CN202557647U

CN202557647U - Mechanical stairs climbing device

Info

Publication number: CN202557647U
Application number: CN201220194331XU
Authority: CN
Inventors: 李海伟; 黄之文; 翟东婷; 朱坚民; 李孝茹; 李付才; 沈正强; 周冬儿; 毛得吉
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2012-05-03
Filing date: 2012-05-03
Publication date: 2012-11-28
Anticipated expiration: 2022-05-03

Abstract

The utility model relates to a mechanical stairs climbing device. The mechanical stairs climbing device comprises a front machine body, a rear machine body, machine body connecting components, four five-star-shaped wheel legs, four direct-current servo motors and wheel leg fixing components, and has the characteristics that the front machine body and the rear machine body are integrally connected through the machine body connecting components; four five-star-shaped wheel legs are fixed to two sides of the front machine body and the rear machine body through wheel leg fixing components, respectively; and each five-star-shaped wheel leg is in transmission connection with the direct-current servo motors which are fixed to the machine body. According to the mechanical stairs climbing device, each five-star-shaped wheel leg comprises five wheel rods; and the five wheel rods have the same included angle therebetween, and the extension length of the wheel rods can be adjusted; five-step stairs can be climbed since the five-star-shaped wheel legs turns in a cycle. The mechanical stairs climbing device has high efficiency on stairs climbing, and can be adapted to outdoor unsmooth terrain well; and the mechanical stairs climbing device can be served as a platform for a mobile robot for carrying out post-disaster searching and rescuing, wild searching, and environmental surveying.

Description

Stair climbing machinery device

Technical field

The utility model relates to a kind of robot, especially relates to a kind of stair climbing machinery device.

Background technology

Along with the needs in science and technology development and the reality; The researchist has developed the multiple robot carrier that can adapt to complex-terrain; Also can be called the mobile robot; Can replace the people to accomplish a few thing in dangerous, abominable, deletrious place, such as work such as post-disaster search and rescue, open-air search, environment detections.Because the landform more complicated in above-mentioned operation place, therefore the driveability to physical construction has very high requirement, as want can stair activity, cross requirements such as obstacle, turn radius are little.

At present, adopt crawler belt or crawler belt and wheeled structure combining to satisfy the requirement of above-mentioned proposition driveability more, but also exist deficiency in actual use.A kind of the condition of a disaster robot of following of one Chinese patent application number 201010248695.7 propositions; Adopt the mode of going of crawler belt; This robotlike goes on comparatively smooth ground, and the picture stair activity, to cross complex-terrain working opportunitys such as obstacle less, and the efficient when speeling stairway and stationarity are not high enough; Particularly fuselage tilts easily when turning to, even the overturning phenomenon occurs.Simultaneously, caterpillar belt structure is when turning to, and crawler belt is in contact with it face can produce very big slide relative, and particularly under the situation of pivot stud, the amplitude of slide relative is bigger, can produce bigger friction force, therefore requires the driving power of robot carrier bigger.And when under surface condition more complicated situation, going, turning to can be more difficult, the crawler belt obscission usually can occur, sometimes even can produce that drive motor burns out because of long term overloading or crawler belt such as tears at problem.

A kind of adaptation complex-terrain robot movement carrier that Chinese patent CN2186639Y proposes; Its structure of going is crawler belt and the wheeled mode that combines; Actv. has solved and on complicated ground, has turned to difficulty and the caducous problem of crawler belt; Running efficiency in ground grading is higher, and still, the problem that efficient is lower when speeling stairway, stability is bad does not still effectively solve.

Summary of the invention

The utility model is that a kind of stair climbing machinery device will be provided, and this device can improve the efficient of speeling stairway, and can adapt to the landform of multiple complicacy, can be used as post-disaster search and rescue, open-air search, environment detection mobile robot's platform.

For realizing above-mentioned purpose, the technical scheme of the utility model is following:

A kind of stair climbing machinery device; Comprise forebody, rear body, fuselage link, four five star gear legs, four DC servo motors and take turns the leg fixed parts; Be characterized in: forebody and rear body connect as one through the fuselage link; Four five star gear legs are fixed on the forward and backward fuselage both sides through wheel leg fixed parts respectively, and each five star gear leg is in transmission connection with the DC servo motor that is fixed on the fuselage.

Five star gear legs comprise five wheel bars, rubber wheel, and wheel body is evenly equipped with five elongate rod on the wheel body periphery, and adjustable connection wheel bar is equipped with rubber wheel on the wheel bar front end on the elongate rod.

