CN114044061A - Stair climbing robot - Google Patents
Stair climbing robot Download PDFInfo
- Publication number
- CN114044061A CN114044061A CN202111425156.0A CN202111425156A CN114044061A CN 114044061 A CN114044061 A CN 114044061A CN 202111425156 A CN202111425156 A CN 202111425156A CN 114044061 A CN114044061 A CN 114044061A
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- lifting
- plate
- cross beam
- stair climbing
- climbing robot
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- 230000009194 climbing Effects 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000002493 climbing effect Effects 0.000 description 2
- 239000012770 industrial material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000969 carrier Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Handcart (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a stair climbing robot which comprises a cross beam, a vehicle carrying plate arranged above the cross beam, linear driving parts rotatably arranged on two sides of the cross beam and a lifting part positioned at the front end of the carrier plate, wherein each linear driving part comprises an outer side plate fixed on two sides of the cross beam and a linear crawler rotatably arranged on the outer side plate, and each lifting part comprises a lifting plate rotatably arranged at the front end of the carrier plate and a lifting crawler rotatably arranged on the lifting plate. According to the invention, the lifting part is arranged, so that the whole mechanism can be lifted, the transportation of goods is facilitated, and meanwhile, the lifting part is controlled by the lifting cylinder, and the lifting angle is controllable; the linear driving part of the invention provides main power and provides power for the whole mechanism, so that the whole mechanism moves; the two motors are arranged on the cross beam and are controlled independently, and the steering of the whole mechanism can be realized by controlling the rotating speed of the motors.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a stair climbing robot.
Background
In daily work and life, a lot of articles for daily use or industrial materials need to go to stairs in the carrying process, particularly in places such as subways or railway stations, tourist attractions and the like, the articles for daily use or the industrial materials need to go up and down the stairs repeatedly without elevators, and great burden is caused to carriers.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome one of the technical problems in the above-mentioned technology, the present invention provides a stair climbing robot, comprising,
the lifting mechanism comprises a cross beam, a vehicle carrying plate arranged above the cross beam, linear driving parts rotatably arranged on two sides of the cross beam and a lifting part located at the front end of the carrier plate, wherein the linear driving parts comprise outer side plates fixed on two sides of the cross beam and linear tracks rotatably arranged on the outer side plates, and the lifting part comprises a lifting plate rotatably arranged at the front end of the carrier plate and a lifting track rotatably arranged on the lifting plate.
Further, the vehicle carrying board comprises a handheld part and a bearing part movably connected with the handheld part, wherein,
the bearing part comprises a grid plate arranged on the cross beam and a bearing plate fixedly arranged above the grid plate;
the handheld part comprises a handheld frame and a baffle fixed on the handheld frame.
Furthermore, a movable seat is hinged on the beam, a direct-push cylinder is hinged on the movable seat, wherein,
and a piston rod of the direct-push cylinder is hinged on the grid plate.
Furthermore, an adjusting rod is arranged in the hand-held frame in a sliding way, a locking hole is arranged on the hand-held frame, wherein,
the bolt passes through the locking hole to fix the adjusting rod in the handheld frame.
Furthermore, a rubber sleeve is sleeved on the adjusting rod.
Furthermore, the linear driving part also comprises a motor fixed on the beam and driving rollers rotatably arranged at two ends of the outer side plate, wherein,
the linear crawler is rotatably arranged on the driving roller, and the motor is in transmission connection with the driving roller.
Furthermore, a bearing plate is arranged between the cross beams, wherein,
and a battery is fixed on the bearing plate and electrically connected with the motor.
Furthermore, driven wheels are arranged at two ends of the lifting plate in a rotating way, wherein,
the lifting crawler is rotatably arranged on the driven wheel.
Furthermore, a movable plate extends from the beam, a lifting cylinder is fixed on the movable plate, wherein,
and the piston of the lifting cylinder is fixedly connected with the lifting plate.
Further, the diameter of the driven wheel close to the cross beam is larger than the size of the conveying driven wheel far away from the cross beam.
