CN106627829B - Auxiliary wheel lifts barrier-surpassing robot - Google Patents
Auxiliary wheel lifts barrier-surpassing robot Download PDFInfo
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- CN106627829B CN106627829B CN201611084386.4A CN201611084386A CN106627829B CN 106627829 B CN106627829 B CN 106627829B CN 201611084386 A CN201611084386 A CN 201611084386A CN 106627829 B CN106627829 B CN 106627829B
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- vehicle frame
- auxiliary wheel
- wheel
- walking mechanism
- lifting
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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
- B62D57/028—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 having wheels and mechanical legs
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of auxiliary wheels to lift barrier-surpassing robot, including vehicle frame, there are two front driving wheels for both sides installing of the vehicle frame in front end, there are two rear drive sprockets for both sides installing of the vehicle frame in rear end, vehicle frame auxiliary wheel after the both sides of front and back end are also installed there are two preceding auxiliary wheel and two respectively, preceding auxiliary wheel and rear auxiliary wheel are between front driving wheel and rear drive sprocket, guide support frame is installed on vehicle frame, the front and back end of guide support frame be installed with can independent-lifting and traveling lifting walking mechanism, the lifting walking mechanism of front end is between front driving wheel and preceding auxiliary wheel, the lifting walking mechanism of rear end is between rear auxiliary wheel and rear drive sprocket.Vehicle frame can be propped up or be put down by the cooperation of front and back lifting walking mechanism, to realize the function of up/down steps.The barrier-surpassing robot have it is simple in structure, it is of low cost, be easy to the strong advantage of making, operating flexibility, obstacle climbing ability.
Description
Technical field
The invention mainly relates to barrier-surpassing robot fields more particularly to a kind of auxiliary wheel to lift barrier-surpassing robot.
Background technology
In actual application, mobile robot is frequently necessary to overcome the obstacle of upper and lower step.In this kind of robot
The precision equipment of carrying often requires that and keeps posture constant at work.Existing barrier-surpassing robot, such as with the shoe for swinging fin
Belt robot, obstacle climbing ability is limited, and chassis tilts seriously when obstacle detouring, not only influences the normal work of carrying equipment, and
And it is easy to cause robot and topples.Existing barrier-surpassing robot, such as legged mobile robot of bionical class, though there is preferable obstacle detouring energy
Power, however structure and control are complicated, are difficult to realize, and also it is with high costs.Existing barrier-surpassing robot, it is such as wheeled with rocking arm
Robot, though having the advantages that adaptive, obstacle climbing ability is limited, and upper and lower step obstacle ability mismatches.
Invention content
The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, provide it is a kind of simple in structure, it is of low cost,
It is easy to making, operating flexibility, obstacle climbing ability by force and the auxiliary wheel of chassis level can be kept to lift obstacle detouring during obstacle detouring
Robot.
In order to solve the above technical problems, the present invention uses following technical scheme：
A kind of auxiliary wheel lifts barrier-surpassing robot, including vehicle frame, the vehicle frame in front end both sides installing there are two
Front driving wheel, vehicle frame are installed in the both sides of rear end there are two rear drive sprocket, and the vehicle frame is also distinguished in the both sides of front and back end
There are two auxiliary wheel after preceding auxiliary wheel and two, the preceding auxiliary wheel and rear auxiliary wheel are located at front driving wheel and rear drive sprocket for installing
Between, guide support frame is installed on the vehicle frame, the front and back end of the guide support frame is installed with can independent-lifting and row
Into lifting walking mechanism, the lifting walking mechanism of front end between front driving wheel and preceding auxiliary wheel, advance by the lifting of rear end
Mechanism is between rear auxiliary wheel and rear drive sprocket.
As a further improvement of the above technical scheme：
The guide support frame includes holder and vertical guide, and the holder is packed on vehicle frame, the vertical guide point
Mounted in the rear and front end of holder, the lifting walking mechanism of rear and front end is sliding with the vertical guide of respective end respectively.
The holder includes column and crossbeam, and the column is packed on vehicle frame, and the crossbeam is fixedly mounted at the top of column, described
Vertical guide is divided in the rear and front end of crossbeam.
The lifting walking mechanism includes driving part, elevating lever and support wheel, and the driving part, which is installed in, vertically leads
On rail, the elevating lever is slided in vertical guide and is connect with driving part, and the support wheel is installed in elevating lever bottom.
The elevating lever includes upright bar and cross bar, and the upright bar is slided in vertical guide and connect with driving part, institute
It states cross bar and is packed in bottom of upright rod, the support wheel is divided in the both ends of cross bar.
The front and rear part of the vehicle frame offers the hollow out relief portion passed through for the lifting walking mechanism of front and back end.
