CN210391357U - Stair climbing robot with flexible action - Google Patents
Stair climbing robot with flexible action Download PDFInfo
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- CN210391357U CN210391357U CN201822035650.6U CN201822035650U CN210391357U CN 210391357 U CN210391357 U CN 210391357U CN 201822035650 U CN201822035650 U CN 201822035650U CN 210391357 U CN210391357 U CN 210391357U
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- 230000009975 flexible effect Effects 0.000 title claims abstract description 37
- 230000009194 climbing Effects 0.000 title abstract description 37
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 5
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 5
- 230000001737 promoting effect Effects 0.000 abstract 1
- 238000012876 topography Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 238000013473 artificial intelligence Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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Abstract
The utility model discloses a stair-climbing robot with flexible action, belonging to the robot technical field; the flexible-action stair-climbing robot comprises: automatically controlled module, drive module and wheeled main part module, automatically controlled module comprises laser ranging sensor, control circuit board and state display panel, drive module comprises lithium cell group, driving motor and bevel gear group, wheeled main part module comprises movable wheel dish, fixed wheel dish, extending arm drive steering wheel and main shaft, a flexible action climb stair robot especially steady on the gesture control of climbing stair, can come to alternate the track form through the angle of adjustment extending arm in order to adapt to different topography condition, have the small and exquisite light, the operation gesture is steady, hinder ability outstanding characteristics such as outstanding, be worth promoting and using in robot technical field.
Description
Technical Field
The utility model relates to the technical field of robot, specifically a flexible action stair climbing robot.
Background
Along with the continuous development of artificial intelligence technology, the application of artificial intelligence products in life is also wider and wider, reaches factory assembly line robot, and little reaches the robot for house handling, and artificial intelligence robot has liberated human both hands in some aspect, brings very big convenient and comfortable for people's house official working life.
The robot in the prior art mainly adopts a wheel type structure, and has the characteristics of flexible movement, convenient control, electricity saving and the like, but the wheel type mobile robot has general environmental adaptability and poor obstacle crossing capability, and particularly when encountering obstacles such as steps or stairs, the wheel type structure cannot pass through smoothly; however, the stairs are visible everywhere in daily life of people, the robot is an obstacle with great difficulty in passing through, the robot capable of climbing stairs is always a hotspot of research in the technical field of robots, and the stair climbing robot has important practical application significance in disaster relief, disability assistance, rehabilitation, reconnaissance, inspection, cleaning, carrying and the like.
To the problem in the above-mentioned background art, the utility model aims at providing a flexible stair climbing robot moves.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a flexible stair climbing robot moves to solve the problem that the robot among the prior art that provides among the above-mentioned background art is difficult to cross the stair.
In order to achieve the above object, the utility model provides a following technical scheme:
a stair-climbing robot with flexible actions, comprising: the stair climbing robot comprises an electric control module, a driving module and a wheel type main body module, wherein the electric control module consists of a laser ranging sensor, a control circuit board and a state display panel, is installed at the top end of the stair climbing robot with flexible action, and is mainly used for controlling the stair climbing operation process of the stair climbing robot with flexible action; the drive module comprises lithium cell group, driving motor and bevel gear group, and drive module's quantity is two the flexible stair climbing robot left and right sides of action is the symmetric distribution, and drive module's effect is for the flexible stair climbing robot of whole action providing the kinetic energy of operation at the stair climbing in-process.
As a further aspect of the present invention: the wheel type main body module consists of a movable wheel disc, a fixed wheel disc, an extension arm driving steering engine and a main shaft, wherein the fixed wheel disc is arranged in the middle of the main shaft, the movable wheel discs are arranged on the left side and the right side of the fixed wheel disc on the main shaft, the movable wheel disc and the fixed wheel disc of the wheel type main body module are both circular in shape, the diameters of the movable wheel disc and the fixed wheel disc are the same, and the movable wheel disc, the fixed wheel disc and the main shaft of the wheel type main body module are coaxial; one side of the movable wheel disc is fixed at one end of a bevel gear group of the driving module, the other end of the bevel gear group is fixed on a driving motor of the driving module, and when the driving motor rotates, the running driving motor drives the bevel gear group to further enable the driving wheel to rotate around the main shaft; the two ends of the main shaft penetrate through the movable wheel disc and then are connected with the fixed support, and the fixed support is used for fixing the electric control module and the two driving modules.
