CN212047631U - All-round horizontal gesture stair climbing robot mechanical system - Google Patents
All-round horizontal gesture stair climbing robot mechanical system Download PDFInfo
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- CN212047631U CN212047631U CN202020314197.7U CN202020314197U CN212047631U CN 212047631 U CN212047631 U CN 212047631U CN 202020314197 U CN202020314197 U CN 202020314197U CN 212047631 U CN212047631 U CN 212047631U
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Abstract
The utility model discloses an omnibearing horizontal attitude stair climbing robot mechanical system, which comprises an advancing unit group, a vertical motion unit group, a steering mechanism and a gravity center and height adjusting mechanism, wherein the advancing unit group is provided with a travelling wheel driven by a power roller; a screw rod and a power roller which are connected by a sleeve are arranged on the vertical movement unit group, and a fixed gasket for fixing the position of the electric cylinder is placed on the fixed welding frame; the steering mechanism is provided with a support frame and a rotary air cylinder connecting seat, and the rotary air cylinder connecting seat is respectively connected with a rotary air cylinder and a fixed welding frame which provide power and steering; the gravity center regulator is provided with a gravity center regulating block connected to the linear slide rail; the height adjuster is provided with a crane connecting piece which is respectively connected with a crane base and a piston type electric cylinder, and carries a heavy object. The stair climbing process of the robot is realized through the cooperation of all the parts, and the simplicity, convenience and quickness of people and objects which are difficult to climb the stairs are achieved.
Description
Technical Field
The utility model relates to a mechanical system of stair climbing robot, especially one kind adopts all-round horizontal gesture mode, by sharp walking unit, vertical to the lift unit, and three degree of freedom mobile robot that steering mechanism constitutes, the building process of climbing of realizing the robot through the cooperation of three, has realized the people and the simple of thing of difficulty of going upstairs, and convenient, the agility makes it can serve mankind, solve mankind and go upstairs and downstairs and transport heavy object difficult problem from top to bottom.
Background
In order to meet the living needs, the high-rise buildings are erected, various logistics in the high-rise buildings are improved continuously, the old and the disabled can get on and off the buildings and carry heavy objects, and the transportation of dangerous goods enables people to find resource equipment except manpower to finish stairs.
The stair climbing robot in the existing market has high manufacturing cost, complex structure and poor stability. According to investigation and research, the current building climbing robots bump and are unstable in the building climbing process, so that the building climbing robots are difficult to apply to actual life to help people to complete some building climbing work.
The existing stair climbing robot comprises the following types:
1) crawler-type stair climbing robot
The robot is similar to an excavator or a bulldozer in the working and moving process, the stair climbing working principle is simple, the technology is relatively perfect and mature, transmission is carried out through the crawler belt, and the maximum inclination angle of the stair climbing is 35 degrees.
2) Planetary wheel type stair climbing robot
Each planet wheel and a bracket for fixing the planet wheel of the robot can rotate around a main shaft of a planet wheel carrier, and each planet wheel can also rotate around a shaft; the planetary wheel type stair climbing robot is complex in structure, needs manual auxiliary control, and is poor in stability.
3) Mecanum wheeled robot
The robot is an all-directional mobile robot capable of realizing the motions of front-back motion, lateral translation, rotation around a center and the like. The robot has flexible movement and simple control, but has complex wheel mechanism, high cost requirement and poorer adaptability to uneven road surfaces.
Therefore, it is necessary to provide an all-directional horizontal-posture stair-climbing robot which is economical, stable, reliable, high in safety and strong in movement capability.
SUMMERY OF THE UTILITY MODEL
The utility model provides a novel building robot is climbed to all-round horizontal gesture, three degree of freedom mobile robot that constitute including sharp walking unit, vertical lift unit, and steering mechanism realize the building process of climbing of robot through the cooperation of three, reach the people and the simple of thing of the difficulty of going upstairs, convenient, the quickening.
