Quadruped stair climbing robot mechanism

A technology for climbing stairs and robots, applied in the field of robots, can solve the problems of weak braking ability, destructive road surface, inflexible movement, etc., and achieve the effect of not easy to fall and good stability

Active Publication Date: 2013-09-04
CHENXING (TIANJIN) AUTOMATION EQUIP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 larg

Method used

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  • Quadruped stair climbing robot mechanism
  • Quadruped stair climbing robot mechanism
  • Quadruped stair climbing robot mechanism

Examples

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Embodiment Construction

[0013] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0014] see Figure 1 ~ Figure 3 , a four-legged stair-climbing robot mechanism, including an upper body 8 and four parallel feet 9 with the same structure connected thereto, two left and right parallel feet 9 are located at the front and lower part of the upper body 8, two The left and right parallel feet 9 are located at the rear and lower side of the upper body 8 . Each of the feet 9 includes a fixed platform 1 affixed to the upper body 8, a contact pin 7, and three structurally identical kinematic branch chains connected between the fixed platform 1 and the contact pin 7, three The kinematic branch chains are arranged symmetrically and evenly. Each motion branch chain includes a master arm 4 and a slave arm 6, one end of the master arm 4...

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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...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 贾凯凯刘松涛宋涛梅江平田二勋张新杨文明
Owner CHENXING (TIANJIN) AUTOMATION EQUIP CO LTD
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