As a further aspect of the present invention: the number of the extension arm driving steering engines is four, the four extension arm driving steering engines are respectively fixed on two side surfaces of the fixed wheel disc, two extension arms are symmetrically arranged on each side, one extension arm is mounted on each extension arm driving steering engine, and the number of the extension arms is four; one end of each extending arm is fixed on an output shaft of the extending arm driving steering engine, the other end of each extending arm can move freely, two extending arm auxiliary wheels are respectively installed in the middle and at the free end of each extending arm, and the number of the extending arm auxiliary wheels is sixteen.
As a further aspect of the present invention: the fixed wheel disc is provided with crawler support bearings which are symmetrically fixed around two side faces of the fixed wheel disc respectively, and ten crawler support bearings are uniformly distributed on each side in a circumferential mode; the two sides of the fixed wheel disc are provided with two telescopic crawler belts, and the telescopic crawler belts tightly wrap the movable wheel disc and the crawler belt supporting bearings on each side to realize free rotation of the follow-up wheel disc.
Compared with the prior art, the beneficial effects of the utility model are that:
the stair climbing robot flexible in action is reasonable in structural design, adopts a unique wheel-track composite structural design, and realizes efficient movement of the robot in an unstructured environment; the robot travels on a flat road surface by using a wheel type structure, has the characteristics of rapidness and flexibility, can be changed into a crawler-type structure by an extending arm when encountering an obstacle, and improves the passing capacity of the robot.
The stair climbing robot flexible in action is particularly stable in stair climbing posture control, can change the form of the crawler belt through adjusting the angle of the extension arm so as to adapt to different terrain conditions, has the characteristics of small and exquisite and light appearance, stable operation posture, outstanding obstacle crossing capability and the like, and is worthy of popularization and use in the technical field of robots.
Drawings
Fig. 1 is a schematic structural diagram of a stair climbing robot with flexible actions.
Fig. 2 is a schematic side structure view of the stair-climbing robot with flexible actions after the extending arm is unfolded.
Fig. 3 is a schematic diagram of the internal structure of the extended arm of the stair climbing robot with flexible action after being unfolded.
Fig. 4 is a schematic front internal structure diagram of a stair climbing robot with flexible actions.
Fig. 5 is a schematic view of the stair climbing operation of the stair climbing robot with flexible movement.
In the figure: the system comprises an electronic control module, a laser ranging sensor 11, a control circuit board 12, a state display panel 13, a driving module 2, a lithium battery pack 21, a driving motor 22, a bevel gear set 23, a wheel type main body module 3, a telescopic crawler belt 31, a fixed support 32, a movable wheel disc 33, a fixed wheel disc 34, a crawler belt supporting bearing 35, an extending arm 36, an extending arm auxiliary wheel 37, an extending arm driving steering engine 38 and a main shaft 39.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 5, in an embodiment of the present invention, a stair climbing robot with flexible actions includes: the stair climbing robot comprises an electric control module 1, a driving module 2 and a wheel type main body module 3, wherein the electric control module 1 consists of a laser ranging sensor 11, a control circuit board 12 and a state display panel 13, the electric control module 1 is installed at the top end of the stair climbing robot with flexible actions, and the main function of the electric control module is to control the stair climbing operation process of the stair climbing robot with flexible actions; drive module 2 comprises lithium cell group 21, driving motor 22 and bevel gear group 23, and drive module 2's quantity is two the flexible stair climbing robot lower extreme left and right sides of action is the symmetric distribution, and drive module 2's effect is for the flexible stair climbing robot of whole action providing the kinetic energy of operation at the stair climbing in-process.
