CN105798875A - Continuous jumping type step climbing robot and step adaptive climbing method - Google Patents
Continuous jumping type step climbing robot and step adaptive climbing method Download PDFInfo
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- CN105798875A CN105798875A CN201610364184.9A CN201610364184A CN105798875A CN 105798875 A CN105798875 A CN 105798875A CN 201610364184 A CN201610364184 A CN 201610364184A CN 105798875 A CN105798875 A CN 105798875A
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a continuous jumping type step climbing robot and a step adaptive climbing method. Stay bar shafts are controlled to rotate to drive stay bars to roll over to a higher step; the stay bar shafts continue rotating, while the stay bars become upright slowly under a reacting force of the surface of the step to the stay bars; meanwhile, the stay bar shafts and power-driven wheels ascend gradually until the stay bars are perpendicular to the surface of the step, and at such a moment, the power-driven wheels leave the ground; subsequently, the stay bar shafts continue rotating, while the stay bars incline backwards, and the stay bar shafts and the power-driven wheels descend gradually until the power-driven wheels land on the ground. According to the continuous jumping type step climbing robot and the step adaptive climbing method provided by the present invention, the front and rear stay bars are allowed to circumferentially move around axes set in the front and rear stay bar shafts, respectively, and by means of the reacting force of the surface of a step to the stay bars, the entire robot is enabled to jump to an adjacent higher step, or sledged to an adjacent lower step. Compared with a telescopic climbing mechanism in the prior art, the continuous jumping type step climbing robot provided by the present invention is more steady and safer during climbing.
Description
Technical field
The present invention relates to a kind of step climbing mechanism, relate in particular to a kind of continuous support and jump the climbing method of formula step climbing robot and self adaptation step.
Background technology
On JIUYUE 9th, 2015, the international non-government organization of aged career field important in the whole world--Helpage International has issued the report of " 2015 whole world programs for the elderlys observe index " by name.Report that the whole world 60 years old and above population about 9.01 hundred million account for world population 12.3%.It is up to 16.5% to this ratio of the year two thousand thirty.Report claims current China to be that the country that the aged is maximum in the world has 2.09 hundred million, and the disabled caused additionally, due to various disasters and disease also increase year by year.And wheelchair is old people and the requisite walking-replacing tool of disabled, common wheelchair can only level walking, it is impossible to going up or down stairway.The intelligent wheelchair having climbing function for solving this problem to work out in the market, is mainly crawler type and star wheel type, its shortcoming be security and stability difference and going up or down stairway have to other people assist.Although it is a lot of that this is also crawler type and star wheel type wheelchair patent of invention, but really implement and promote little main cause.Therefore, also there are some to contemplate the omniazimuthal horizontal attitude stair climbing robot designing a kind of lower limb foot formula and no-radius turns to, climbs building method.But owing to its structure is complicated, translational speed is slow, the adaptivity of different shoulder heights is poor, also fail to be promoted.
nullSuch as，Name is called that " omniazimuthal horizontal attitude stair climbing robot and no-radius turn to、Climb building method "，Application number is the earlier application of " CN201310285367.8 "，Describe such feature and " the invention provides a kind of omniazimuthal horizontal attitude stair climbing robot，Including following table and the upper table surface that is positioned above，It is connected with driving at least two group following table elevating mechanisms of its lifting at following table，It is connected with driving at least four group upper table surface elevating mechanisms of its lifting at upper table surface，It is characterized in that: following table and upper table surface stagger before and after in the horizontal direction，Support rotating plate it is provided with between following table and upper table surface，Rectilinear movement unit it is provided with bottom support rotating plate，The bottom of rectilinear movement unit is located on following table，Upper table surface is provided with rotating mechanism，Rotating mechanism is fixing with support rotating plate to be connected." by foregoing description it can be seen that whole climbing mechanism and method of creeping are all very complicated, lower limb foot drive connection many, whole is loaded down with trivial details causes that translational speed is slow, and the adaptivity of different stair is poor, and security reliability can not get guarantee.Therefore this invention impracticable.