Compared with the prior art, the advantages of the present invention are as follows：
1, auxiliary wheel of the present invention of the invention lifts barrier-surpassing robot, as long as the height of front and back lifting walking mechanism is closed
It is suitable, other structures or size need not be adjusted, the step and obstacle of various height can be crossed over, obstacle performance protrudes；
2, auxiliary wheel of the present invention of the invention lifts barrier-surpassing robot, overcomes upper and lower step obstacle with same
Ability, it is adaptable.
3, auxiliary wheel of the present invention of the invention lifts barrier-surpassing robot, and vehicle frame water can be remained during obstacle detouring
It is flat, it is ensured that the equipment normal work that robot carries.
4, auxiliary wheel of the present invention of the invention lifts barrier-surpassing robot, and preceding auxiliary wheel and rear auxiliary are utilized during obstacle detouring
Wheel is so that vehicle frame can complete up/down steps without turning to, improve always in the presence of 2 points of supports without toppling over
Obstacle detouring flexibility；
5, auxiliary wheel of the present invention of the invention lifts barrier-surpassing robot, and overall structure is very simple, and function is reliable, cost
It is cheap, it is easy to make.
Description of the drawings
Fig. 1 is the dimensional structure diagram of auxiliary wheel lifting barrier-surpassing robot of the present invention.
Fig. 2 is the present invention looks up structural representation of auxiliary wheel lifting barrier-surpassing robot of the present invention.
Fig. 3 is the main structure diagram of auxiliary wheel lifting barrier-surpassing robot of the present invention.
Fig. 4 is the status diagram that vehicle frame is lifted in auxiliary wheel lifting barrier-surpassing robot of the present invention.
Fig. 5 is the status diagram of lifting walking mechanism lifting in front end in auxiliary wheel lifting barrier-surpassing robot of the present invention.
Fig. 6 is the status diagram of the rear end lifting walking mechanism lifting of auxiliary wheel lifting barrier-surpassing robot of the present invention.
Fig. 7 is the flow diagram of auxiliary wheel lifting barrier-surpassing robot top bar of the present invention.
Fig. 8 is the flow diagram that auxiliary wheel lifting barrier-surpassing robot of the present invention is got out of a predicament or an embarrassing situation.
Each label indicates in figure：
1, vehicle frame；11, hollow out relief portion；2, front driving wheel；3, rear drive sprocket；4, preceding auxiliary wheel；5, rear auxiliary wheel；6, it leads
To supporting rack；61, holder；611, column；612, crossbeam；62, vertical guide；7, walking mechanism is lifted；71, driving part；72、
Elevating lever；721, upright bar；722, cross bar；73, support wheel.
Specific implementation mode
The present invention is described in further details below with reference to Figure of description and specific embodiment.
Fig. 1 to Fig. 8 shows a kind of embodiment of auxiliary wheel lifting barrier-surpassing robot of the present invention, the barrier-surpassing robot packet
Include vehicle frame 1, vehicle frame 1 in front end both sides installing there are two front driving wheel 2, vehicle frame 1 in rear end both sides installing there are two
Rear drive sprocket 3, the auxiliary wheel 5 after the both sides of front and back end are also installed there are two preceding auxiliary wheel 4 and two respectively of vehicle frame 1 are preceding auxiliary
It helps wheel 4 and rear auxiliary wheel 5 between front driving wheel 2 and rear drive sprocket 3, guide support frame 6 is installed on vehicle frame 1, be oriented to branch
The front and back end of support 6 be installed with can independent-lifting and traveling lifting walking mechanism 7, the lifting walking mechanism 7 of front end is located at
Between front driving wheel 2 and preceding auxiliary wheel 4, the lifting walking mechanism 7 of rear end is between rear auxiliary wheel 5 and rear drive sprocket 3.It uses
When, when the robot is in grading operation, the lifting walking mechanism 7 at both ends and ground are detached from a high position, when needing to cross platform
When the obstacles such as rank, the lifting walking mechanism 7 at both ends declines along guide support frame 6 to be contacted with ground, can be reversed when further declining
Guide support frame 6 is driven to be lifted upwards along lifting walking mechanism 7, to drive vehicle frame 1 to be lifted, when front driving wheel 2 and step are same
Gao Shi, lifting walking mechanism 7 advances forward and drives vehicle frame 1 that front driving wheel 2 is made to be contacted with step, at this point, the lifting row of front end
Initial position is risen into mechanism 7, further so that rear drive sprocket 3 is contacted with step to traveling, at this point, the lifting traveling machine of rear end
Structure 7 rises to initial position, and to realize top bar, when getting out of a predicament or an embarrassing situation, then continuing to advance forward keeps front end lifting walking mechanism 7 outstanding
Sky, and preceding auxiliary wheel 4 forms support, the inverse process for then pressing top bar operates.The robot of the present invention, as long as front and back liter
The height for dropping walking mechanism 7 is suitable, can cross over various steps and obstacle, and obstacle performance protrudes；It is utilized during obstacle detouring
Wheel structure that front driving wheel 2 and rear drive sprocket 3 form and lifting walking mechanism 7 from traveling ability, have preferable motor-driven
Property；Vehicle frame 1 is made to have always and support without toppling at 2 points using preceding auxiliary wheel 4 and rear auxiliary wheel 5 during obstacle detouring,
Up/down steps can be completed without turning to, improve obstacle detouring flexibility；The robot of the present invention, overall structure are very simple
It is single compact, it is of low cost, it is easy to make.
