Omnibearing horizontal posture stair climbing robot mechanical system and method
A technology of horizontal attitude and mechanical system, applied in motor vehicles, transportation and packaging, etc., can solve the problems of poor adaptability to uneven roads, high cost requirements, complex wheel mechanisms, etc., to achieve high safety, reduce bumps, and increase comfort. sense of effect
Pending Publication Date: 2020-06-05
XIAN UNVERSITY OF ARTS & SCI
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Problems solved by technology
The robot has flexible movement and simple control, but the wheel mechanism is complicated, the cost is high, and the adaptability to uneven roads is poor.
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[0051] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, where the schematic embodiments and descriptions of the present invention are used to explain the present invention, but not to limit the present invention.
[0052] figure 1 The main part of the stair climbing mechanical system is shown. The present invention is a mechanical system of a climbing robot with an omnidirectional horizontal posture, which comprises a forward unit group and a vertical movement unit group, a steering mechanism, a fixed welding frame and a center of gravity and height adjustment mechanism.
[0053] Wherein, the advance unit group is provided with a traveling wheel 14 driven by a power roller 15 controlled by a controller to realize the linear walking function of the robot, and the power roller 15 provides the power for the robot to climb stairs.
[0054]There are at least three groups of advancing units, and each gro...
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The invention discloses an omnibearing horizontal posture stair climbing robot mechanical system and method. The omnibearing horizontal posture stair climbing robot mechanical system comprises an advancing unit set, a vertical movement unit set, a steering mechanism and a gravity center and height adjusting mechanism, and advancing wheels driven by a power roller are arranged on the advancing unitset; a lead screw and a power roller which are connected through a sleeve are arranged on the vertical movement unit set, and a fixing gasket used for fixing the position of the electric cylinder isplaced on a fixing welding frame; a support frame and a rotary cylinder connecting seat are arranged on the steering mechanism; the rotary cylinder connecting seat is respectively connected with the rotary cylinder for providing power and steering and the fixed welding frame; a gravity center adjusting block connected to the linear sliding rail is arranged on the gravity center adjuster; and a lifting frame connecting piece is arranged on the height adjuster and is respectively connected with the lifting frame base, the piston type electric cylinder and a carrier for bearing heavy objects. Thestair climbing process of the robot is achieved through cooperation of all the parts, and people and objects difficult to go upstairs are simple, convenient to use and rapid.
Description
technical field [0001] The invention relates to a mechanical system of a stair climbing robot, in particular a three-degree-of-freedom mobile robot that adopts an omnidirectional horizontal attitude mode and is composed of a linear walking unit, a vertical lifting unit, and a steering mechanism, and is realized through the cooperation of three parts. The climbing process of the robot realizes the simplicity, convenience and quickness of people and things that are difficult to go upstairs, so that it can serve human beings and solve the problems of human beings going up and down stairs and carrying heavy objects up and down. Background technique [0002] In order to meet the needs of living, high-rise buildings stand tall, and various logistics inside high-rise buildings are continuously improved. The elderly and disabled people go up and down stairs, carry heavy objects, and transport dangerous goods. People begin to look for resources and equipment other than manpower to com...
Claims
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IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 吴神丽符美兵任锦飞刘凌梁小明姚梓萌
Owner XIAN UNVERSITY OF ARTS & SCI