Again such as, Chinese patent notification number is that CN104925162B discloses a kind of electric stair climbing robot, including: climbing machine platform, this climbing machine platform is vertically arranged with two grooves；The bottom of climbing machine platform is symmetrically arranged with two oil motors, and the force-output shaft of arbitrary oil motor is all connected with a leading screw, and leading screw is installed on climbing machine platform；In the middle of two leading screws, each leading screw all runs through an oil cylinder, has the female thread suitable with described leading screw in oil cylinder, and it is secondary that oil cylinder and leading screw constitute screw-driven；The top of described oil cylinder is fixing with a clutch to be connected, and clutch is positioned at inside groove, and the top of clutch is placed with manned plate, and oil cylinder is moved by clutch band dynamic load people's plate；Wherein, two oil cylinders are realized upstairs by the flexible of piston rod and front and back alternating movement.But this structure is when climbing building, there is potential safety hazard in crank.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of continuous support and jump the climbing method of formula step climbing robot and self adaptation step, to solve problems of the prior art.
To achieve these goals, technical scheme is as follows:
Support the formula step climbing robot that jumps continuously, it is characterised in that include supporting frame and the support platform being arranged on supporting frame；
Support frame as described above body includes back and front supporting linkage unit, and the lower section of back and front supporting linkage unit is connected to forward and backward power drive wheel；Described back and front supporting linkage unit all includes strut axle, at least two is separately positioned on the strut at strut axle two ends；And stay length is more than the diameter of corresponding power drive wheel；
Connected by synchronous drive mechanism between described back and front supporting linkage unit；Described synchronous drive mechanism includes two groups respectively in order to the dynamic retarding motor driving two strut axles to rotate, two groups of angle synchronization code sensors being separately positioned on two strut axles and multi-axis synchronized control drive circuit；Two groups of angle synchronization code sensors are all connected with multi-axis synchronized control drive circuit, and multi-axis synchronized control drive circuit connects respectively and controls two groups of dynamic retarding motors.
Preferably, described back and front supporting linkage unit is connected with one end of forward and backward outstanding curb girder respectively, and the other end of forward and backward outstanding curb girder is hinged；Being additionally provided with displacement electricity push rod between back and front supporting linkage unit, forward and backward outstanding curb girder forms triangle support body with displacement electricity push rod, is changed the wheelspan of forward and backward power drive wheel by the stretching motion of displacement electricity push rod, adapt to stair ladder step by step from.
Preferably, after two, power drive wheel is arranged on rear main shaft, and rear main shaft is connected on rear pole axle by bearing；Two front power drive wheels are arranged on front steering side frame crossbeam, and front steering side frame crossbeam is connected on front strut axle by bearing.Further, described front steering side frame crossbeam is provided with pedal.
Further, described back and front supporting linkage unit is respectively arranged with detect wheel and the vertical identity distance of step from ultrasonic range finder, and two described ultrasonic range finders are separately positioned on front steering side frame crossbeam, rear main shaft.
Further, between described support platform and front steering side frame crossbeam, it is provided with platform in balance connecting rod, drives support platform to be synchronized with the movement with front steering side frame crossbeam by platform in balance connecting rod；Pass sequentially through forward horizontal stand connecting rod between front steering side frame crossbeam and rear main shaft, back balance connecting rod is connected, and drives front steering side frame crossbeam and rear main shaft to be synchronized with the movement by forward horizontal stand connecting rod and back balance connecting rod.
Preferably, described support platform is arranged on support frame as described above body by what guide can move forward and backward, and support platform and its movable electricity push rod that moves horizontally of driving are connected.
Preferably, it is additionally provided with between described support platform and supporting frame to regulate the horizontal adjustment electricity push rod supporting platform angle；Described horizontal adjustment electricity push rod is provided with obliquity sensor.
Preferably, described support platform is wheel seat support.