In the present embodiment, guide support frame 6 includes holder 61 and vertical guide 62, and holder 61 is packed on vehicle frame 1, vertically
Guide rail 62 is divided in the rear and front end of holder 61, the lifting walking mechanism 7 of rear and front end respectively with the vertical guide of respective end 62
It is sliding.In the structure, the main carrying basis that holder 61 is lifted as lifting walking mechanism 7 and vehicle frame 1, and vertical guide 62 is then
It ensure that the smoothness and agility that lifting walking mechanism 7 and vehicle frame 1 lift.
In the present embodiment, holder 61 includes column 611 and crossbeam 612, and column 611 is packed on vehicle frame 1, and crossbeam 612 is solid
611 top of column is filled, vertical guide 62 is divided in the rear and front end of crossbeam 612.In the structure, column 611 and crossbeam 612 are utilized
The holder 61 of composition, simple and stable structure, moreover, materials processing is very easy to.
In the present embodiment, lifting walking mechanism 7 includes driving part 71, elevating lever 72 and support wheel 73, driving part 71
It is installed in vertical guide 62, elevating lever 72 is slided in vertical guide 62 and connect with driving part 71, and support wheel 73 is installed
In 72 bottom of elevating lever.In the structure, driving part 71 can drive elevating lever 72 to make elevating movement, when support wheel 73 connects with ground
When touching, driving part 71 can drive vehicle frame 1 to make elevating movement by guide support frame 6 again；Support wheel 73 equipped with driving motor,
Vehicle frame 1 can be driven to advance by the traveling of support wheel 73, it is simple in structure, ingenious in design.
In the present embodiment, elevating lever 72 includes upright bar 721 and cross bar 722, upright bar 721 slide in the vertical guide 62 and with
Driving part 71 connects, and cross bar 722 is packed in 721 bottom of upright bar, and support wheel 73 is divided in the both ends of cross bar 722.In structure,
Elevating lever 72 drives cross bar 722 to make elevating movement, and installation foundation of 722 one side of cross bar as support wheel 73, another aspect,
It is located at 62 lower section of vertical guide, can form positioning to the rising of elevating lever 72 and the decline of vehicle frame 1.
In the present embodiment, the front and rear part of vehicle frame 1 offers the hollow out evacuation passed through for the lifting walking mechanism 7 of front and back end
Portion 11.The hollow out relief portion 11 is used for lifting walking mechanism 7 in lifting process and passes through, and on the one hand avoids the formation of interference；Separately
On the one hand consumptive material can be saved.
Although the present invention is disclosed as above with preferred embodiment, however, it is not intended to limit the invention.It is any to be familiar with ability
The technical staff in domain, without deviating from the scope of the technical scheme of the present invention, all using the technology contents pair of the disclosure above
Technical solution of the present invention makes many possible changes and modifications, or is revised as the equivalent embodiment of equivalent variations.Therefore, every
Without departing from the content of technical solution of the present invention, according to the present invention technical spirit any simple modification made to the above embodiment,
Equivalent variations and modification, all shall fall within the protection scope of the technical scheme of the invention.
