Quadruped-imitating stair-climbing robot

Abstract

The invention discloses a quadruped-imitating stair-climbing robot which comprises a loading plate and four parallel connection leg mechanisms connected with the loading plate and having the same structure. Two leg mechanisms parallel in a right-and-left mode are located below the front of the loading plate, and other two leg mechanisms parallel in a right-and-left mode are located below the back of the loading plate. Every leg mechanism comprises a machine frame and two coplanar branched chains. The machine frames are hinged to the loading plate, every branched chain comprises a driving rod and a driven rod, one end of every driving rod is connected with a rotating driving device, the other end of the driving rod is hinged to one end of the driven rod, and the rotating driving devices are installed on the machine frames. The other ends of two driven rods in the leg mechanisms are hinged to each other, and the machine frames and the branched chains form a planar five-rod mechanism. Legs of the quadruped-imitating stair-climbing robot are of a parallel connection structure, so that the leg mechanisms have greater rigidity in space, and higher movement speed and acceleration of the leg mechanisms can be achieved.

Description

technical field [0001] The invention belongs to the technical field of multi-legged crawling robots, and in particular relates to a climbing robot imitating quadrupeds. Background technique [0002] In daily life and production, people often carry heavy objects up the stairs, and the traditional method basically relies on manpower to carry them. However, when the heavy objects are too heavy or the manpower is insufficient, the transportation cannot be successful, so people have invented various climbing devices to overcome this problem, ensure personal safety, improve the working environment, and increase labor productivity. According to the principle, these devices are mainly divided into wheel-type, crawler-type and walking-type. [0003] The stability of the wheel group type stair climbing device is not high when going up and down stairs, the center of gravity fluctuates greatly, and the device volume is relatively large, so it is difficult to use on ordinary residential...

AI Technical Summary

Problems solved by technology

[0003] The wheel-type stair-climbing device is not stable when going up and down stairs, the center of gravity fluctuates greatly, and the device is bulky, so it is difficult to use it on ordinary residential stairs

The crawler-type stair-climbing device is heavy, the movement is not flexible enough, and it will cause huge pressure on the edge of the stairs when climbing the stairs, which will damage the stairs to a certain extent, and the resistance encountered by the flat ground is relatively large. These problems limit its promotion in daily life. use

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