Preferably, the front end of described strut is arc transition shape.
Support the climbing method of the formula step climbing robot self adaptation step that jumps continuously, it is characterized in that, control forward and backward strut axle synchronous axial system, driving strut to overturn supreme single order step, strut axle is rotated further, under the step surface counteracting force to strut, strut slowly perpendicular support erects, strut axle, power drive wheel are gradually increasing, until strut is vertical with step surface, now power drive wheel is liftoff；Then strut axle is rotated further, and strut tilts backwards, and strut axle, power drive wheel are gradually reduced, until power drive wheel lands.
During use, control to support the formula step climbing robot that jumps continuously and retreat, by ultrasonic range finder location to correct position, stop retreating；Rear pole axle rotates, rear pole is driven to overturn supreme single order step, rear pole axle is rotated further, under the step surface counteracting force to rear pole, rear pole slowly perpendicular support erects, rear pole axle, rear power drive wheel are gradually increasing, until rear pole is vertical with step surface, after now, power drive wheel is liftoff；Then rear pole axle is rotated further, and rear pole tilts backwards, and rear pole axle, rear power drive wheel are gradually reduced, until rear power drive wheel lands；In like manner, in this process, under the control of synchronous drive mechanism, front strut axle and rear pole axle synchronous axial system, front strut overturns supreme single order step, front strut axle is rotated further, under the step surface counteracting force to front strut, front strut is slowly erect and is propped up, and front strut axle, front power drive wheel are gradually increasing, until front strut is vertical with step surface, before now, power drive wheel is liftoff；Then front strut axle is rotated further, and front strut tilts backwards, and front strut axle, front power drive wheel are gradually reduced, until front power drive wheel lands；Complete the climbing of one-level step.
The present invention adopts the axle center that forward and backward strut is compassingly set at forward and backward strut axle respectively to circle, and by the counteracting force that forward and backward strut is applied by step surface, jumps robot entirety support to adjacent high one-level step, or sled is down to adjacent low one-level step.Compared with telescopic climbing device of the prior art, the present invention supports the formula step climbing robot that jumps continuously, and process of climbing is more steady, safety.
The horizontal adjustment electricity push rod that the present invention is arranged between support platform and supporting frame can effectively ensure that support platform substantially keeps level in the process of climbing, to realize supporting the smooth transport of people or thing on platform.
Owing to the jump anterior-posterior length of formula step climbing robot of support continuously is relatively long, the present invention adopts support platform and moves horizontally electricity push rod and is connected, drives that to support platform movable, and person more convenient to use takes.
The forward and backward outstanding curb girder of the present invention and displacement electricity push rod form triangle support body, are changed the wheelspan of forward and backward power drive wheel by the stretching motion of displacement electricity push rod, it is possible to adapt to different stair ladders step by step from.
The present invention adopts synchronous drive mechanism consistent to ensure to remain between forward and backward strut that rotation direction, swing angle synchronize, it is ensured that support jumps and synchronizes the safety and steady attitude of landing before and after formula step climbing robot continuously.
The feature of the present invention see graphic and better embodiment below the detailed description of this case and obtains and be well understood to.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the present invention.
Fig. 2 is the schematic diagram of supporting frame.
Fig. 3 is the other direction schematic diagram of the present invention.
Fig. 4 is the schematic diagram of the present invention.
Fig. 5 be the present invention climb step time view.
Fig. 6 be the present invention climb step time view.
Fig. 7 be the present invention climb step time view.
Fig. 8 be the present invention climb step time view.
Fig. 9 be the present invention climb step time view.
Figure 10 be the present invention climb step time view.
Figure 11 is the structural representation rotating transfer.
Figure 12 is the view rotating transfer.
Figure 13 supports the view that the formula step climbing robot no-radius that jumps rotates continuously.
Figure 14 is the principle schematic of synchronous drive mechanism.