Has the advantages that: the invention relates to a stair climbing robot which can be applied to various industries, such as cargo moving, investigation, exploration, disaster relief and the like. According to the invention, the lifting part is arranged, so that the whole mechanism can be lifted, the transportation of goods is facilitated, and meanwhile, the lifting part is controlled by the lifting cylinder, and the lifting angle is controllable; the linear driving part of the invention provides main power and provides power for the whole mechanism, so that the whole mechanism moves; the two motors are arranged on the cross beam and are controlled independently, and the steering of the whole mechanism can be realized by controlling the rotating speed of the motors.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic view of the linear driving portion and the lifting portion of the present invention;
FIG. 4 is a schematic view of a vehicle carrying board structure according to the present invention;
in the figure:
1000. the cross beam, 1100, a car carrying plate, 1110, a handheld part, 1111, a handheld frame, 1112, a baffle, 1113, an adjusting rod, 1114, a bolt, 1115, a locking hole, 1116, a rubber sleeve, 1120, a bearing part, 1121, a grid plate, 1122, a bearing plate, 1123, a movable seat, 1124, a direct-pushing cylinder, 1200, a linear driving part, 1210, an outer side plate, 1220, a driving roller, 1230, a linear crawler belt, 1240, a motor, 1300, a lifting part, 1310, a lifting plate, 1320, a lifting crawler belt, 1330, a driven wheel, 1340, a lifting cylinder, 1400, a bearing plate, 1410, a battery, 1500 and a movable plate.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. In the description of the present invention, it is to be understood that the terms "upper", "top", "bottom", and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, which is for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be taken as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
Example one
As shown in fig. 1 to 4, the present invention provides a stair climbing robot, including a cross beam 1000, a vehicle carrying board 1100 disposed above the cross beam 1000, linear driving portions 1200 rotatably disposed on both sides of the cross beam 1000, and a lifting portion 1300 located at a front end of the carrier board, where the linear driving portions 1200 include outer side boards 1210 fixed on both sides of the cross beam 1000 and linear crawlers 1230 rotatably disposed on the outer side boards 1210, and the lifting portion 1300 includes a lifting board 1310 rotatably disposed at a front end of the carrier board and a lifting crawler 1320 rotatably disposed on the lifting board 1310.
The vehicle carrying board 1100 comprises a handheld portion 1110 and a carrying portion 1120 movably connected with the handheld portion 1110, wherein the carrying portion 1120 comprises a grid plate 1121 arranged on the cross beam 1000 and a carrying board 1122 fixedly arranged above the grid plate 1121; the hand-held portion 1110 includes a hand-held frame 1111 and a baffle 1112 fixed to the hand-held frame 1111. The handheld portion 1110 can be hinged or fixed on the bearing plate 1122 through the handheld frame 1111, and the handheld portion 1110 can be set to rotate at different angles according to the climbing angle. The carrier plate 1122 is suitable for placing cargo or standing personnel to perform a stair climbing action.
A movable seat 1123 is hinged on the cross beam 1000, a direct pushing cylinder 1124 is hinged on the movable seat 1123, wherein a piston rod of the direct pushing cylinder 1124 is hinged on the grid plate 1121. In order to turn the bearing plate 1122, a direct pushing cylinder 1124 is provided, the piston of the direct pushing cylinder 1124 is pushed out, and the bearing plate 1122 rotates, so that the goods can be conveniently detached from the bearing plate 1122. The grid plate 1121 enhances the strength of the bearing plate 1122 and improves the bearing capacity of the bearing plate 1122.
An adjusting rod 1113 slides in the handheld frame 1111, and a locking hole 1115 is formed in the handheld frame 1111, wherein a bolt 1114 passes through the locking hole 1115 to fix the adjusting rod 1113 in the handheld frame 1111. The adjusting rod 1113 in the handheld rack 1111 can move up and down to adjust the height of the adjusting rod 1113, so that the handheld rack is convenient for people to support. In order to facilitate the holding of the adjusting rod 1113, the adjusting rod 1113 is sleeved with a rubber sleeve 1116, which plays a role of anti-skidding.
