Rotary multi-track grab hook type stair-climbing and obstacle-crossing robot

Abstract

The invention relates to a rotary multi-track grab hook type stair-climbing and obstacle-crossing robot. The rotary multi-track grab hook type stair-climbing and obstacle-crossing robot comprises a structural frame, crawler wheel mechanisms, a lifting mechanism, a multi-track grab hook mechanism and gripper mechanisms. The crawler wheel mechanisms are connected to the left side and the right sideof the lower part of the structural frame, the lifting mechanism is fixedly connected to the middle of the structural frame, the multi-track grab hook mechanism is arranged at the bottom of the lifting mechanism, and the gripper mechanisms are correspondingly and symmetrically arranged on the two sides of the bottom of the multi-track grab hook mechanism. According to the rotary multi-track grab hook type stair-climbing and obstacle-crossing robot, during stair climbing, the gripper mechanisms stretch through the lifting mechanism to make contact with stairs, the gripper mechanisms are used asmain power to drive the robot to climb the stairs, when the rotary multi-track grab hook type stair-climbing and obstacle-crossing robot runs on a flat ground or a rugged terrain, the multi-track grab hook mechanism is contracted through the lifting mechanism to be far away from the ground, and abrasion and damage of grippers are avoided. Main power is provided through rotation of the multiple sets of gripper mechanisms, the defects that the stair climbing gradient of a caterpillar band is small and the stair edges are prone to being worn are overcome, and the rotary multi-track grab hook type stair-climbing and obstacle-crossing robot has the advantages of being large in stair climbing gradient, being safe and reliable, being economical and practical and the like.

Description

technical field [0001] The invention relates to the technical field of transportation robots, in particular to a rotary multi-track grabbing hook type robot for climbing stairs and overcoming obstacles. Background technique [0002] For some floors without elevators, stairs severely limit the unmanned development of various industries, especially the transportation industry. Unmanned transportation can be realized in warehouses, docks, etc., but due to the complex terrain constraints of the city, and the inability of transportation robots to climb stairs, or the lack of load capacity of climbing robots on the market, unmanned transportation robots cannot be popularized in urban areas. . Simultaneously, this stair-climbing robot can be applied to fields such as a stair-climbing fire-fighting robot and a stair-climbing indoor combat robot. [0003] The current invention patent with publication number CN111232081A discloses a mechanical system and method for a climbing robot ...

AI Technical Summary

Problems solved by technology

When climbing stairs, the forward unit group and the vertical movement unit group are used to climb the stairs alternately, the climbing speed is slow, and the climbing efficiency is low

[0004] The invention patent with the publication number CN109178137A discloses a multi-legged robot based on three-degree-of-freedom mechanical legs, including a fuselage, an electrical unit, and three-degree-of-freedom mechanical legs. When climbing stairs, the motor drives the mechanical legs to climb stairs step by step. The control is complicated and the load-bearing Weak ability

[0005] The patent for invention with the publication number CN104477268A discloses an underactuated crawler-type mobile obstacle-climbing platform. Although the mechanical structure is simple, the climbing power comes from the crawler belt, the load capacity is weak, and the climbing height is highly restricted.

[0006] At present, there are many theoretical research results on the robot for climbing and obstacle-climbing ladders, and various products have been developed, and some products have been launched on the market, but there are generally disadvantages such as light load, small climbing slope, and low climbing reliability.

For the existing robot for climbing stairs and surmounting obstacles, there has not yet been a device that provides the main power through the rotation of multiple groups of grapples and has a large climbing slope. Robots are mainly used in express delivery, food delivery and transportation industries, rescue and firefighting agencies, military fields, etc.

Images