Claims (3)
1. a kind of auxiliary wheel lifts barrier-surpassing robot, including vehicle frame（1）, the vehicle frame（1）It is installed in the both sides of front end
Two front driving wheels（2）, vehicle frame（1）There are two rear drive sprockets for both sides installing in rear end（3）, it is characterised in that：The vehicle
Frame（1）In the both sides of front and back end, also there are two preceding auxiliary wheels for installing respectively（4）With two after auxiliary wheel（5）, assisted before described
Wheel（4）With rear auxiliary wheel（5）Positioned at front driving wheel（2）And rear drive sprocket（3）Between, the vehicle frame（1）On be installed with guiding branch
Support（6）, the guide support frame（6）Front and back end be installed with can independent-lifting and traveling lifting walking mechanism（7）, preceding
The lifting walking mechanism at end（7）Positioned at front driving wheel（2）With preceding auxiliary wheel（4）Between, the lifting walking mechanism of rear end（7）It is located at
Auxiliary wheel afterwards（5）And rear drive sprocket（3）Between, the guide support frame（6）Including holder（61）And vertical guide（62）, described
Holder（61）It is packed in vehicle frame（1）On, the vertical guide（62）It is divided in holder（61）Rear and front end, the institute of rear and front end
State lifting walking mechanism（7）Respectively with the vertical guide of respective end（62）It is sliding, the lifting walking mechanism（7）Including driving portion
Part（71）, elevating lever（72）And support wheel（73）, the driving part（71）It is installed in vertical guide（62）On, the elevating lever
（72）It is sliding to be mounted in vertical guide（62）Interior and and driving part（71）Connection, the support wheel（73）It is installed in elevating lever（72）Bottom
Portion, the elevating lever（72）Including upright bar（721）And cross bar（722）, the upright bar（721）It is sliding to be mounted in vertical guide（62）Inside simultaneously
With driving part（71）Connection, the cross bar（722）It is packed in upright bar（721）Bottom, the support wheel（73）It is divided in cross bar
（722）Both ends.
2. auxiliary wheel according to claim 1 lifts barrier-surpassing robot, it is characterised in that：The holder（61）Including vertical
Column（611）And crossbeam（612）, the column（611）It is packed in vehicle frame（1）On, the crossbeam（612）It is fixedly mounted with column（611）Top
Portion, the vertical guide（62）It is divided in crossbeam（612）Rear and front end.
3. auxiliary wheel according to claim 1 or 2 lifts barrier-surpassing robot, it is characterised in that：The vehicle frame（1）Before
Rear portion offers the lifting walking mechanism for front and back end（7）The hollow out relief portion passed through（11）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611084386.4A CN106627829B (en) | 2016-11-30 | 2016-11-30 | Auxiliary wheel lifts barrier-surpassing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611084386.4A CN106627829B (en) | 2016-11-30 | 2016-11-30 | Auxiliary wheel lifts barrier-surpassing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106627829A CN106627829A (en) | 2017-05-10 |
| CN106627829B true CN106627829B (en) | 2018-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611084386.4A Active CN106627829B (en) | 2016-11-30 | 2016-11-30 | Auxiliary wheel lifts barrier-surpassing robot |
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| CN107157408A (en) * | 2017-06-23 | 2017-09-15 | 黄娉 | A kind of strong Intelligent sweeping machine device people of traveling ability based on Internet of Things |
| CN107264669A (en) * | 2017-06-26 | 2017-10-20 | 徐州乐泰机电科技有限公司 | A kind of obstacle detouring moving trolley |
| CN107288166A (en) * | 2017-08-16 | 2017-10-24 | 徐州乐泰机电科技有限公司 | Transport transhipment loads forklift |
| CN109229224B (en) * | 2018-09-20 | 2023-09-05 | 深圳大学 | Control system and control method of full-automatic ladder climbing robot |
| CN109850029B (en) * | 2019-02-28 | 2024-04-02 | 深圳大学 | Stair climbing robot and stair climbing control method thereof |
| CN112829844A (en) * | 2021-01-05 | 2021-05-25 | 中国长江电力股份有限公司 | Intelligent stair climbing carrying robot and method |
| CN113086883A (en) * | 2021-03-31 | 2021-07-09 | 安徽中致物流发展有限公司 | Movable freight transport elevating platform |
| CN113247142B (en) * | 2021-06-01 | 2022-09-16 | 哈尔滨工业大学 | Step class robot is strideed across to telescopic high efficiency |
| CN113615419B (en) * | 2021-10-12 | 2021-12-14 | 徐州帝威伦新型建材有限公司 | Take branch and leaf to collect gardens step operation device for afforestation construction of function |
| CN113895537B (en) * | 2021-10-15 | 2022-10-14 | 山东科技大学 | Wheel-foot type obstacle crossing robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202191423U (en) * | 2011-08-26 | 2012-04-18 | 张秀川 | Wheel chair capable of climbing stairs |
| CN104207899B (en) * | 2014-03-27 | 2016-08-24 | 刘继伦 | Stair climbing wheelchair |
| CN104814842A (en) * | 2015-04-21 | 2015-08-05 | 东华大学 | Intelligent horizontal-attitude stair-climbing wheelchair and rotary stair-climbing method |
| CN105293371B (en) * | 2015-11-30 | 2017-09-12 | 杭州西湖电子研究所 | A kind of method for detecting the motor-driven upper and lower female car of dolly |
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