The utility model discloses a realize through following technical scheme.
The utility model provides an all-round horizontal attitude stair climbing robot mechanical system, includes advancing unit group, vertical motion unit group, fixed welding frame, steering mechanism, focus adjustment mechanism and height control mechanism, wherein:
the advancing unit group is a travelling wheel driven by a power roller controlled by the controller;
the vertical motion unit group is connected with the power roller and the lead screw through a sleeve, and the lead screw is connected with the electric cylinder to the fixed welding frame;
the steering mechanism comprises a steering rotary cylinder and a support frame which are connected to the fixed welding frame;
the gravity center adjusting mechanism is connected with the linear slide rail and the gravity center adjusting block on the fixed welding frame;
the height adjusting mechanism is connected with a lifting frame connecting piece at the top of the fixed welding frame, the piston type electric cylinder and an objective table for bearing heavy objects;
the controller controls the advancing unit group to advance, controls the electric cylinder of the vertical motion unit group close to the stairs to lift, controls the advancing wheels to lift to be as high as the stairs, moves through the gravity center adjusting mechanism to change the gravity center, and then sequentially lifts the other advancing wheels to be as high as the stairs;
the controller controls the rotary cylinder to rotate angularly;
the height adjustment of the scissor type lifting frame is controlled by a controller.
To above-mentioned technical scheme, the utility model discloses still further preferred scheme:
preferably, the power roller of the advancing unit group drives at least three groups of advancing wheels, and each group of advancing wheels is a pair and is connected by a connecting shaft.
Preferably, the fixed welding frame is of a double-layer frame structure, the rotary cylinder is connected to the bottom of the frame, the lifting frame connecting piece is connected to the top of the frame, and the linear sliding rail stretches across the middle of the frame and is connected to two ends of the frame.
Preferably, in the vertical motion unit group, the sleeve is connected to the connecting shaft on the inner side of each power roller in a rolling manner; the upper part of the electric cylinder is fixed on the fixed welding frame through a fixed gasket.
Preferably, the revolving cylinder of the steering mechanism is connected through a revolving cylinder connecting seat connected to the bottom of the fixed welding frame, the supporting frame is connected below the revolving cylinder, and the supporting frame is a frame-shaped frame.
Preferably, the height adjusting mechanism comprises an object stage and a crane base which are arranged above and below the crane connecting piece; the object stage and the lifting frame base are respectively provided with a sliding chute; the lifting frame connecting piece is of a scissors fork-shaped structure, one end of each scissors fork is provided with a connecting rod penetrating through the sliding groove, and the other end of each scissors fork is fixed on the objective table and the lifting frame base respectively.
Preferably, a piston type electric cylinder is connected to a connecting rod penetrating through a sliding groove in the base of the lifting frame, a piston rod of the piston type electric cylinder is connected to the connecting rod, and a piston cylinder of the piston type electric cylinder is connected to the end portion of the base of the lifting frame.
Preferably, the controller is installed on the fixed welding frame, and the power roller is provided with a sensor connected with the controller.
The utility model discloses owing to take above technical scheme, it has following beneficial effect:
the utility model discloses a lifting technology with turn to the technique, this scheme economy, reliable and stable, security are high, the motion ability is strong, and can reduce the degree of jolting, convenient and fast more.
The utility model is characterized in that:
1) the utility model discloses can be according to the not co-altitude of different stair or step, through height adjusting mechanism height-adjusting by oneself.
2) The utility model discloses not only can be used for solving the mankind and go up and down the stair and carry the heavy object, also can be used for helping the old man and some inconvenient people of action more convenient stair of going up and down.