Wheel leg fixed parts comprises motor fixing plate, wheel leg adapter plate, wheel leg bearing seat, transmission shaft, bearing cover, bearing a; Wheel leg adapter plate is captiveed joint with fuselage; The forward and backward both sides of its L-square are captive joint wheel leg bearing seat and motor fixing plate respectively; Through bearing a transmission shaft is installed in the wheel leg bearing seat, wheel leg bearing seat front end is equipped with bearing cover, captive joint DC servo motor on the motor fixing plate aft end face; Captive joint with the DC servo motor output shaft through coupler in the transmission shaft rear end, the transmission shaft front end is captiveed joint with the wheel body of five star gear legs.

The fuselage link comprises that adapter shaft, adapter shaft bearing, connecting panel a, connecting panel b, bearing b, connecting panel b and connecting panel a are separately fixed on the forward and backward fuselage; Connecting panel a goes up captive joint adapter shaft bearing; Connecting panel b goes up the captive joint adapter shaft, is connected through bearing b between adapter shaft bearing and the adapter shaft.

The utility model and prior art compare, and its advantage and beneficial effect are:

Integral structure is simple, can regulate the extension of five star gear leg wheel bars according to the difference of the face of land situation of going, and improves operating efficiency and running stability.A kind of stair climbing machinery device that the utility model proposes through controlling the drive motor velocity of rotation and the direction of different wheel legs, can be realized pivot stud, and mode realizes easily.During speeling stairway, five star gear leg revolutions are crossed the stair that can climb five steps a week, and efficient is very high, and forward and backward fuselage can freely rotate around the axis of adapter shaft, has improved the cruising characteristic in the speeling stairway process.

Description of drawings

Fig. 1 is the structural upright scheme drawing of the utility model;

Fig. 2 is the structure cutaway view of fuselage link;

Fig. 3 is the structure cutaway view of wheel leg fixed parts;

Fig. 4 is the wheel body structural representation of five star gear legs;

Fig. 5 is along the cutaway view of A-A among Fig. 4;

Fig. 6 is the wheel bar structural representation of five star gear legs;

The structural representation of Fig. 7 transmission shaft.

The specific embodiment

Below in conjunction with accompanying drawing and embodiment the utility model is described further, but should limit the protection domain of the utility model with this.

Like Fig. 1, shown in 3, the stair climbing of the utility model machinery device comprises forebody 1, rear body 4, fuselage link, four five star gear legs, four DC servo motors 3 and takes turns the leg fixed parts.

The fuselage link connects as one forebody 1 and rear body 4; Four five identical star gear legs are fixed on forward and backward fuselage 1 through wheel leg fixed parts; On 4; Motor fixing plate 12 is fixed on DC servo motor 3 on the fuselage, and DC servo motor 3 output shafts link to each other with transmission shaft 15 through coupler 11, and the employing key is connected transmitting torque between transmission shaft 15 and the five star gear legs; Each five star gear leg comprises five wheel bars 2, and the equal extension of the angle between the wheel bar 2 can be adjusted, and five star gear legs turn over a week, can realize climbing the stair of five steps.

Like Fig. 1, shown in 2, the fuselage link comprises: adapter shaft 7, adapter shaft bearing 6, connecting panel a5, connecting panel b8, bearing b20, circlip for shaft b21 and circlip for bore 22.Adapter shaft 7 is processed with measure-alike tapped bore respectively with connecting panel b8; Adopt bolt that it is fastened as one; Adapter shaft 7 is a stepped shaft, and bearing b20 is installed on the axle journal of adapter shaft 7, realizes the axial restraint to bearing inner ring through the shaft shoulder and circlip for shaft b21; Adapter shaft bearing 6 is one with connecting panel a5 through bolted; And the outer ring of bearing b20 is installed in the adapter shaft bearing 6; Adopt circlip for bore 22 to its outer ring axial restraint; Adopt bolt that connecting panel b8 and connecting panel a5 are separately fixed on the forward and backward fuselage at last, realize connection forward and backward fuselage.After the fuselage link connected as one forebody 1 and rear body 4, forward and backward fuselage can freely rotate around the axis of adapter shaft 7, effectively improved the running stability of stair climbing machinery device.