Label in each accompanying drawing is expressed as follows:
null1 takes turns seat support、2 supporting frames、3 controllers、4 horizontal adjustment electricity push rods、5 displacement electricity push rods、6 platform in balance connecting rods、7 forward horizontal stand connecting rods、8 back balance connecting rods、Power drive wheel before 9、Power drive wheel after 10、11 front struts、12 rear poles、13、Arc transition structure、14 arc transition structures、15 multi-axis synchronized control drive circuits、16 move horizontally electricity push rod、17 pedals、Dynamic retarding motor before 18、Dynamic retarding motor after 19、20 front strut parallactic angle encoders、21 rear pole parallactic angle encoders、22 front overhang curb girders、23 rear overhang curb girders、24 front strut axles、25 rear pole axles、Ultrasonic range finder before 26、Ultrasonic range finder after 27、28 front steering side frame crossbeams、Main shaft after 29、30 turn to Cornu Caprae seu Ovis、31 motors、32 dextrorotation screw mandrels、33 derotation screw mandrels、34 female thread loop bars.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and effect and be easy to understand, the present invention is expanded on further below in conjunction with specific embodiment.
In describing the invention, term " left end, right-hand member, front end, rear end, left side, right side, inwardly, outwards " etc. is only used to convenient describe and limit, and is not considered as limiting the invention.
Referring to Fig. 1-4, the invention discloses one and support the formula step climbing robot that jumps continuously, including supporting frame 2 and the support platform being arranged on supporting frame；Support platform and may be used for placing articles, it is also possible in order to sit people.The present embodiment is to sit artificial example, and supporting platform is take turns seat support 1.
Wheel seat support 1 includes medicated cushion, backrest and handrail, and wheel seat support 1 is arranged on supporting frame 2 by what guide rail or slide block can move forward and backward, and its movable electricity push rod 16 that moves horizontally of wheel seat support 1 and driving is connected.When user needs to sit on, it is possible to moving horizontally electricity push rod 16 by regulating, driven wheel seat support 1 moves forward, and facilitates user to sit down.
Supporting frame 2 includes back and front supporting linkage unit, and back and front supporting linkage unit is connected with one end of forward and backward outstanding curb girder (22,23) respectively, and the other end of forward and backward outstanding curb girder (22,23) is hinged；Displacement electricity push rod 5 it is additionally provided with between back and front supporting linkage unit, forward and backward outstanding curb girder (22,23) and displacement electricity push rod 5 form triangle support body, changed the wheelspan of forward and backward power drive wheel by the stretching motion of displacement electricity push rod 5, adapt to stair ladder step by step from.
Front support linkage unit includes 24, two front struts 11 being separately positioned on front strut axle 24 two ends of front strut axle；Rear support linkage unit includes 25, two rear poles 12 being separately positioned on rear pole axle 25 two ends of rear pole axle.Connected by synchronous drive mechanism between back and front supporting linkage unit；Referring to Figure 14, synchronous drive mechanism includes two groups respectively in order to the forward and backward dynamic retarding motor (18,19) driving two strut axles to rotate, two groups of angle synchronization code sensors being separately positioned on two strut axles (20,21) and multi-axis synchronized control drive circuit 15；Two groups of angle synchronization code sensors (20,21) are all connected with multi-axis synchronized control drive circuit 15, and multi-axis synchronized control drive circuit 15 connects respectively and controls two groups of dynamic retarding motors (18,19).Before, rear pole (11, 12) front, rear dynamic retarding motor (18, 19) under driving, around strut axle (24, 25) move in a circle, simultaneously by the angle synchronization code sensor (20 on strut axle, 21) the parallactic angle coding information provided, it is respectively sent to multi-axis synchronized control drive circuit 15, after multi-axis synchronized control drive circuit 15 processes, dynamic retarding motor 19 after A road drive feedback is given, make corresponding adjustment of rotational speed, front dynamic retarding motor 18 is given through B road drive feedback, make corresponding adjustment of rotational speed, before reaching, the purpose of rear pole angle synchronization.The front end of forward and backward strut (11,12) is arc transition structure (13,14).