3) The utility model discloses can realize the stable building process of climbing of robot through sharp walking unit, vertical to the cooperation of lift unit and steering mechanism three, whole process keeps horizontal gesture, reaches the purpose that increases the comfort.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, do not constitute a limitation of the invention, and in which:
fig. 1 is a schematic structural view of a stair climbing mechanical system of the utility model;
FIG. 2 is a right side view of the stair climbing mechanical system of the present invention;
fig. 3 is a bottom view of the stair climbing mechanical system of the present invention;
fig. 4 is a schematic view of the steering mechanism of the present invention;
fig. 5 is a schematic view of the stair climbing process of the present invention.
In the figure: 1-fixing a welding frame; 2-a crane base; 3-a push rod; 4-connecting a shear rod; 5-long cross bar; 6-a piston rod; 7-an object stage; 8-piston type electric cylinder; 9-short cross bar; 10-a screw; 11-a linear slide rail; 12-an electric cylinder; 13-a lead screw; 14-a travelling wheel; 15-a powered roller; 16-a connecting sleeve; 17-a center of gravity adjusting block; 18-a fixed shim; 19-a rotary cylinder; 20-a rotary cylinder connection base; 21-a support frame; 22-screws; 23-connecting rod.
Detailed Description
The invention will be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided to explain the invention, but not to limit the invention.
Figure 1 illustrates the main part of a stair climbing mechanical system. The utility model relates to an all-round horizontal attitude building machine mechanical system that climbs, including an unit group and a vertical motion unit group that gos forward, a steering mechanism, a fixed welding frame and focus and altitude mixture control mechanism.
Wherein, be equipped with the travelling wheel 14 that drives by power cylinder 15 of controller control on advancing the unit group, the straight line walking function of present robot, power cylinder 15 provides the power of climbing the stair for the robot.
The advancing unit group has at least three groups, each group of advancing wheels 14 is a pair and is connected by a connecting shaft. The controller is arranged on the fixed welding frame 1, and the power roller 15 is provided with a sensor connected with the controller.
The vertical motion unit group is provided with a screw rod 13 and power rollers 15 which are connected by a sleeve 16, and the connecting sleeve 16 is connected on a connecting shaft at the inner side of each power roller 15 in a rolling way; the lead screw is connected with the electric cylinder 12 to the fixed welding frame 1, the fixed welding frame 1 is connected with a fixed gasket 18 used for the position of the electric cylinder 12, and the fixed gasket 18 is fixed through the screw 10. The electric cylinder realizes regular reciprocating motion in the vertical direction.
As shown in fig. 4, a support frame 21 and a rotary cylinder connecting base 20 are arranged on the steering mechanism, the rotary cylinder 19 is connected through the rotary cylinder connecting base 20 connected to the bottom of the fixed welding frame 1, the rotary cylinder 19 is connected with the controller, the support frame 21 is connected below the rotary cylinder 19, and the support frame 21 is a frame-shaped frame and is used for supporting the whole weight of the robot when steering is completed and completing the change of the whole structure in the shape of a horizontal plane.
The gravity center adjuster is provided with a gravity center adjusting block 17 connected to the linear slide rail 11; through the matching use of the gravity center adjusting block 17 and the linear slide rail 11, the gravity center is adjusted in the stair climbing process so as to ensure the stability of the whole structure of the robot in the climbing motion process. The height adjuster is provided with a connecting shear rod 4 which is respectively connected with the lifting frame base 2, a piston type electric cylinder 8 and an object stage 7 for bearing heavy objects.
Wherein, fixed welding frame 1 is double-deck frame construction, and revolving cylinder 19 connects in the frame bottom, and crane connecting piece 4 connects in the frame top, and linear slide rail 11 stretches across in the middle part of the frame and connects at the frame both ends.
As shown in fig. 2 and 3, the traveling wheels 14 are connected through a power roller 15, 6 traveling wheels are arranged at the bottom of the robot to realize a linear traveling function, and the screw 13 is connected with the power roller 15 through a connecting sleeve 16.
As shown in fig. 2 and 3, the fixed welding frame 1 and the rotary cylinder 19 are connected by a rotary cylinder connecting base 20, and a support frame 21 is connected below the rotary cylinder by a screw 22.
