CN209757305U - Crawler-type stair climbing robot - Google Patents
Crawler-type stair climbing robot Download PDFInfo
- Publication number
- CN209757305U CN209757305U CN201822204870.7U CN201822204870U CN209757305U CN 209757305 U CN209757305 U CN 209757305U CN 201822204870 U CN201822204870 U CN 201822204870U CN 209757305 U CN209757305 U CN 209757305U
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- sleeved
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- 230000009194 climbing Effects 0.000 title claims description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 8
- 244000309464 bull Species 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a crawler-type stair-climbing robot, which comprises a machine body, wherein the left and right sides of the top of the front end of the machine body are relatively provided with a driving wheel I, the left and right sides of the top of the rear end of the machine body are relatively provided with a positioning wheel II, the left and right sides of the bottom of the front end of the machine body are relatively provided with a driving wheel II, the driving wheel I and the driving wheel II are driven by a driving mechanism, the rear end of the machine body inclines forwards from top to bottom, the left and right sides of the bottom of the rear end of the machine body are respectively and rotatably provided with a steering support plate, the free end of the steering support plate is vertically provided with a driven wheel, the steering support plate is provided with a sliding groove IV with a sliding block III along the length direction, the middle part of the rear end of the machine body is vertically provided with a telescopic mechanism which is rotatably connected with the sliding block, the, the two crawler belts are respectively sleeved on the driving wheel I, the positioning wheel, the driving wheel II and the balance wheel on the left side and the right side; the robot turns without slipping.
Description
Technical Field
The utility model relates to an electric power robot field, in particular to crawler-type stair climbing robot.
Background
Wheel type, crawler type and leg type moving mechanisms are the three moving mechanisms which are most researched and are most widely applied to moving machines at present. The wheel type mobile robot has the characteristics of simple structure, high moving speed, strong maneuverability and the like, but is only suitable for running on a flat ground and cannot go up and down stairs and cross a trench. The crawler mobile robot has the characteristics of good stability, capability of walking on uneven ground and crossing objects and climbing over large slopes or steps, but the operation of the moving direction of the crawler mobile mechanism is controlled by the speed difference of the left and right crawler, so that the problems of sliding, large resistance, poor steering radius and poor centrality and the like can occur during steering. Meanwhile, the robot is generally huge in size and weight and is difficult to adapt to a special environment in a narrow space to execute a special task. The robot with small volume has poor stability and weak obstacle crossing capability. The legged mobile robot is a walking robot with feet similar to people, animals or insects, and has two feet, four feet, six feet, multiple feet and other forms. However, the control of the leg moving mechanism is complicated, the related art is not mature, and the cost is expensive.
Robots used in a transformer station in the power industry are mainly wheel type outdoor robots or indoor track type robots. The rail robot requires a rail and corresponding equipment to be arranged indoors, which also limits it to perform tasks only in specific areas. The wheeled robot can not complete the full coverage of the transformer substation, and is difficult to move in the field severe road environment.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a crawler-type stair climbing robot can not skid when turning to, and small stability is good, hinders the ability reinforce more.
The utility model aims at realizing through the following technical scheme:
The crawler-type stair climbing robot comprises a robot body, wherein the left side and the right side of the top of the front end of the robot body are oppositely provided with a first driving wheel, the left side and the right side of the top of the rear end of the robot body are oppositely provided with a second driving wheel, the first driving wheel and the second driving wheel are driven by a driving mechanism, the rear end of the robot body gradually inclines forwards from top to bottom, the left side and the right side of the bottom of the rear end of the robot body are respectively and rotatably provided with a vertical steering support plate, the free end of the steering support plate is vertically provided with a driven shaft, the driven shaft is sleeved with a driven wheel, the steering support plate is provided with a fourth sliding groove along the length direction of the steering support plate, the fourth sliding groove is internally provided with a third sliding block, the middle part of the rear end of the robot body is vertically provided with a telescopic mechanism, the improved spinning frame is characterized in that a pushing slider is arranged in the five sliding grooves, a pushing spring is vertically arranged in the five sliding grooves in the upper portion of the pushing slider, a fixed supporting plate is connected to the lower portion of the pushing slider, the bottom end of the fixed supporting plate is connected with the middle of a balance frame in a rotating mode, the balance frame is arranged in the front-back direction of the frame, balance shafts are arranged at the two ends of the balance frame respectively, a vertically-arranged balance wheel is sleeved on each balance shaft, elastic telescopic rods are arranged between the two ends of the balance frame and the front side and the back side of the upper portion of the fixed supporting plate respectively, a track sleeve is arranged on the first left driving wheel, the second driving wheel and the balance wheel, and the.