After two, power drive wheel 10 is arranged on rear main shaft 29, and rear main shaft 29 is connected on rear pole axle 25 by bearing；Two front power drive wheels 9 are arranged on front steering side frame crossbeam 28, and front steering side frame crossbeam 28 is connected on front strut axle 24 by bearing.Rear power drive wheel 10, front power drive wheel 9 control respectively through independent motor.And front strut 11 length is more than the diameter of front power drive wheel 9；Rear pole 12 length takes turns the diameter of 10 more than rear power drive.
Ultrasonic range finder 26 before being provided with on front steering side frame crossbeam 28, ultrasonic range finder 27 after being provided with on rear main shaft 29.Front ultrasonic range finder 26, rear ultrasonic range finder 27 are in order to detect the spacing of power drive wheel tread vertical with step.In addition, it is necessary to it is noted that support and be provided with platform in balance connecting rod 6 between platform (wheel seat support 1) and front steering side frame crossbeam 28, drive support platform to be synchronized with the movement with front steering side frame crossbeam 28 by platform in balance connecting rod 6；Pass sequentially through forward horizontal stand connecting rod 7 between front steering side frame crossbeam 28 with rear main shaft 29, back balance connecting rod 8 is connected, and drives front steering side frame crossbeam 28 and rear main shaft 29 to be synchronized with the movement by forward horizontal stand connecting rod 7 and back balance connecting rod 8.In seat pose adjustment process, platform in balance connecting rod 6, forward horizontal stand connecting rod 7, back balance connecting rod 8 are acted on by linkage, adjusting to tread vertical with step vertical by ultrasonic range finder 26 before under front steering side frame crossbeam 28, after will be located in wheelchair, the rear ultrasonic range finder 27 on main shaft adjusts to tread vertical with step vertical.
Referring to Figure 11 and Figure 12, it should be pointed out that two front power drive wheels 9 are respectively through turning to the Cornu Caprae seu Ovis 30 two ends with front steering side frame crossbeam 28 to be connected, and after two, power drive wheel 10 is respectively through turning to the Cornu Caprae seu Ovis 30 two ends with rear main shaft 29 to be connected.
It is provided with rotation transfer between power drive wheel between two front power drives wheel, after two；Rotate transfer and include a motor 31, the dextrorotation screw mandrel 32 being connected with stepper motor output shaft and derotation screw mandrel 33 it is respectively arranged with in the both sides of motor, female thread loop bar 34 on dextrorotation screw mandrel and derotation screw mandrel is connected with two power drive wheels respectively, in order to drive two power drive wheels in opposite directions or to rotate backward.
Referring to Figure 13, two front power drive wheels are driven to rotate in opposite directions by a motor, splayed shape in being formed；After driving two by another motor, power drive wheel rotates backward, and forms outer splayed shape；In this state, support the formula step climbing robot that jumps continuously and centered by the center of four power drives wheels, no-radius rotation can be carried out by point.
Front steering side frame crossbeam 28 is provided with pedal 17.
It is additionally provided with between wheel seat support 1 and supporting frame to regulate the horizontal adjustment electricity push rod 4 supporting platform angle；The angle of inclination of wheel seat support 1 can be regulated by horizontal adjustment electricity push rod 4.Horizontal adjustment electricity push rod 4 is provided with obliquity sensor, realize auto-control, namely in the process of climbing, angle between supporting frame 2 and wheel seat support 1 is being continually changing, obliquity sensor transmits this information to control device, control device control horizontal adjustment electricity push rod 4 and do stretching motion, to ensure that wheel seat support 1 remains level.
The controller 3 of the present invention is arranged on the right handrail of wheel seat support 1, to facilitate user to operate.