As shown in fig. 1 and 3, a height adjuster structure is illustrated, and the height adjuster structure comprises an object stage 7 and a crane base 2 which are arranged above and below a crane connecting piece 4; the object stage 7 and the lifting frame base 2 are respectively provided with a sliding chute; the carrying platform 7 is supported by connecting shear rods 4 connected to the lifting frame base 2, the lifting frame connecting piece 4 is in a scissors fork-shaped structure, and push rods 3 and connecting rods 23 are arranged between the connecting shear rods 4 on the lifting frame base 2; the connecting shear rod 4 on the scissor fork of the object carrying platform 7 is provided with a long cross rod 5 penetrating through the sliding chute, and the short cross rod 9 at the other end is respectively fixed on the object carrying platform 7 and the lifting frame base 2. The connecting rod 23 penetrating through the chute on the crane base 2 is connected with the piston type electric cylinder 8, the piston rod 6 of the piston type electric cylinder 8 is connected on the connecting rod 23, and the piston cylinder of the piston type electric cylinder 8 is connected at the end part of the crane base 2.
The adoption is cut fork crane structure, can realize the lift of different step heights, realizes the restriction of step height to the objective table through adjusting altitude controller. And further enhance the stability of the stair climbing robot and keep the omnibearing horizontal posture.
The utility model discloses the system specifically climbs the building step as follows:
when the stair climbing robot travels linearly, three groups of power rollers 15 in the advancing unit provide advancing power for the advancing wheels 14, so that a stable power source is ensured in the advancing motion and stair climbing process.
When climbing stairs, the electric cylinder 12 fixed on the screw 13 provides lifting power, firstly, the controller controls one group of screw 13 closest to the stairs to rise upwards under the driving action of the electric cylinder 12 according to a position signal sensed by the sensor, and simultaneously drives the power roller 15 connected to the sleeve 16 to rise, after the first group of travelling wheels 14 rise to the same height as the first-stage stairs, the other two groups of power rollers 15 provide advancing power, so that the first group of travelling wheels successfully and stably contact the first-stage stairs, and meanwhile, the gravity center is changed by the gravity center adjusting block 17 through movement, so that the structure is kept stable; after the first group of the electric cylinders moves forward for a certain distance, the second group of the electric cylinders 12 are driven to enable the second group of the traveling wheels 14 to rise to be as high as the first-stage stairs, meanwhile, the other two groups of the power rollers 15 provide forward power, the second group of the traveling wheels are enabled to be successfully and stably contacted with the first-stage stairs, and meanwhile, the gravity center adjusting block 17 moves again; and the third group of electric cylinders 12 are driven to lift the third group of travelling wheels 14 to be as high as the first-stage stairs, the other two groups of power rollers 15 provide advancing power, so that the third group of travelling wheels are successfully and stably contacted with the first-stage stairs, the gravity center adjusting block 17 moves again, and the steps are repeated in sequence to finish the stair climbing movement.
When the robot turns to, the whole horizontal plane that is located of all-round level stair climbing robot, three elevating system lead screw 13 of group rise simultaneously, contact with ground completely to support frame 21, three elevating system of group are in unsettled state, realize the stability of robot through support frame 21, the robot that climbs the building is in after the steady state, the controller is according to sensor response position signal control revolving cylinder 19 and begin to carry out the angular rotation, elevating system and relevant mechanism are in unsettled state, rotate revolving cylinder 19, turn to at angle 0-180, turn to the back of accomplishing, elevating system lead screw 13 begins the synchronous decline, stop to contacting ground completely.
Fig. 1 shows a rigid connection between the connecting rod 4 and the connecting rod 23.