Further, actuating mechanism includes engine, driving shaft, drive shaft, band pulley one, band pulley two and belt, be equipped with a transmission chamber on the fuselage, the engine is two and sets up the left and right sides in the transmission chamber respectively, the engine output links to each other with the driving shaft, and two drive wheels one, two drive wheels two overlap respectively on four drive shafts, and four drive shafts all set up along the fuselage left and right sides direction with the driving shaft, the band pulley one set is established on the drive shaft, the band pulley two sets are established on the driving shaft, and two belts overlap respectively and establish on left two band pulleys one and band pulley two, and two other belts overlap respectively and establish on two band pulleys one and band pulley two on right side.
Further, the left driving shaft and the right driving shaft are opposite and the axes of the left driving shaft and the right driving shaft are coincident, the free end of the left driving shaft is sleeved with a splicing disc, the left side of the splicing disc is provided with a first chute with an opening facing to the left, the first chute penetrates through the whole splicing disc from the center of the splicing disc, the first chutes on the two sides of the left driving shaft are respectively provided with a first slide block, the left driving shaft is sleeved with a shaft sleeve, the opposite two sides of the shaft sleeve are respectively and rotatably connected with a connecting rod, the free ends of the two connecting rods are respectively and rotatably connected with one of the two slide blocks, the shaft sleeve is rotatably connected with a connecting plate, the rear end of the connecting plate extends into a second chute, the second chute is communicated with a transmission cavity, the second chute is internally provided with an electric telescopic rod perpendicular to, the left side of the sleeving disc is provided with a cylindrical groove with an opening facing to the left, and the inserting disc is positioned in the cylindrical groove of the sleeving disc.
furthermore, telescopic machanism includes spout three, slider two, hydraulic telescoping rod and push-out board, three vertical settings of spout are down at fuselage rear end middle part and opening, slider two is located in the spout three, the vertical hydraulic telescoping rod that is provided with in the spout three of two upsides of slider, hydraulic telescoping rod's bottom links to each other with slider two, the push-out board top links to each other with two bottoms of slider, the push-out board bottom links to each other with slider three rotations.
Still further, the elasticity telescopic link includes bull stick, little pole, leads slide bar and spring, bull stick one end links to each other with the fixed bolster, the bull stick lower extreme is equipped with opening spout down, the little pole lower extreme links to each other with the balancing stand, the bull stick upper end with lead the slide bar and link to each other, it is the type of falling T to lead the slide bar, the spring housing is established on leading the slide bar, the spring upper end is fixed on the bull stick lower extreme.
The utility model has the advantages that:
The utility model discloses a stair robot is climbed to crawler-type, through setting up spring, fixed support board, balancing stand, stabilizer, the adjustment that makes the adaptation can be done along with the change on ground to the track of fuselage lower part, can increase the area of contact on track and ground, through setting up telescopic machanism, turn to the backup pad and from the driving wheel, this robot can be according to the condition of ladder the adaptation adjustment from the driving wheel when climbing stair, can strengthen obstacle crossing ability, can guarantee fuselage overall balance.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the present invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof.
Drawings
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail with reference to the accompanying drawings, in which:
FIG. 1 is a schematic structural view of the present invention;
3 FIG. 32 3 is 3 a 3 view 3 A 3- 3 A 3 of 3 FIG. 31 3; 3
Fig. 3 is the schematic view of the stair climbing structure of the present invention.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the preferred embodiments are for purposes of illustration only and are not intended to limit the scope of the present invention.
The front and rear ends in the specification are front and rear ends when the robot travels, and the left and right ends are left and right ends when the robot travels.
