A kind of horizontal and low profile stair climbing robot and stair climbing method

Abstract

The invention discloses a horizontal low-profile stair-climbing robot, which includes a loading platform, a front wheel mechanism, a rear wheel mechanism, a crawler track assembly, an electric push rod, a bidirectional tilt sensor and a controller. The front wheel mechanism and the rear wheel mechanism are respectively Installed at the front end and the lower part of the rear end of the loading platform, the front wheel mechanism and the rear wheel mechanism can drive the loading platform to walk; the rear wheel mechanism can be raised and lowered along the height direction; one end of the track assembly is connected to the rear end of the bottom of the loading platform Hinged, the middle part of the track assembly is hinged with the lower end of the electric push rod. The invention also discloses a method for climbing stairs with a horizontal low-profile robot for climbing stairs up and down. The beneficial effects of the present invention are: the stair-climbing robot operates at a low profile with the center of gravity close to the step slope, and has good ability to resist tipping; the loading platform maintains a horizontal posture during the operation of the robot, and can effectively control the center of gravity to be located at the support point of the crawler belt In the formed area, the robot has good anti-tipping stability when running on flat ground and going up and down stairs.

Description

technical field [0001] The invention relates to a stair climbing mechanical device, in particular to a horizontal and low-profile stair climbing robot and a stair climbing method. Background technique [0002] Many old buildings do not have elevators, and residents only use steps to go up and down. However, under conditions such as handling heavy objects and dangerous objects, it is very important for transportation equipment to have the ability to climb stairs. At present, the climbing robots on the market mainly include the following categories: [0003] 1) Crawler-type stair-climbing robot. The working process of this type of robot is similar to that of excavators or bulldozers. The working principle of stair-climbing is simple, and the technology is relatively mature. It is driven by crawler belts. The maximum inclination angle that can climb stairs is 35° °; The main disadvantage of crawler robots is that they are not flexible to walk on flat ground, and consume a lot...

AI Technical Summary

Problems solved by technology

[0003] 1) Crawler-type stair-climbing robot. The working process of this type of robot is similar to that of excavators or bulldozers. The working principle of stair-climbing is simple, and the technology is relatively mature. It is driven by crawler belts. The maximum inclination angle that can climb stairs is 35° °; The main disadvantage of crawler robots is that they are not flexible when walking on flat ground, and consume a lot of energy, which leads to poor battery life and limits their application range

[0004] 2) Planetary wheel-type stair-climbing robot, each planetary wheel of this type of robot and the bracket that fixes the planetary wheel can rotate around the main axis of the planetary wheel frame, and at the same time, each star wheel can also rotate around the axis. During the process of climbing stairs, Each planetary gear and planetary gear frame rotate around the main shaft of the planetary gear frame together to complete the work of climbing steps; but its disadvantage is that the increase in the structure volume of the planetary wheel body will lead to an increase in the weight of the entire stair-climbing robot, which will affect its loading or other work. Realization; Although the cost of the planetary-wheeled stair-climbing robot is very low, the structure is relatively complicated, and it needs to be controlled manually, with poor stability and insufficient safety.

The robot has flexible movement and simple control; however, the wheel mechanism is complicated, the cost is high, and the adaptability to uneven roads is poor. When used to climb stairs, the grounding of each wheel is complicated, and it is easy to slip and is not safe.

[0006] 4) Other special structure climbing robots, such as Chinese patent application (Application No.: 202010177826.0) discloses a mechanical system and method for a climbing robot with an all-round horizontal posture, the core of which is that three sets of legs are alternately supported on the step surface, A device and method for climbing up and down stairs; however, its mechanical structure and control are relatively complicated, and it is impossible to walk on flat ground at the same time

U.S. patent application (publication number: US2012 / 0175172A1): discloses a stair climbing device, its technical solution: the stair climbing device has at least four telescopic mechanical legs that can be lifted and lowered by electric push rods, and an ultrasonic sensor for step detection , has a microprocessor control device, through the control algorithm, determines the movement of each joint of the mechanical leg, and realizes climbing stairs. It requires high mechanical precision, high complexity of control methods, and reliability is difficult to guarantee.

Chinese patent application (application number: 201910385027.X) discloses a robot for climbing stairs and overcoming obstacles and its control method, and proposes a robot for climbing stairs with a climbing mechanism. The climbing process is realized by the alternate support of two climbing mechanisms ; but the parallelogram frame structure has a large number of movable parts, and the center of gravity fluctuates to a certain extent during the climbing process, which is not stable enough. For stairs with different inclinations, it is necessary to adjust the supporting mechanism to adapt, resulting in inconvenient application

[0007] In summary, the above types of climbing robots generally have the problems of high center of gravity, poor stability, high risk of tipping over during the climbing process, and insufficient safety; and the cost is high, the structure is complicated, and it is difficult to be practically used

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