When the height adjustment is carried out, the piston rod 8 carries out reciprocating motion under the effect of the piston type electric cylinder 8 controlled by the controller, the push rod 3 is driven to move left and right, and meanwhile, the connecting shear rod 4 connected to the push rod 3 is driven to rotate around the connecting rod 23 relatively, so that the height adjustment of the scissor type lifting frame is completed.
Fig. 2 shows the rigid connection of the support frame 21 to the rotary cylinder 19.
When turning to, three lead screw 13 of group carry out the rising motion under the drive effect of electronic jar 12, and the support frame 21 contacts with ground completely, and at this moment, three lead screw 13 of group indirectly drive travelling wheel 14 and be in unsettled state, realize the stability of robot through support frame 21, climb building robot and be in the steady state after, revolving cylinder 19 begins to carry out the angle rotation, rotate revolving cylinder 19, turn to at 0-180 of angle, turn to after accomplishing, three lead screw 13 of group begin synchronous decline, stop until travelling wheel 14 contacts ground completely, turn to the motion completion.
Fig. 5 illustrates the stair climbing process of the omnibearing horizontal-posture stair climbing robot.
A-1 is that the stair climbing robot is located in a horizontal place, is in a stable state, is displaced from a proper position point of a stair for a period of time, and is located at A-2; the advancing unit group comprises a wheel group 1, a wheel group 2 and a wheel group 3, wherein the wheel group 1 is close to the step wall, the wheel group 1 is lifted to the height same as the height of the stairs, and the wheel groups 2 and 3 are positioned at A-3 after performing horizontal linear motion; the wheel set 1, the wheel set 2 and the wheel set 3 do horizontal linear motion until the wheel set 2 is close to the step wall, the wheel set 1 and the wheel set 3 do linear motion and are located at A-5 when the wheel set 2 rises to the height same as the height of the stairs; the wheel set 3 begins to rise to the height of the step, the wheel set 1 and the wheel set 2 perform linear motion until the three wheel sets are positioned on the same step and are positioned at A-6; climbing the next step to A-7, making the wheel set 1, the wheel set 2 and the wheel set 3 perform horizontal linear motion until the wheel set 2 is close to the step wall and is positioned at A-8; the wheel set 2 rises to the height same as the height of the stairs, and the wheel set 1 and the wheel set 3 perform linear motion and are positioned at A-9; wheel set 3 begins to rise to the height of the steps, wheel set 1 and wheel set 2 move linearly until the three wheel sets are located on the second step and located at A-10. Repeating the steps from A-3 to A-10. The three wheel sets of the stair climbing robot are alternately matched to transport, so that the stair climbing robot can climb up and down the stairs.
The utility model discloses in, the controller adopts wildfire RT1052 MINI singlechip, wildfire DHT11 or wildfire ESP8266 controller, accomplishes through the controller procedure and climbs building robot straight line walking and climb building motion and steering motion and highly go up and down between the cooperation motion to realize climbing building robot's mechanical motion.
The present invention is not limited to the above embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some replacements and transformations for some technical features without creative labor according to the disclosed technical contents, and these replacements and transformations are all within the protection scope of the present invention.
Claims (8)
1. The utility model provides an all-round horizontal gesture stair-climbing robot mechanical system, its characterized in that, including advancing unit group, vertical motion unit group, fixed weld holder (1), steering mechanism, focus adjustment mechanism and height control mechanism, wherein:
the advancing unit group is a advancing wheel (14) driven by a power roller (15) controlled by a controller;
the vertical motion unit group is connected with the power roller (15) and the lead screw (13) through a sleeve (16), and the lead screw is connected with the electric cylinder (12) to the fixed welding frame (1);
the steering mechanism comprises a steering rotary cylinder (19) and a support frame (21) which are connected to the fixed welding frame (1) for steering;
the gravity center adjusting mechanism is connected with a linear slide rail (11) and a gravity center adjusting block (17) on the fixed welding frame (1);
the height adjusting mechanism is connected with a lifting frame connecting piece (4) at the top of the fixed welding frame (1), a piston type electric cylinder (8) and an objective table (7) for bearing heavy objects;
the controller controls the advancing unit group to advance, controls the electric cylinder (12) of the vertical motion unit group close to the stairs to lift, controls the advancing wheels (14) to rise to be as high as the stairs, moves through the gravity center adjusting mechanism to change the gravity center, and then sequentially rises the other advancing wheels (14) to be as high as the stairs;
the controller controls the rotary cylinder (19) to rotate angularly;
the height adjustment of the scissor type lifting frame is controlled by a controller.