As shown in fig. 1-3, the crawler-type stair climbing robot comprises a machine body 1, which is preferably in an inverted trapezoid shape, wherein driving wheels 4 are oppositely arranged on the left and right sides of the top of the front end of the machine body 1, positioning wheels 23 are oppositely arranged on the left and right sides of the top of the rear end, driving wheels 7 are oppositely arranged on the left and right sides of the bottom of the front end of the machine body, the driving wheels 4 and the driving wheels 7 are driven by a driving mechanism, the rear end of the machine body 1 gradually inclines forwards from top to bottom, vertical steering support plates 16 are respectively and rotatably arranged on the left and right sides of the bottom of the rear end of the machine body 1, a driven shaft is vertically arranged at the free end of the steering support plates 16, a driven wheel 17 is sleeved on the driven shaft, a sliding groove four 15 is arranged on the steering support plates 16 along the length direction thereof, a sliding block, namely, the steering support plate can drive the driven wheel to rotate around the bottom of the rear end of the machine body under the action of the telescopic mechanism, when the driven wheel walks on the horizontal ground, the steering support plate is horizontally arranged along the front-back direction of the machine body, when the driven wheel climbs the stairs, the telescopic mechanism extends to enable the steering support plate to rotate, the machine body can be kept horizontal, the left side and the right side of the middle part of the lower end of the machine body 1 are oppositely provided with a chute five 26 with a downward opening, a pushing slide block 24 is arranged in the chute five 26, a pushing spring 25 is vertically arranged in the chute five 26 at the upper part of the pushing slide block 24, the lower part of the pushing slide block 24 is connected with a fixed support plate 11, the bottom end of the fixed support plate 11 is rotationally connected with the middle part of a balance frame 12, the balance frame 12 is arranged along the front-back direction of the machine body 1, two ends of the balance frame 12 are respectively, the pushing sliding block 24 can drive the fixed supporting plate 11 to move up and down under the action of the pushing spring 25, the balancing stand 12 can rotate around the fixed supporting plate 11, the robot encounters an obstacle when walking, the balancing stand 12 can rotate around the bottom end of the fixed supporting plate 11 to bypass the obstacle, the elastic telescopic rod 10 is used for enabling the crawler 2 to be always in contact with the ground, the contact area between the crawler 2 and the ground is increased, the pushing spring 25 is used for enabling the balancing stand 12 to move up and down freely, on one hand, the shock absorption effect is achieved, on the other hand, the contact area between the crawler and the ground is also increased, the anti-skidding effect is achieved, the crawler 2 is sleeved on the left driving wheel I4, the positioning wheel 23, the driving wheel II 7 and the balance wheel 9, and the other crawler 2 is sleeved on the right driving wheel I4, the positioning wheel 23, the driving wheel II.
The driving mechanism comprises a motor 40, a driving shaft 31, a driving shaft 3 and a first belt wheel, the second belt wheel 32 and the belt 6 are arranged on the machine body 1, a transmission cavity 5 is formed in the machine body 1, two engines 40 are arranged on the left side and the right side of the transmission cavity 5 respectively, the output end of each engine 40 is connected with the driving shaft 31, the first two driving wheels 4 and the second two driving wheels 7 are sleeved on the four driving shafts 3 respectively, the four driving shafts 3 and the driving shaft 31 are arranged along the left-right direction of the machine body 1, one belt wheel is sleeved on the driving shaft 3, the second belt wheel 32 is sleeved on the driving shaft 31, the two belts 6 are sleeved on the first two belt wheels and the second belt wheel 32 on the left side respectively, the other two belts 6 are sleeved on the first two belt wheels and the second belt wheel 32 on the right side respectively, the engines 40 rotate to drive the driving shaft 31 to rotate, the driving shaft 3 rotates.
