Quadruped stair climbing robot mechanism

Abstract

The invention discloses a quadruped stair climbing robot mechanism which comprises an upper body and four parallel feet connected with the upper body. Each foot comprises a fixed platform, a touch foot and three moving branched chains with the same structure, each fixed platform is fixedly connected with the upper body, each three moving branched chains are axially, symmetrically and uniformly arranged between the corresponding fixed platform and the corresponding touch foot, each moving branched chain comprises a driving arm and a driven arm, one end of each driving arm is connected with a rotation driving device, the other end of each driving arm is connected with one end of the corresponding driven arm through a ball hinge, the other end of each driven arm is fixedly connected with a hollow spherical connector, the rotation driving devices are fixed below the fixed platforms, the three hollow spherical connectors correspondingly connected with the three moving branched chains are concentrically mounted in an embedded manner to form each touch foot, and a spherical pair is formed between each two adjacent hollow spherical connectors. The quadruped stair climbing robot mechanism can automatically walk, walk up and down stairs and carry large load, and the upper body of a robot is constantly kept horizontal when the robot mechanism moves.

Description

technical field [0001] The invention belongs to the field of robots, and in particular relates to a quadruped stair-climbing robot mechanism. Background technique [0002] With the continuous development of robot technology, robots have been able to meet some special performance requirements, but in most cases, robots walk on flat roads, and cannot adapt to stepped road conditions well. [0003] At present, the main modes of movement of stair-climbing robots are wheeled, crawler and legged. Among them, the wheeled stair-climbing robot directly uses the rotation of the wheels to achieve the purpose of crawling. It has flexible movement and simple control, but it has poor adaptability to the ground environment, weak braking ability, low stability, and relatively large fluctuations in the center of gravity; The stair robot directly uses the rotation of the crawler to achieve the purpose of crawling. It has strong ground adaptability, simple mechanism, and high stability, but i...

AI Technical Summary

Problems solved by technology

Among them, the wheeled stair-climbing robot directly uses the rotation of the wheels to achieve the purpose of crawling. It has flexible movement and simple control, but it has poor adaptability to the ground environment, weak braking ability, low stability, and relatively large fluctuations in the center of gravity; The stair robot directly uses the crawler to achieve the purpose of crawling. It has strong ground adaptability, simple mechanism and high stability, but it is heavy, inflexible in movement, and relatively destructive to the road surface.

Images