Wheel leg type stair climbing robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a wheel leg type stair climbing robot which comprises a center frame 3 and wheels 1 located on the two sides of the center frame 3 respectively, each wheel 1 is connected with the center frame 3 through a cantilever 2, and a first driving motor m1 is arranged at the connecting position of each cantilever 2 and the corresponding wheel 1 to form a first rotating pair. A second driving motor m2 is arranged at the connecting position of the cantilever 2 and the central frame 3 to form a rotating pair II; the stair-climbing robot further comprises swing rods 4 and supporting rod pieces 5, the swing rods 4, the supporting rod pieces 5 and the cantilevers 2 are in one-to-one correspondence, one end of each swing rod 4 is fixedly connected to the corresponding cantilever 2, the other end of each swing rod 4 is connected with the corresponding supporting rod piece 5, and a third driving motor m3 is arranged at the connecting position of each swing rod 4 and the corresponding supporting rod piece 5 to form a third rotating pair. The wheel-leg type stair climbing robot is simple in structure and capable of effectively achieving stair climbing actions.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a wheel-legged stair-climbing robot. Background technique [0002] Today, robots have penetrated into all walks of life and are widely used in military, manufacturing, medical, service, etc. However, common robots can only be used in smooth and unimpeded occasions, and often cannot move smoothly in continuous obstacles, continuous Multi-level obstacle roads such as speed bumps, not to mention occasions with high traffic capacity tests such as stairs. [0003] As we all know, tracked mobile robots are popular for their strong terrain adaptability, but when turning, the wear of the track and the difficulty of opening molds for the track have become the bottleneck of its application; in contrast, the wheeled mobile robot has overcome These shortcomings of the crawler type can give full play to the advantages of flexible movement and simple control of the mobile robot und...

AI Technical Summary

Problems solved by technology

[0002] Today, robots have penetrated into all walks of life and are widely used in military, manufacturing, medical, service, etc. However, common robots can only be used in smooth and unimpeded occasions, and often cannot move smoothly in continuous obstacles, continuous Multi-level obstacle roads such as speed bumps, not to mention occasions with high traffic capacity tests such as stairs

[0003] As we all know, tracked mobile robots are popular for their strong terrain adaptability, but when turning, the wear of the track and the difficulty of opening molds for the track have become the bottleneck of its application; in contrast, the wheeled mobile robot has overcome These shortcomings of crawler type can give full play to the advantages of flexible movement and simple control of mobile robots under the premise of satisfying certain terrain adaptability, but its adaptability to terrain is not as good as that of crawler robots.

Generally speaking, the adaptability of wheeled mobile robots to the terrain is proportional to the number of wheels, but with the increase of the number of wheels, it brings the disadvantages of bulky size and heavy weight of the robot.

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