The use procedure of the present invention is as follows:
Climbing of first and second stage rank: beforehand through regulating displacement electricity push rod 5 to change the wheelspan of forward and backward power drive wheel (9,10), adapt to the width of step surface.Control to support the formula step climbing robot that jumps continuously to retreat, the rear ultrasonic range finder 27 being positioned on rear main shaft 29 starts automatic detection, during to suitable distance, controlling the continuously support formula step climbing robot that jumps by control system and stop, the support formula step climbing robot that jumps is in and climbs building SBR continuously.Rear pole axle 25 rotates, rear pole 12 is driven to overturn supreme single order step, rear pole axle 25 is rotated further, at step surface under the counteracting force of rear pole 12, rear pole 12 is slowly erect and is propped up, rear pole axle 25, rear power drive wheel 10 are gradually increasing, until rear pole 12 is vertical with step surface, it is liftoff that now rear power drive takes turns 10；Then rear pole axle 25 is rotated further, and rear pole 12 tilts backwards, and rear pole axle 25, rear power drive wheel 10 are gradually reduced, until rear power drive wheel 10 lands, rear power drive wheel 10 completes climbing of the first stage rank.Then, adopting identical principle, rear power drive wheel 10 drive is supportted the formula step climbing robot that jumps continuously and is retreated, and by the location of rear ultrasonic range finder 27, then climbs, and rear power drive wheel 10 completes climbing of second-order step.Now, continuously the jump front power drive wheel 10 of formula step climbing robot of support climbs near the first stage rank preparation the first stage rank.
Referring to Fig. 5-10, climbing of intermediate step: control to support the formula step climbing robot that jumps continuously and retreat, the rear ultrasonic range finder 27 being positioned on rear main shaft 29 starts automatic detection, during to suitable distance, controlling the continuously support formula step climbing robot that jumps by control system to stop, the support formula step climbing robot that jumps is in and climbs building SBR continuously.Rear pole axle 25 rotates, rear pole 12 is driven to overturn supreme single order step, rear pole axle 25 is rotated further, at step surface under the counteracting force of rear pole 12, rear pole 12 is slowly erect and is propped up, rear pole axle 25, rear power drive wheel 10 are gradually increasing, until rear pole 12 is vertical with step surface, it is liftoff that now rear power drive takes turns 10；Then rear pole axle 25 is rotated further, and rear pole 12 tilts backwards, and rear pole axle 25, rear power drive wheel 10 are gradually reduced, until rear power drive wheel 10 lands, rear power drive wheel 10 completes climbing of single order step.In like manner, in this process, synchronously, front strut axle 24 and rear pole axle 25 synchronous axial system, front strut 11 overturns supreme single order step, front strut axle 24 is rotated further, at step surface under the counteracting force of front strut 11, front strut 11 is slowly erect and is propped up, and front strut axle 24, front power drive wheel 9 are gradually increasing, until front strut 11 is vertical with step surface, it is liftoff that now front power drive takes turns 9；Then front strut axle 24 is rotated further, and front strut 11 tilts backwards, and front strut axle 24, front power drive wheel 9 are gradually reduced, until front power drive wheel 9 lands；Complete the climbing of single order step.
Front power drive take turns 9 through last twice step, rear pole axle 25, rear pole 12 no longer move, and adopt identical principle, front strut axle 24, front strut 11 to drive front power drive wheel 9 to complete to climb.
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described.Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; simply principles of the invention described in above-described embodiment and description; the present invention also has various changes and modifications without departing from the spirit and scope of the present invention, and these changes and improvements both fall within claimed the scope of the present invention.The protection domain of application claims is defined by appending claims and equivalent thereof.