The left driving shaft 31 and the right driving shaft 31 are opposite and have coincident axes, the free end of the left driving shaft 31 is sleeved with an inserting disc 39, the left side of the inserting disc 39 is provided with a first sliding chute 36 with an opening facing to the left, the first sliding chute 36 penetrates through the whole inserting disc 39 from the circle center 39 of the inserting disc, the first sliding chutes 36 on the two sides of the left driving shaft 31 are respectively provided with a first sliding block 35, the left driving shaft 31 is sleeved with a shaft sleeve 33, the opposite two sides of the shaft sleeve 33 are respectively and rotatably connected with a connecting rod 34, the free ends of the two connecting rods 34 are respectively and rotatably connected with the first sliding blocks 35, the shaft sleeve 33 is rotatably connected with a connecting plate 30, the rear end of the connecting plate 30 extends into a second sliding chute 27, the second sliding chute 27 is communicated with the transmission cavity 5, the second sliding chute 27 is internally provided with an electric telescopic rod 29 perpendicular to the connecting, the left side of the sleeving disc 38 is provided with a cylindrical groove with an opening facing to the left, the inserting disc 39 is positioned in the cylindrical groove of the sleeving disc 38, when the electric telescopic rod 29 is shortened, the shaft sleeve 33 moves towards the right along the driving shaft 31, at the moment, the two sliding blocks 35 are far away from each other under the action of the connecting rod 34, when the side surfaces of the sliding blocks 35 are in contact with the sleeving disc 38, the two driving shafts 31 are connected together, the driving force is superposed, the walking capacity is enhanced, when the electric telescopic rod 29 is extended, the shaft sleeve 33 moves towards the left along the driving shaft 31, at the moment, the two sliding blocks 35 are close to each other under the action of the connecting rod 34, the two driving shafts 31 are separated, and when the rotating speeds of.
Telescopic machanism includes three 21 of spout, two 20 of slider, hydraulic telescoping rod 22 and push plate 19, three 21 vertical settings of spout are down at 1 rear end middle part of fuselage and opening, two 20 of slider locate in three 21 of spout, the vertical hydraulic telescoping rod 22 that is provided with in three 21 of spout of two 20 upsides of slider, hydraulic telescoping rod 22's bottom links to each other with two 20 of slider, the 19 top of push plate links to each other with two 20 bottoms of slider, the 19 bottom of push plate rotates with three 14 of slider and links to each other, when hydraulic telescoping rod 22 extended, push plate 19 moved down, turn to backup pad 16 and rotate.
Preferably, the elastic telescopic rod 10 comprises a large rod, a small rod, a guide sliding rod and a spring, one end of the large rod is connected with the fixed supporting plate 11, a sliding groove with a downward opening is formed in the lower end of the large rod, the lower end of the small rod is connected with the balance frame 12, the upper end of the small rod is connected with the guide sliding rod, the guide sliding rod is of an inverted T shape, the spring is sleeved on the guide sliding rod, and the upper end of the spring is fixed to the lower end of the large rod.
The robot can be controlled by a controller, the road condition is detected by a detection device, and the controller and the detection device are both in the prior art and are not described herein again.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the scope of the claims of the present invention.
Claims (4)
1. Crawler-type stair climbing robot, its characterized in that: comprises a machine body (1), wherein a first driving wheel (4) is arranged on the left side and the right side of the top of the front end of the machine body (1) relatively, a positioning wheel (23) is arranged on the left side and the right side of the top of the rear end of the machine body (1) relatively, a second driving wheel (7) is arranged on the left side and the right side of the bottom of the front end of the machine body relatively, the first driving wheel (4) and the second driving wheel (7) are driven by a driving mechanism, the rear end of the machine body (1) inclines forwards from top to bottom gradually, vertical steering supporting plates (16) are respectively arranged on the left side and the right side of the bottom of the rear end of the machine body (1) in a rotating mode, a driven shaft is vertically arranged at the free ends of the steering supporting plates (16), a driven wheel (17) is sleeved on the driven shaft, a fourth sliding groove (, the bottom end of the telescopic mechanism is rotatably connected with the third sliding block (14), the left side and the right side of the middle part of the lower end of the machine body (1) are relatively provided with a fifth sliding groove (26) with a downward opening, a pushing sliding block (24) is arranged in the fifth sliding groove (26) of the lower end of the machine body (1), a pushing spring (25) is vertically arranged in the fifth sliding groove (26) of the upper part of the pushing sliding block (24), the lower part of the pushing sliding block (24) is connected with a fixed supporting plate (11), the bottom end of the fixed supporting plate (11) is rotatably connected with the middle part of a balance frame (12), the balance frame (12) is arranged along the front-back direction of the machine body (1), two ends of the balance frame (12) are respectively provided with a balance shaft, a vertically arranged balance wheel (9) is sleeved on the balance shaft, and elastic telescopic rods (10) are respectively arranged, one crawler belt (2) is sleeved on the left driving wheel I (4), the positioning wheel (23), the driving wheel II (7) and the balance wheel (9), and the other crawler belt (2) is sleeved on the right driving wheel I (4), the positioning wheel (23), the driving wheel II (7) and the balance wheel (9).