The linear driving part 1200 further includes a motor 1240 fixed on the cross member 1000 and driving rollers 1220 rotatably disposed at two ends of the outer side plate 1210, wherein the linear caterpillar 1230 is rotatably disposed on the driving rollers 1220, and the motor 1240 is in transmission connection with the driving rollers 1220. The two motors 1240 are arranged on the beam 1000, the two motors 1240 respectively drive the driving rollers 1220 on the two sides to rotate, the driving rollers 1220 respectively drive the linear crawler 1230 to rotate, the speeds of the two motors 1240 can be controlled, and the steering or straight movement of the whole mechanism can be realized. The outer plates 1210 are located at both sides of the driving roller 1220.
A bearing plate 1400 is further disposed between the cross beams 1000, wherein a battery 1410 is fixed on the bearing plate 1400, and the battery 1410 is electrically connected with the motor 1240. The support plate 1400 is used to house a battery 1410, and the battery 1410 can be used to store electricity to power the motor 1240.
A movable plate 1500 extends from the cross beam 1000, and a lifting cylinder 1340 is fixed on the movable plate 1500, wherein a piston of the lifting cylinder 1340 is fixedly connected to the lifting plate 1310. The lifting cylinder 1340 can drive the lifting plate 1310 to rotate up and down, so that stairs climbing at different angles can be realized, and daily requirements are met. The lift plates 1310 are located on either side of the driven wheel 1330.
To better achieve the stair climbing effect, the diameter of the driven wheel 1330 near the cross beam 1000 is larger than the size of the conveying driven wheel 1330 far from the cross beam 1000. The size of the driven wheel 1330 at the front end is larger than that of the driven wheel 1330 at the rear end, so that the lifting crawler 1320 is obliquely arranged, and the lifting crawler 1320 is conveniently erected on a stair.
The working principle is as follows:
the motor 1240 drives the linear track 1230 to rotate and the linear track 1230 provides the power for the entire mechanism. When the stair climbing is needed, goods are placed on the bearing plate 1122, the lifting cylinder 1340 drives the movable plate 1500 to rotate to a required angle, so that the lifting crawler 1320 is erected on the stair, the motor 1240 drives the linear crawler 1230 to rotate, the linear crawler 1230 drives the whole mechanism to move, the whole mechanism upwards climbs under the guidance of the lifting crawler 1320, and in the climbing process, the lifting cylinder 1340 continuously rotates to adjust the angle between the lifting crawler 1320 and the linear crawler 1230, so that the stair can stably move. When the entire mechanism needs to be rotated, the rotation speeds of the two motors 1240 are controlled, thereby achieving the steering of the entire mechanism.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A stair climbing robot is characterized by comprising,
the lifting mechanism comprises a cross beam, a vehicle carrying plate arranged above the cross beam, linear driving parts rotatably arranged on two sides of the cross beam and a lifting part located at the front end of the carrier plate, wherein the linear driving parts comprise outer side plates fixed on two sides of the cross beam and linear tracks rotatably arranged on the outer side plates, and the lifting part comprises a lifting plate rotatably arranged at the front end of the carrier plate and a lifting track rotatably arranged on the lifting plate.
2. The stair climbing robot according to claim 1,
the vehicle carrying board comprises a handheld part and a bearing part movably connected with the handheld part, wherein,
the bearing part comprises a grid plate arranged on the cross beam and a bearing plate fixedly arranged above the grid plate;
the handheld part comprises a handheld frame and a baffle fixed on the handheld frame.
3. The stair climbing robot according to claim 2,
the beam is hinged with a movable seat, the movable seat is hinged with a direct-push cylinder, wherein,
and a piston rod of the direct-push cylinder is hinged on the grid plate.
