack up upper table surface lifting mechanism (1) or stretch out following table lifting mechanism (2), so that upper table surface lifting mechanism (1) is in vacant state; Then, make upper table surface (3) unitary rotation respective angles by rotating mechanism (7), realize turning to.
6. the building method of climbing of robot as claimed in claim 1 is characterized in that, step is:
Step 1, adjust the as claimed in claim 1 attitude of robot, make the upper table surface (3) of robot be in parallel state with following table (5), and with the axis of the traveling priority unit (6) of robot over against tower;
Step 2, following table lifting mechanism (2) is packed up and upper table surface lifting mechanism (1) extend out to the appropriate location, drive following table (5) straight ahead LAP by traveling priority unit (6), the one group of following table lifting mechanism (2) that is positioned at front end rests on the step, the one group of following table lifting mechanism (2) that is positioned at the rear end stretches out and props up ground, the two groups of upper table surface lifting mechanisms (1) that are positioned at front end are packed up to the appropriate location, drive upper table surfaces (3) LAP that advances by traveling priority unit (6), the two groups of upper table surface lifting mechanisms (1) that are positioned at front end rest on the step;
Step 3, upper table surface lifting mechanism (1) extend out to the appropriate location, drive following table (5) straight ahead LAP by traveling priority unit (6), the one group of following table lifting mechanism (2) that is positioned at front end rests on the next stage step, the one group of following table lifting mechanism (2) that is positioned at the rear end stretches out and props up ground, the two groups of upper table surface lifting mechanisms (1) that are positioned at front end are packed up to the appropriate location, drive upper table surfaces (3) LAP that advances by traveling priority unit (6), the two groups of upper table surface lifting mechanisms (1) that are positioned at front end rest on the next stage step;
Step 4, upper table surface lifting mechanism (1) extend out to the appropriate location, drive following table (5) straight ahead LAP by traveling priority unit (6), the one group of following table lifting mechanism (2) that is positioned at front end rests on the next stage step again, the one group of following table lifting mechanism (2) that is positioned at the rear end stretches out the ground that props up the step of one-level described in the step 2, the two groups of upper table surface lifting mechanisms (1) that are positioned at front end are packed up to the appropriate location, drive upper table surfaces (3) LAP that advances by traveling priority unit (6), the two groups of upper table surface lifting mechanisms (1) that are positioned at front end rest on the next stage step again, and the two groups of upper table surface lifting mechanisms (1) that are positioned at the rear end prop up the ground of the step of one-level described in the step 2;
Step 5, repeating step 2 are to step 4 until robot has been climbed all steps.
7. the building method of climbing of a kind of robot as claimed in claim 6 is characterized in that, the stroke that described upper table surface (3) and described following table (5) advance is not more than 1/2 of upper table surface (3) and following table (5) length.
8. the straight line moving method of robot as claimed in claim 1 is characterized in that, step is:
Step 1, after robot as claimed in claim 1 is in stabilized conditions, upper table surface lifting mechanism (1) stretches out, following table lifting mechanism (2) is in vacant state;
Step 2, following table (5) are by traveling priority unit (6) straight ahead LAP;
Step 3, following table lifting mechanism (2) stretch out until its bottom flushes with upper table surface lifting mechanism (1) bottom; Upper table surface lifting mechanism (1) is packed up, and upper table surface lifting mechanism (1) is in vacant state; Behind upper table surface (3) the straight ahead LAP, upper table surface lifting mechanism (1) stretches out until its bottom flushes with following table lifting mechanism (2) bottom;
Step 4, following table lifting mechanism (2) are packed up, and following table lifting mechanism (2) is in vacant state;
Step 5, return step 2 repeated execution of steps 2 to step 4, until the robot motion is to desired location.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013102853678A CN103359198A (en) | 2013-07-08 | 2013-07-08 | All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013102853678A CN103359198A (en) | 2013-07-08 | 2013-07-08 | All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method |
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| CN2013102853678A Pending CN103359198A (en) | 2013-07-08 | 2013-07-08 | All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method |
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| CN103963865A (en) * | 2014-05-08 | 2014-08-06 | 南通大学 | Method for judging condition of lifting telescopic type corridor cleaning robot to walk up and down stairs |
| CN104814842A (en) * | 2015-04-21 | 2015-08-05 | 东华大学 | Intelligent horizontal-attitude stair-climbing wheelchair and rotary stair-climbing method |
| CN105151154A (en) * | 2015-09-11 | 2015-12-16 | 东华大学 | Robot capable of climbing steps with any rotation angle and any step surface and climbing method thereof |
| CN105182836A (en) * | 2015-05-05 | 2015-12-23 | 东华大学 | Intelligent sensing and executing leg mechanism for stair climbing robot |
| CN105923068A (en) * | 2016-06-07 | 2016-09-07 | 洛阳理工学院 | Mechanism provided with steering wheels and used for going upstairs and downstairs |
| CN105923066A (en) * | 2016-06-07 | 2016-09-07 | 洛阳理工学院 | Mechanism provided with flow regulators and used for going upstairs and downstairs |
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| CN105151151B (en) * | 2014-05-08 | 2017-05-03 | 南通大学 | Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs |
| CN105151151A (en) * | 2014-05-08 | 2015-12-16 | 南通大学 | Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs |
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| CN105151154A (en) * | 2015-09-11 | 2015-12-16 | 东华大学 | Robot capable of climbing steps with any rotation angle and any step surface and climbing method thereof |
| CN105923068A (en) * | 2016-06-07 | 2016-09-07 | 洛阳理工学院 | Mechanism provided with steering wheels and used for going upstairs and downstairs |
| CN105923066A (en) * | 2016-06-07 | 2016-09-07 | 洛阳理工学院 | Mechanism provided with flow regulators and used for going upstairs and downstairs |
| CN105946943A (en) * | 2016-06-07 | 2016-09-21 | 洛阳理工学院 | Going upstairs and downstairs mechanism driven by multistage oil cylinders |
| CN106005082A (en) * | 2016-06-07 | 2016-10-12 | 洛阳理工学院 | Going upstairs and downstairs mechanism driven by rodless cylinders |
| CN106005082B (en) * | 2016-06-07 | 2018-04-06 | 洛阳理工学院 | A kind of upper mechanism downstairs of Rodless cylinder driving |
| CN107491066A (en) * | 2016-06-13 | 2017-12-19 | 杨立超 | A kind of row jump machine |
| CN106691724A (en) * | 2016-11-30 | 2017-05-24 | 广西大学 | Imitated human foot type stair-climbing wheelchair |
| CN106691724B (en) * | 2016-11-30 | 2018-06-15 | 广西大学 | A kind of apery foot formula stair climbing wheelchair |
| CN107582263A (en) * | 2017-09-19 | 2018-01-16 | 大连交通大学 | A kind of novel stair climbing disabled person car |
| CN108583712A (en) * | 2018-07-16 | 2018-09-28 | 齐志军 | Running gear, traveling method and architectural furniture |
| CN111232628A (en) * | 2020-03-17 | 2020-06-05 | 王根平 | Double-frame load platform |
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