Crawler-type stair climbing robot
A stair-climbing and crawler-type technology, which is applied in the field of electric robots, can solve problems such as difficult movement and inability to complete full coverage of substations, and achieve the effects of enhancing obstacle-surpassing ability, increasing contact area, and ensuring overall balance
Pending Publication Date: 2019-03-29
GUIZHOU POWER GRID CO LTD
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AI Technical Summary
Problems solved by technology
Orbital robots need to arrange orbits and corresponding equipment indoors, which also limits them to perform tasks in specific areas
Wheeled robots are also unable to complete the full coverage of substations, and it is difficult to move in harsh road environments in the wild
Method used
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[0018] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood that the preferred embodiments are only for illustrating the present invention, but not for limiting the protection scope of the present invention.
[0019] The front and rear ends in the manual are the front and rear ends when the robot is walking, and the left and right ends are the left and right ends when the robot is walking.
[0020] like Figure 1-3 As shown, the crawler-type stair-climbing robot includes a fuselage 1, which is preferably an inverted trapezoid. The left and right sides of the top of the front end of the fuselage 1 are relatively provided with driving wheels 1-4, and the left and right sides of the rear end top are relatively provided with positioning wheels 23. The left and right sides of the bottom of the front end of the fuselage are relatively provided with two drive wheels 7, the one dri...
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The invention discloses a crawler-type stair climbing robot, which comprises a machine body, wherein the driving wheels 1 are oppositely arranged on the left side and the right side of the top of thefront end of the machine body, the positioning wheels are oppositely arranged on the left side and the right side of the top of the rear end of the machine body, the driving wheels 2 are oppositely arranged on the left side and the right side of the bottom of the front end of the machine body, the driving wheel 1 and the driving wheel 2 are driven by a driving mechanism, the rear end of the machine body gradually inclines forwards from top to bottom, the left side and the right side of the bottom of the rear end of the machine body are respectively provided with steering support plates in a rotating mode, the free end of the steering support plate is vertically provided with a driven wheel, the steering support plate is provided with a chute 4 with a sliding block 3 therein along the length direction, the middle part of the rear end of the machine body is vertically provided with a telescopic mechanism which is rotationally connected with sliding blocks, the left side and the right side of the middle part of the lower end of the machine body are oppositely provided with a balance frame, two ends of the balance frame are respectively and vertically provided with the balance wheels,the balance frame is rotationally connected with a vertically arranged fixed supporting plate, the top of the fixed supporting plate is connected with a spring fixed on the machine body, and two crawler belts are respectively sleeved on the driving wheel 1, a positioning wheel, the driving wheel 2 and the balance wheel on the left side and the right side; the robot does not slip when turning.
Description
technical field [0001] The invention relates to the field of electric robots, in particular to a crawler-type stair-climbing robot. Background technique [0002] Wheeled, tracked and legged mobile mechanisms are the most researched and most widely used in mobile machines. Wheeled mobile robots have the characteristics of simple structure, fast moving speed and strong maneuverability, but they are only suitable for running on flat ground and cannot go up and down stairs and across ditches. The crawler mobile robot is characterized by good stability, it can walk on uneven ground, and can cross objects and climb larger slopes or stairs, but the control of the movement direction of the crawler mobile mechanism is controlled by the left and right crawler speed difference Therefore, there will be problems such as sliding, large resistance, poor turning radius and centrality when turning. At the same time, the robot is generally bulky and heavy, and it is difficult to adapt to th...
Claims
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IPC IPC(8): B62D55/075B62D55/08
CPCB62D55/075B62D55/08
Inventor 宗志亚宁楠宋尧熊楠饶赟王军黄传炳廖清阳杨芸懿杨鹏何先奎
Owner GUIZHOU POWER GRID CO LTD