The wheel type main body module 3 consists of a movable wheel disc 33, a fixed wheel disc 34, an extension arm 36, an extension arm driving steering engine 38 and a main shaft 39, wherein the fixed wheel disc 34 is installed in the middle of the main shaft 39, the movable wheel discs 33 are installed on the left side and the right side of the fixed wheel disc 34 on the main shaft 39, the movable wheel disc 33 and the fixed wheel disc 34 of the wheel type main body module 3 are both circular in shape, the diameters of the movable wheel disc 33 and the fixed wheel disc 34 are the same, and the movable wheel disc 33, the fixed wheel disc 34 and the main shaft 39 of the wheel type main body module 3 are coaxial; one side of the movable wheel disc 33 is fixed at one end of a bevel gear set 23 of the driving module 2, the other end of the bevel gear set 23 is fixed on a driving motor 22 of the driving module 2, and when the driving motor 22 rotates, the operating driving motor 22 drives the bevel gear set 23 to further enable the movable wheel disc 33 to rotate around a main shaft 39; two ends of the main shaft 39 penetrate through the movable wheel disc 33 and then are connected with the fixed bracket 32, the fixed bracket 32 is used for fixing the electric control module 1 and the two driving modules 2,
the number of the extending arm driving steering engines 38 is four, the extending arm driving steering engines are respectively fixed on two side surfaces of the fixed wheel disc 34, two extending arms are symmetrically arranged on each side, one extending arm 36 is installed on each extending arm driving steering engine 38, and the number of the extending arms 36 is four; one end of each extending arm 36 is fixed on an output shaft of the extending arm driving steering engine 38, the other end of each extending arm 36 can move freely, two extending arm auxiliary wheels 37 are respectively installed in the middle and at the free end of each extending arm 36, and the number of the extending arm auxiliary wheels 37 is sixteen.
The fixed wheel disc 34 is provided with crawler support bearings 35 which are symmetrically fixed around two side surfaces of the fixed wheel disc 34, and ten crawler support bearings are uniformly distributed on each side in a circumferential manner; the two sides of the fixed wheel disc 34 are provided with the telescopic caterpillar bands 31, the number of the telescopic caterpillar bands 31 is 2, and the telescopic caterpillar bands 31 tightly wrap the movable wheel disc 33 and the caterpillar band supporting bearings 35 on each side to realize the free rotation of the follow-up wheel disc 33.
The utility model discloses a theory of operation is:
when the stair climbing robot with flexible action travels on a flat road, the whole appearance of the robot keeps the original shape, the telescopic crawler 31 keeps a round shape and tightly wraps the movable wheel disc 33 and the crawler supporting bearing 35, the telescopic crawler 31 can freely rotate along with the movable wheel disc 33, the control circuit board 12 controls the driving motor 22 to rotate, and then the movable wheel disc 33 is driven to rotate around the main shaft 39 through the bevel gear set 23. Meanwhile, the two driving motors 22 are controlled to drive the movable wheel discs 33 on the two sides to rotate in the same direction at the same speed, so that the robot can move forwards or backwards; meanwhile, the two driving motors 22 are controlled to drive the movable wheel discs 33 on the two sides to rotate in opposite directions at the same speed, so that the robot can turn on site, and the turning radius is zero. The robot is not supported in the front and back direction under the state, only the two movable wheel discs 33 on the two sides can rotate, the advancing state of the robot is similar to that of a balance car, a gyroscope sensor on the control circuit board 12 can feed back the current posture of the robot, the rotating speed of the driving motor 22 is adjusted through a PID closed-loop control algorithm, the self-balancing state of the robot can be kept, and the robot can be guaranteed to stably advance.
When the stair climbing robot with flexible actions meets an obstacle and needs to change the shape, the control circuit board 12 controls the extending arm to drive the steering engine 38 to rotate for a certain angle, and then the extending arm 36 is driven to rotate for a certain angle around the output shaft of the extending arm driving steering engine 38, so that the telescopic crawler 31 at the corresponding position can be unfolded, the robot is deformed into a crawler structure to advance, and the passing capacity is greatly improved. According to different terrain conditions, the four extending arms can be controlled to drive the steering engine 38 to rotate by different angles respectively, the telescopic crawler 31 of the robot is extended to different shapes suitable for corresponding road conditions, and the posture of the robot in the obstacle crossing process is controlled to be more stable.
When the stair climbing robot with flexible actions climbs stairs, the front side extending arm is unfolded at a certain angle to just contact with the steps when the robot just contacts the stairs, and the rear side extending arm is unfolded to be flat and attached to the ground, so that the robot can smoothly climb the stairs; when the robot travels on stairs, the extending arms on the front side and the rear side are completely unfolded, so that the robot can stably climb the stairs with the largest contact area; when the robot leaves the stairs, the front side extending arm continues to extend and extend out, the front side extending arm is attached to the flat ground, the rear side extending arm is supported on the stairs, the robot can be safely transited to the flat ground from the stairs, the situation that the posture of the robot is greatly changed violently is avoided, and the operation stability of the robot is enhanced.