Claims (11)
1. support the formula step climbing robot that jumps continuously, it is characterised in that include supporting frame and the support platform being arranged on supporting frame；
Support frame as described above body includes back and front supporting linkage unit, and the lower section of back and front supporting linkage unit is connected to forward and backward power drive wheel；Described back and front supporting linkage unit all includes strut axle, at least two is separately positioned on the strut at strut axle two ends；And stay length is more than the diameter of corresponding power drive wheel；
Connected by synchronous drive mechanism between described back and front supporting linkage unit；Described synchronous drive mechanism includes two groups respectively in order to the dynamic retarding motor driving two strut axles to rotate, two groups of angle synchronization code sensors being separately positioned on two strut axles and multi-axis synchronized control drive circuit；Two groups of angle synchronization code sensors are all connected with multi-axis synchronized control drive circuit, and multi-axis synchronized control drive circuit connects respectively and controls two groups of dynamic retarding motors.
2. continuous support according to claim 1 jumps formula step climbing robot, it is characterised in that described back and front supporting linkage unit is connected with one end of forward and backward outstanding curb girder respectively, and the other end of forward and backward outstanding curb girder is hinged；Being additionally provided with displacement electricity push rod between back and front supporting linkage unit, forward and backward outstanding curb girder forms triangle support body with displacement electricity push rod, is changed the wheelspan of forward and backward power drive wheel by the stretching motion of displacement electricity push rod, adapt to stair ladder step by step from.
3. continuous support according to claim 1 jumps formula step climbing robot, it is characterised in that after two, power drive wheel is arranged on rear main shaft, and rear main shaft is connected on rear pole axle by bearing；Two front power drive wheels are arranged on front steering side frame crossbeam, and front steering side frame crossbeam is connected on front strut axle by bearing.
4. continuous support according to claim 3 jumps formula step climbing robot, it is characterised in that be provided with pedal on described front steering side frame crossbeam.
5. continuous support according to claim 3 jumps formula step climbing robot, it is characterized in that, described back and front supporting linkage unit is respectively arranged with detect wheel and the vertical identity distance of step from ultrasonic range finder, and two described ultrasonic range finders are separately positioned on front steering side frame crossbeam, rear main shaft.
6. continuous support according to claim 5 jumps formula step climbing robot, it is characterized in that, it is provided with platform in balance connecting rod between described support platform and front steering side frame crossbeam, drives support platform to be synchronized with the movement with front steering side frame crossbeam by platform in balance connecting rod；Pass sequentially through forward horizontal stand connecting rod between front steering side frame crossbeam and rear main shaft, back balance connecting rod is connected, and drives front steering side frame crossbeam and rear main shaft to be synchronized with the movement by forward horizontal stand connecting rod and back balance connecting rod.
7. continuous support according to claim 1 jumps formula step climbing robot, it is characterized in that, described support platform is arranged on support frame as described above body by what guide can move forward and backward, and support platform and its movable electricity push rod that moves horizontally of driving are connected.
8. continuous support according to claim 1 jumps formula step climbing robot, it is characterised in that be additionally provided with between described support platform and supporting frame to regulate the horizontal adjustment electricity push rod supporting platform angle；Described horizontal adjustment electricity push rod is provided with obliquity sensor.
9. continuous support according to claim 1 jumps formula step climbing robot, it is characterised in that described support platform is wheel seat support.
10. continuous support according to claim 1 jumps formula step climbing robot, it is characterised in that the front end of described strut is arc transition shape.
