A rotary multi-track grabbing hook robot for climbing stairs and overcoming obstacles

Abstract

The invention relates to a rotary multi-track grabbing-hook type robot for climbing stairs, comprising a structural frame, a track wheel mechanism, a lifting mechanism, a multi-track grabbing hook mechanism and a gripper mechanism; the track wheel mechanism is connected to the left and right sides of the lower part of the structural frame On both sides, the lifting mechanism is fixedly connected to the middle of the mechanism frame, the multi-track grapple mechanism is arranged at the bottom of the lifting mechanism, and the gripper mechanisms are symmetrically arranged on both sides of the bottom of the multi-track grapple mechanism. In the present invention, when climbing stairs, the gripper mechanism is stretched through the lifting mechanism to touch the stairs, and the gripper mechanism is used as the main power to drive the robot to climb the stairs. When driving on flat or rough terrain, the multi-track grabbing hook mechanism shrinks through the lifting mechanism and moves away from the ground. , to avoid the wear and damage of the gripper, the invention provides the main power through the rotation of multiple groups of gripper mechanisms, overcomes the shortcomings of the crawler belt with a small climbing slope and easy to wear the edge of the stairs, and has a large climbing slope, safe and reliable, economical and practical, etc. advantage.

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.

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