Mechanical device for climbing stairs

Abstract

The invention relates to a mechanical device for climbing stairs, comprising a front device body, a back device body, a device body connecting part, four five-pointed star-shaped wheel legs, four DC (direct current) servo motors and a wheel leg fixing part. The mechanical device is characterized in that the front device body is connected with the back device body into a whole by the device body connecting part, the four five-pointed star-shaped wheel legs are respectively fixed on two sides of the front device body and the back device body by the wheel leg fixing part, and each five-pointed star-shaped wheel leg is in transmission connection with the DC servo motors fixed on the device bodies. Each five-pointed star-shaped wheel leg comprises five wheel rods, inclined angles among the wheel rods are equal to one another, the outwards extending lengths of the wheel rods can be adjusted, and the five-pointed star-shaped wheel legs turns at one circle, so that the stair with fives steps can be climbed. The mechanical device is high in efficiency, an outdoor irregular terrain can be preferably met, and the mechanical device can be taken as a platform of a mobile robot for searching and rescuing after disaster, searching in the field, and detecting environment.

Description

technical field [0001] The invention relates to a robot, in particular to a stair climbing mechanical device. Background technique [0002] With the development of science and technology and the needs of reality, researchers have developed a variety of robot carriers that can adapt to complex terrains, also known as mobile robots, which can replace humans in dangerous, harsh, and harmful places to complete some tasks. Such as post-disaster search and rescue, field search, environmental detection and other work. Due to the complex terrain of the above-mentioned workplaces, there are high requirements for the driving ability of the mechanical structure, such as the ability to go up and down stairs, pass obstacles, and have a small turning radius. [0003] At present, crawlers or a combination of crawlers and wheels are mostly used to meet the above-mentioned requirements for driving ability, but there are still shortcomings in actual use. A disaster-accompanying robot propos...

AI Technical Summary

Problems solved by technology

A disaster-accompanying robot proposed in Chinese Patent Application No. 201010248695.7 adopts a crawler driving mode. This type of robot travels on relatively flat ground most of the time, and there are fewer opportunities to work on complex terrain such as going up and down stairs and over obstacles, and The efficiency and stability are not high enough when climbing stairs, especially when turning, the fuselage is easy to tilt, and even rollover phenomenon occurs

[0004] Chinese patent CN2186639Y proposes a mobile carrier adaptable to complex terrains. Its driving structure is a combination of crawlers and wheels, which effectively solves the problems of difficult steering and easy falling off of crawlers on complex ground, and the driving efficiency on flat ground. Higher, but the problems of low efficiency and poor stability when climbing stairs are still not effectively solved

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