11. the climbing method of the self adaptation step supportting the formula step climbing robot that jumps continuously adopted as described in any one of claim 1-10, it is characterized in that, control forward and backward strut axle synchronous axial system, driving strut to overturn supreme single order step, strut axle is rotated further, under the step surface counteracting force to strut, strut slowly perpendicular support erects, strut axle, power drive wheel are gradually increasing, until strut is vertical with step surface, now power drive wheel is liftoff；Then strut axle is rotated further, and strut tilts backwards, and strut axle, power drive wheel are gradually reduced, until power drive wheel lands.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610364184.9A CN105798875B (en) | 2016-05-27 | 2016-05-27 | Continuous support jump formula step climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610364184.9A CN105798875B (en) | 2016-05-27 | 2016-05-27 | Continuous support jump formula step climbing robot |
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| CN105798875A true CN105798875A (en) | 2016-07-27 |
| CN105798875B CN105798875B (en) | 2018-03-13 |
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| CN201610364184.9A Active CN105798875B (en) | 2016-05-27 | 2016-05-27 | Continuous support jump formula step climbing robot |
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| CN106137585A (en) * | 2016-08-12 | 2016-11-23 | 高宏 | The electric wheelchair that a kind of energy up/down steps stair travel pacifically |
| CN106176073A (en) * | 2016-08-31 | 2016-12-07 | 河南纵横精工机械科技有限公司 | Intelligent life wheelchair |
| CN106389028A (en) * | 2016-12-20 | 2017-02-15 | 张久彬 | Electric wheelchair and stair climbing chassis assembly |
| CN107485500A (en) * | 2017-08-18 | 2017-12-19 | 常州摩本智能科技有限公司 | Manned intelligent robot |
| CN107521576A (en) * | 2017-08-24 | 2017-12-29 | 广州南洋理工职业学院 | One kind can ground running and stair climbing robot |
| CN108937887A (en) * | 2018-05-28 | 2018-12-07 | 苏州格目软件技术有限公司 | A kind of multifunction nursing machine people's management system based on Internet of Things |
| CN109124909A (en) * | 2018-09-20 | 2019-01-04 | 佛山科学技术学院 | A kind of improved wheelchair |
| CN109509320A (en) * | 2018-12-25 | 2019-03-22 | 国网河南省电力公司平顶山供电公司 | A kind of substation's fire alarm crusing robot |
| CN111096861A (en) * | 2020-01-10 | 2020-05-05 | 王浩然 | Self-adaptive electric wheelchair capable of climbing steep slope |
| CN111343956A (en) * | 2017-11-10 | 2020-06-26 | 欧彼立孚特私人有限公司 | Vehicle for crossing obstacle |
| CN113021293A (en) * | 2021-03-08 | 2021-06-25 | 北京玄马知能科技有限公司 | Six-wheel all-wheel drive inspection robot with auxiliary operation arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106137585A (en) * | 2016-08-12 | 2016-11-23 | 高宏 | The electric wheelchair that a kind of energy up/down steps stair travel pacifically |
| CN106176073A (en) * | 2016-08-31 | 2016-12-07 | 河南纵横精工机械科技有限公司 | Intelligent life wheelchair |
| CN106389028A (en) * | 2016-12-20 | 2017-02-15 | 张久彬 | Electric wheelchair and stair climbing chassis assembly |
| CN107485500A (en) * | 2017-08-18 | 2017-12-19 | 常州摩本智能科技有限公司 | Manned intelligent robot |
| CN107521576A (en) * | 2017-08-24 | 2017-12-29 | 广州南洋理工职业学院 | One kind can ground running and stair climbing robot |
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| CN108937887A (en) * | 2018-05-28 | 2018-12-07 | 苏州格目软件技术有限公司 | A kind of multifunction nursing machine people's management system based on Internet of Things |
| CN109124909A (en) * | 2018-09-20 | 2019-01-04 | 佛山科学技术学院 | A kind of improved wheelchair |
| CN109124909B (en) * | 2018-09-20 | 2023-12-29 | 佛山科学技术学院 | Improved wheelchair |
| CN109509320A (en) * | 2018-12-25 | 2019-03-22 | 国网河南省电力公司平顶山供电公司 | A kind of substation's fire alarm crusing robot |
| CN111096861A (en) * | 2020-01-10 | 2020-05-05 | 王浩然 | Self-adaptive electric wheelchair capable of climbing steep slope |
| CN113021293A (en) * | 2021-03-08 | 2021-06-25 | 北京玄马知能科技有限公司 | Six-wheel all-wheel drive inspection robot with auxiliary operation arm |
| CN114569006A (en) * | 2022-02-24 | 2022-06-03 | 同济大学 | Be applied to lateral wall curve guide rail climbing supporting mechanism of robot of sweeping floor |
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