4. The stair climbing robot according to claim 2,
the adjustable clamp is characterized in that an adjusting rod slides in the handheld frame, a locking hole is formed in the handheld frame, and a bolt penetrates through the locking hole to fix the adjusting rod in the handheld frame.
5. The stair climbing robot according to claim 4,
the adjusting rod is sleeved with a rubber sleeve.
6. The stair climbing robot according to claim 1,
the linear driving part also comprises a motor fixed on the beam and driving rollers rotatably arranged at two ends of the outer side plate, wherein,
the linear crawler is rotatably arranged on the driving roller, and the motor is in transmission connection with the driving roller.
7. The stair climbing robot according to claim 6,
a bearing plate is also arranged between the cross beams, wherein,
and a battery is fixed on the bearing plate and electrically connected with the motor.
8. The stair climbing robot according to claim 1,
driven wheels are arranged at the two ends of the lifting plate in a rotating way, wherein,
the lifting crawler is rotatably arranged on the driven wheel.
9. The stair climbing robot according to claim 8,
a movable plate extends from the beam, a lifting cylinder is fixed on the movable plate, wherein,
and the piston of the lifting cylinder is fixedly connected with the lifting plate.
10. The stair climbing robot according to claim 8,
the diameter of the driven wheel close to the cross beam is larger than the size of the conveying driven wheel far away from the cross beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111425156.0A CN114044061A (en) | 2021-11-27 | 2021-11-27 | Stair climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111425156.0A CN114044061A (en) | 2021-11-27 | 2021-11-27 | Stair climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114044061A true CN114044061A (en) | 2022-02-15 |
Family
ID=80211286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111425156.0A Pending CN114044061A (en) | 2021-11-27 | 2021-11-27 | Stair climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN114044061A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2253562A1 (en) * | 2009-05-13 | 2010-11-24 | Rector Lesage S.A. | Device for transporting prefabricated flat objects. |
| CN107640235A (en) * | 2017-06-23 | 2018-01-30 | 中北大学 | A kind of loading robot that can be moved and can and climb building |
| CN108202775A (en) * | 2018-03-12 | 2018-06-26 | 湖南中矿金禾机器人研究院有限公司 | A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis |
| CN108327749A (en) * | 2018-04-23 | 2018-07-27 | 冬之阳 | A kind of Multifunction tow |
| CN109091319A (en) * | 2018-09-14 | 2018-12-28 | 青岛护适通医疗科技有限公司 | A kind of track type climbing-building wheelchair |
| CN111496759A (en) * | 2020-03-18 | 2020-08-07 | *** | Anti-collision obstacle-crossing line inspection robot based on remote control system |
| CN112298303A (en) * | 2020-10-17 | 2021-02-02 | 张家港市合瑞医疗器械有限公司 | Stable-support type electric stair-climbing wagon |
-
2021
- 2021-11-27 CN CN202111425156.0A patent/CN114044061A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2253562A1 (en) * | 2009-05-13 | 2010-11-24 | Rector Lesage S.A. | Device for transporting prefabricated flat objects. |
| CN107640235A (en) * | 2017-06-23 | 2018-01-30 | 中北大学 | A kind of loading robot that can be moved and can and climb building |
| CN108202775A (en) * | 2018-03-12 | 2018-06-26 | 湖南中矿金禾机器人研究院有限公司 | A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis |
| CN108327749A (en) * | 2018-04-23 | 2018-07-27 | 冬之阳 | A kind of Multifunction tow |
| CN109091319A (en) * | 2018-09-14 | 2018-12-28 | 青岛护适通医疗科技有限公司 | A kind of track type climbing-building wheelchair |
| CN111496759A (en) * | 2020-03-18 | 2020-08-07 | *** | Anti-collision obstacle-crossing line inspection robot based on remote control system |
| CN112298303A (en) * | 2020-10-17 | 2021-02-02 | 张家港市合瑞医疗器械有限公司 | Stable-support type electric stair-climbing wagon |
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Application publication date: 20220215 |
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| RJ01 | Rejection of invention patent application after publication |