2. The mechanical system of an omnidirectional horizontal attitude stair-climbing robot according to claim 1, wherein the power rollers (15) of the advancing unit set drive at least three sets of traveling wheels (14), and each set of traveling wheels (14) is a pair and is connected by a connecting shaft.
3. The mechanical system of the omnibearing horizontal-posture stair-climbing robot according to claim 1, wherein the fixed welding frame (1) is a double-layer frame structure, the rotary cylinder (19) is connected to the bottom of the frame, the lifting frame connecting piece (4) is connected to the top of the frame, and the linear slide rail (11) spans the middle of the frame and is connected to two ends of the frame.
4. The mechanical system of the omnibearing horizontal-attitude stair-climbing robot according to claim 1, wherein in the vertical moving unit group, the sleeve (16) is connected with a connecting shaft on the inner side of each power roller (15) in a rolling manner; the upper part of the electric cylinder (12) is fixed on the fixed welding frame (1) through a fixed gasket (18).
5. The mechanical system of the omnibearing horizontal-posture stair-climbing robot according to claim 1, wherein the rotary cylinder (19) of the steering mechanism is connected through a rotary cylinder connecting seat (20) connected to the bottom of the fixed welding frame (1), the support frame (21) is connected below the rotary cylinder (19), and the support frame (21) is a frame-shaped frame.
6. The mechanical system of the omnibearing horizontal-posture stair-climbing robot according to claim 1, wherein the height adjusting mechanism comprises an object stage (7) and a crane base (2) which are arranged above and below the crane connecting piece (4); sliding chutes are respectively arranged on the object stage (7) and the lifting frame base (2); the lifting frame connecting piece (4) is of a scissors fork-shaped structure, one end of each scissors fork is provided with a connecting rod (23) penetrating through the sliding groove, and the other end of each scissors fork is respectively fixed on the objective table (7) and the lifting frame base (2).
7. The mechanical system of the omnibearing horizontal-posture stair-climbing robot according to claim 6, wherein a piston type electric cylinder (8) is connected to a connecting rod (23) penetrating through a chute on the crane base (2), a piston rod of the piston type electric cylinder (8) is connected to the connecting rod (23), and a piston cylinder of the piston type electric cylinder (8) is connected to the end of the crane base (2).
8. The mechanical system of the omnibearing horizontal-posture stair-climbing robot according to claim 1, wherein the controller is mounted on the fixed welding frame (1), and the power roller (15) is provided with a sensor connected with the controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020314197.7U CN212047631U (en) | 2020-03-13 | 2020-03-13 | All-round horizontal gesture stair climbing robot mechanical system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020314197.7U CN212047631U (en) | 2020-03-13 | 2020-03-13 | All-round horizontal gesture stair climbing robot mechanical system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232081A (en) * | 2020-03-13 | 2020-06-05 | 西安文理学院 | All-dimensional horizontal posture stair climbing robot mechanical system and method |
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2020
- 2020-03-13 CN CN202020314197.7U patent/CN212047631U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232081A (en) * | 2020-03-13 | 2020-06-05 | 西安文理学院 | All-dimensional horizontal posture stair climbing robot mechanical system and method |
| CN111232081B (en) * | 2020-03-13 | 2024-02-27 | 西安文理学院 | Mechanical system and method of omnibearing horizontal posture stair climbing robot |
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