As shown in Figure 3, wheel leg fixed parts comprises: wheel leg adapter plate 13, wheel leg bearing seat 14, transmission shaft 15, bearing cover 16, pad 17, circlip for shaft a18, bearing a19.The inner ring of bearing a19 is installed on the axle journal of transmission shaft 15; Realize the axial restraint of bearing a19 inner ring with the circlip for shaft a18 and the shaft shoulder; Outer ring with bearing a19 is installed in the wheel leg bearing seat 14 again; Bearing cover 16 passes through bolted with wheel leg bearing seat 14, realizes the axial restraint to bearing a19 outer ring; One end of transmission shaft 15 is processed with keyway, adopts general flat key a23 and wheel body 10 endoporus to cooperate, and is through bolt and pad 17 that it is fastening; Wheel axis fixing plate 13 passes through bolted with wheel leg bearing seat 14, will take turns leg adapter plate 13 at last and pass through bolted on fuselage.DC servo motor 3 and motor fixing plate 12 be through bolted, and an end of coupler 11 is installed on DC servo motor 13 output shafts, and coupler 11 cooperates with general flat key b24 on the DC servo motor 13; The other end be processed with tapped bore and with transmission shaft 15 cooperations; The end that transmission shaft 15 cooperates with coupler 11 is processed with the plane; As shown in Figure 7, after the installation bolt screwed in the tapped bore of coupler 11, bolt compresses the plane of transmission shaft 15; Realize fastening and transmitting torque, adopt bolt that motor fixing plate 12 is fastening with wheel leg adapter plate 13 at last.

Extremely shown in Figure 6 like Fig. 3; Wheel body 10 is welded with the thin bar that five angles equate; The wheel rod sleeve 2a of wheel bar 2 is installed on each thin bar; And use screw in compression, the size that face of land situation adjusting wheel bar 2 in the time of can moving according to stair climbing machinery device and thin bar overlap realizes the adjustment of wheel leg size; Rubber wheel 9 is through being bolted to the end of wheel bar.During operation, take turns the velocity of rotation and the direction of the DC servo motor 3 that leg links to each other, realize promptly adopting the velocity contrast realization of four servomotors to turn to rotary head of stair climbing machinery device and the control that turns to through control and each.

The material of forebody, rear body, fuselage link, five star gear legs and wheel leg fixed parts is an aluminum alloy, and the each several part connection mode is bolted connection.

Claims

1. stair climbing machinery device; Comprise forebody (1), rear body (4), fuselage link, four five star gear legs, four DC servo motors (3) and wheel leg fixed partss; It is characterized in that: said forebody (1) and rear body (4) connect as one through the fuselage link; Four five star gear legs are fixed on forward and backward fuselage (1 through wheel leg fixed parts respectively; 4) on the both sides, and each five star gear leg is in transmission connection with the DC servo motor (3) that is fixed on the fuselage.

2. stair climbing machinery device according to claim 1; It is characterized in that: said five star gear legs comprise five wheel bars (2); Rubber wheel (9), wheel body (10) is evenly equipped with five elongate rod on wheel body (10) periphery; Adjustable connection wheel bar (2) on the elongate rod is equipped with rubber wheel (9) on wheel bar (2) front end.

3. stair climbing machinery device according to claim 1; It is characterized in that: the said leg fixed parts of taking turns comprises motor fixing plate (12), wheel leg adapter plate (13), wheel leg bearing seat (14), transmission shaft (15), bearing cover (16), bearing a (19); Wheel leg adapter plate (13) is captiveed joint with fuselage; The forward and backward both sides of its L-square are captive joint wheel leg bearing seat (14) and motor fixing plate (12) respectively; Through bearing a (19) transmission shaft (15) is installed in the wheel leg bearing seat (14); Wheel leg bearing seat (14) front end is equipped with bearing cover (16); Captive joint DC servo motor (3) on motor fixing plate (12) aft end face, captive joint with DC servo motor (3) output shaft through coupler (11) in transmission shaft (15) rear end, and transmission shaft (15) front end is captiveed joint with the wheel body (10) of five star gear legs.

4. stair climbing machinery device according to claim 1; It is characterized in that: said fuselage link comprises that adapter shaft (7), adapter shaft bearing (6), connecting panel a (5), connecting panel b (8), bearing b (20), connecting panel b (8) and connecting panel a (5) are separately fixed at forward and backward fuselage (1; 4) on; Connecting panel a (5) goes up captive joint adapter shaft bearing (6); Connecting panel b (8) goes up captive joint adapter shaft (7), is connected through bearing b (20) between adapter shaft bearing (6) and the adapter shaft (7).