A flexible stair climbing robot structural design reasonable, its adopt unique wheel-track composite construction design, realize the high-efficient removal of robot in unstructured environment, it uses wheeled structure to march on level road surface, has quick nimble characteristics, can become crawler-type structure through the extending arm when meetting the barrier, improves the robot ability of passing through. The stair climbing robot with flexible action is particularly stable in stair climbing posture control, can change the form of the crawler belt through adjusting the angle of the extension arm so as to adapt to different terrain conditions, has the characteristics of small and exquisite and light appearance, stable operation posture, outstanding obstacle crossing capability and the like, and is worthy of popularization and use in the technical field of robots.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (6)
1. A stair-climbing robot with flexible actions, comprising: automatically controlled module (1), drive module (2) and wheeled main part module (3), its characterized in that: the electronic control module (1) is composed of a laser ranging sensor (11), a control circuit board (12) and a state display panel (13); the driving module (2) is composed of a lithium battery pack (21), a driving motor (22) and a bevel gear pack (23), and the number of the driving modules (2) is two.
2. A flexible-action stair-climbing robot according to claim 1, wherein: one end of the bevel gear set (23) is fixed on a driving motor (22) of the driving module (2), and the other end of the bevel gear set (23) is fixed on the movable wheel disc (33).
3. A flexible-action stair-climbing robot according to claim 1, wherein: the wheel type main body module (3) comprises a movable wheel disc (33), a fixed wheel disc (34), an extension arm (36), an extension arm driving steering engine (38) and a main shaft (39), wherein the fixed wheel disc (34) is installed in the middle of the main shaft (39), the movable wheel disc (33) is installed on the left side and the right side of the fixed wheel disc (34), the movable wheel disc (33), the fixed wheel disc (34) and the main shaft (39) are coaxial, and two ends of the main shaft (39) penetrate through the movable wheel disc (33) and then are connected with a fixed support (32); the number of the stretching arm driving steering engines (38) is four, the four stretching arm driving steering engines are respectively fixed on two side surfaces of the fixed wheel disc (34), two stretching arms (36) are symmetrically arranged on each side, one stretching arm (36) is installed on each stretching arm driving steering engine (38), and the number of the stretching arms (36) is four; one end of each extending arm (36) is fixed on an output shaft of the extending arm driving steering engine (38), two extending arm auxiliary wheels (37) are respectively installed in the middle and at the free end of each extending arm (36), and the number of the extending arm auxiliary wheels (37) is sixteen.
4. A flexible-action stair-climbing robot according to claim 3, wherein: the movable wheel disc (33) and the fixed wheel disc (34) of the wheel type main body module (3) are both circular in shape, and the diameter of the movable wheel disc (33) is the same as that of the fixed wheel disc (34).
5. A flexible-action stair-climbing robot according to claim 4, wherein: the fixed wheel disc (34) is provided with crawler support bearings (35), the crawler support bearings (35) are symmetrically fixed around two side faces of the fixed wheel disc (34) respectively, and ten crawler support bearings are uniformly distributed on each side in a circumferential mode.
6. A flexible-action stair-climbing robot according to claim 5, wherein: the two sides of the fixed wheel disc (34) are provided with two telescopic crawler belts (31), and the number of the telescopic crawler belts (31) is two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822035650.6U CN210391357U (en) | 2018-12-06 | 2018-12-06 | Stair climbing robot with flexible action |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822035650.6U CN210391357U (en) | 2018-12-06 | 2018-12-06 | Stair climbing robot with flexible action |
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| Publication Number | Publication Date |
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| CN210391357U true CN210391357U (en) | 2020-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822035650.6U Expired - Fee Related CN210391357U (en) | 2018-12-06 | 2018-12-06 | Stair climbing robot with flexible action |
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| CN (1) | CN210391357U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383646A (en) * | 2018-12-06 | 2019-02-26 | 北京中联电科技术有限公司 | A kind of stair climbing robot of flexible movements |
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2018
- 2018-12-06 CN CN201822035650.6U patent/CN210391357U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383646A (en) * | 2018-12-06 | 2019-02-26 | 北京中联电科技术有限公司 | A kind of stair climbing robot of flexible movements |
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Granted publication date: 20200424 |