2. The crawler-type stair-climbing robot according to claim 1, wherein: the driving mechanism comprises an engine (40), a driving shaft (31), a driving shaft (3), a first belt wheel, a second belt wheel (32) and a belt (6), the machine body (1) is provided with a transmission cavity (5), the two engines (40) are respectively arranged at the left side and the right side in the transmission cavity (5), the output end of the engine (40) is connected with the driving shaft (31), the two driving wheels I (4) and the two driving wheels II (7) are respectively sleeved on the four driving shafts (3), the four driving shafts (3) and the driving shaft (31) are arranged along the left and right directions of the machine body (1), the belt wheel set is arranged on the driving shaft (3), the second belt wheel (32) is sleeved on the driving shaft (31), the two belts (6) are respectively sleeved on the first belt wheel and the second belt wheel (32) on the left side, and the other two belts (6) are respectively sleeved on the first belt wheel and the second belt wheel (32) on the right side.
3. the crawler-type stair-climbing robot according to claim 2, wherein: the left driving shaft (31) and the right driving shaft (31) are opposite and the axes of the left driving shaft and the right driving shaft coincide, the free end of the left driving shaft (31) is sleeved with a plug-in disc (39), the left side of the plug-in disc (39) is provided with a first chute (36) with an opening facing to the left, the first chute (36) penetrates through the whole plug-in disc (39) from the circle center of the plug-in disc (39), the first sliders (35) are respectively arranged in the first chutes (36) at the two sides of the left driving shaft (31), a shaft sleeve (33) is sleeved on the left driving shaft (31), the two opposite sides of the shaft sleeve (33) are respectively and rotatably connected with connecting rods (34), the free ends of the two connecting rods (34) are respectively and rotatably connected with the first sliders (35), a connecting plate (30) is rotatably connected to the shaft sleeve (33), the rear end of the connecting plate (30) extends into a second, be provided with in the spout two (27) with connecting plate (30) looks vertically electric telescopic handle (29), electric telescopic handle (29) end links to each other with connecting plate (30), and right side driving shaft (31) free pot head is equipped with cup joints disc (38), cup joint disc (38) left side is equipped with the cylindrical groove of opening towards the left side, and grafting disc (39) are located the cylindrical inslot that cup joints disc (38).
4. A tracked stair-climbing robot according to claim 1, 2 or 3, wherein: telescopic machanism includes three (21) of spout, two (20) of slider, hydraulic telescoping rod (22) and top push pedal (19), three (21) vertical settings of spout are down in fuselage (1) rear end middle part and opening, three (21) of spout are located in two (20) of slider, the vertical hydraulic telescoping rod (22) that is provided with in three (21) of spout of two (20) upsides of slider, the bottom of hydraulic telescoping rod (22) links to each other with two (20) of slider, top push pedal (19) top links to each other with two (20) bottoms of slider, top push pedal (19) bottom rotates with three (14) of slider and links to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822204870.7U CN209757305U (en) | 2018-12-26 | 2018-12-26 | Crawler-type stair climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822204870.7U CN209757305U (en) | 2018-12-26 | 2018-12-26 | Crawler-type stair climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209757305U true CN209757305U (en) | 2019-12-10 |
Family
ID=68747409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822204870.7U Withdrawn - After Issue CN209757305U (en) | 2018-12-26 | 2018-12-26 | Crawler-type stair climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209757305U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533056A (en) * | 2018-12-26 | 2019-03-29 | 贵州电网有限责任公司 | Crawler type stair climbing robot |
| CN115042891A (en) * | 2022-07-07 | 2022-09-13 | 中煤科工集团重庆研究院有限公司 | Track running structure with variable driven wheels |
-
2018
- 2018-12-26 CN CN201822204870.7U patent/CN209757305U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533056A (en) * | 2018-12-26 | 2019-03-29 | 贵州电网有限责任公司 | Crawler type stair climbing robot |
| CN109533056B (en) * | 2018-12-26 | 2024-03-19 | 贵州电网有限责任公司 | Crawler-type stair climbing robot |
| CN115042891A (en) * | 2022-07-07 | 2022-09-13 | 中煤科工集团重庆研究院有限公司 | Track running structure with variable driven wheels |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20191210 Effective date of abandoning: 20240319 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20191210 Effective date of abandoning: 20240319 |