Stair climbing robot

Abstract

According to the stair climbing robot, the two racks and the two sets of connecting rods form the rack assembly of a parallelogram structure, and therefore the two racks can be kept in the same posture all the time; in the walking assembly, mounting positions are annularly and uniformly distributed on a mounting frame, and crawler feet are mounted on the mounting positions, so that under the action of gravity, the bottom surfaces of the crawler feet are always in parallel contact with the step treads; the crawler belt assemblies are arranged on the crawler belt feet, and the crawler belt assemblies can drive the whole climbing robot to transversely move in the axial direction parallel to the mounting frame, so that the climbing robot has the transverse moving capacity; the auxiliary frame is arranged between the rack and the mounting frame, the auxiliary frame and the mounting frame are eccentrically arranged, and the rack is in sliding fit with the circular track arranged on the auxiliary frame, so that when the walking driving assembly is used for driving the mounting frame to rotate, the rack moves around the circular track, and the mounting frame is driven to eccentrically rotate relative to the auxiliary frame; therefore, the ladder climbing capability is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a ladder-climbing robot. Background Art

[0002] With the rapid development of service robots, logistics robots, cleaning robots and other technologies, the autonomous mobility of robots in complex environments has attracted increasing attention. Especially in multi-story buildings and mountain climbing stairs, the ability of robots to autonomously ascend and descend stairs has become a key capability for efficient operation.

[0003] Currently, robots with the ability to climb stairs generally have complex structures and poor stability, making it difficult to meet demand. For example, among existing stair-climbing robots, the common humanoid leg-type or multi-degree-of-freedom multi-axis structures are not only complex in design and control algorithm, but also have high manufacturing and maintenance costs, which are not conducive to popularization and use. Some tracked or wheeled robots are not only prone to slipping and overturning during the climbing process, but may also wear out the corners of the steps, and their stability cannot meet the requirements. Most existing designs are aimed at light operations or demonstrations, lack sufficient load-bearing capacity and functional scalability, and are difficult to meet the various requirements in actual operations. In addition, in complex corridor turning environments, traditional robots often need to turn on the spot and re-plan the path, which is cumbersome and inefficient. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a ladder climbing robot that can not only cope with the application scenarios of ladder climbing, but also has the ability to move laterally and climb in reverse, and has the advantages of simple structure, stable operation, strong load capacity, good ladder adaptability, strong scalability and no damage to the ladder structure.

[0005] In order to achieve the above object, the present invention provides the following technical solutions: A ladder climbing robot comprises a frame assembly and a walking assembly; The frame assembly includes two frames located at both ends, and the two frames are connected by two sets of parallel connecting rods of equal length to form a parallelogram mechanism; The walking assembly includes a walking unit arranged in a one-to-one correspondence with the frame, the walking unit includes a mounting frame, at least three mounting positions are evenly distributed in an annular manner on the mounting frame, each of the mounting positions is equipped with a crawler foot, and the crawler foot is provided with a crawler assembly for driving the walking assembly to move laterally in a direction parallel to the rotating axis of the mounting frame; the crawler foot is provided with a connecting shaft parallel to the rotating axis of the mounting frame, and the connecting shaft is rotatably matched with the mounting frame at the mounting position; An auxiliary frame is provided between the frame and the corresponding mounting frame, and a circular track is provided on the auxiliary frame. The axis of the circular track is parallel to but not coaxial with the rotating shaft of the mounting frame, and the frame and the circular track are slidably matched; connecting positions are evenly distributed in an annular pattern on the auxiliary frame, and the connecting positions are arranged in a one-to-one correspondence with the mounting positions. One end of the connecting shaft is bent and hingedly connected to the auxiliary frame at the corresponding connecting position; The frame is provided with a travel drive assembly for driving the corresponding travel unit to rotate.

[0006] Furthermore, the connecting rod is a telescopic rod with adjustable length, and the connecting rod includes a first sleeve and a first core rod sleeved in the first sleeve, and the first sleeve and the first core rod are respectively hingedly connected to the two frames.

[0007] Furthermore, a retaining frame is provided between the two groups of connecting rods, the retaining frame is hingedly connected to the first core rod, and the distances between the two connection points where the first core rod is hingedly connected to the frame and the retaining frame are equal.

[0008] Furthermore, at least three radially outwardly extending mounting plates are evenly distributed in a ring on the mounting frame, and each mounting plate is provided with one mounting position; auxiliary plates are evenly distributed in a ring on the auxiliary frame, and the auxiliary plates are arranged in a one-to-one correspondence with the mounting plates, and each auxiliary plate is provided with one connection position.

[0009] Furthermore, the track foot includes foot side plates located on both sides, the track assembly includes a track located between the two foot side plates, and at least four gears meshing with the track and a track drive assembly connected to one of the gears are provided between the two foot side plates; the track drive assembly includes a track drive motor and a driving gear connected to the output shaft of the track drive motor, and the driving gear is meshed with one of the gears.

[0010] Furthermore, the foot side plate is a trapezoidal structure, and the width of the lower bottom edge of the foot side plate in contact with the ground is smaller than the upper top edge parallel to the lower bottom edge, and the four gears are respectively installed at four diagonal positions of the foot side plate.

[0011] Furthermore, the number of the mounting brackets is two and they are respectively located at the two ends of the track foot, and both mounting brackets are rotatably engaged with the connecting shaft.

[0012] Furthermore, the travel drive assembly includes a worm wheel transmission-connected to the mounting frame and a worm meshing with the worm wheel.

[0013] Furthermore, a transmission shaft is provided between the two worms, and both ends of the transmission shaft are connected to the corresponding worm shafts through universal joints; one of the two worms is transmission-connected to a drive motor.

[0014] Furthermore, the transmission shaft adopts a telescopic rod with adjustable length, and the transmission shaft includes a second sleeve and a second core rod sleeved in the second sleeve, the second sleeve and the second core rod rotate synchronously, and the second sleeve and the second core rod are respectively connected to the two worm gears through universal joints.

[0015] The beneficial effects of the present invention are: The stair climbing robot of the present invention comprises a frame assembly of a parallelogram structure formed by two frames and two sets of connecting rods, so that the two frames can always maintain the same posture during the stair climbing process; in the walking assembly, mounting positions are evenly distributed in a ring on the mounting frame, and crawler feet that rotate with them are installed on the mounting positions. In this way, under the action of gravity, the bottom surface of the crawler feet can always be in parallel contact with the stair treads; by arranging a crawler assembly on the crawler feet, the crawler assembly can drive the crawler feet and the entire climbing robot to move laterally along the axial direction parallel to the mounting frame, so that the climbing robot has the ability to move laterally; by arranging an auxiliary frame between the frame and the mounting frame, the auxiliary frame is eccentrically arranged with the mounting frame, and the frame is slidably matched with the circular track arranged on the auxiliary frame. In this way, when the mounting frame is driven to rotate by the walking drive assembly, the frame moves around the circular track, thereby driving the mounting frame to rotate eccentrically relative to the auxiliary frame, so that the robot can have the ability to climb stairs. The principle is as follows: When the sole of one of the track feet contacts and cooperates with the stair tread, assuming that the mounting frame is at the lowest point of the circular track at this time, the mounting frame moves rearward and upward relative to the auxiliary frame around the circular track. Under the action of the sole of the track foot and the stair tread, the track foot remains stationary, and the frame assembly can be driven to move forward and upward relative to the auxiliary frame, so that the other track foot can fall on the plane of the next stair; this reciprocating process can achieve stair climbing.

[0016] In summary, the ladder-climbing robot of the present invention can not only cope with the application scenarios of ladder climbing, but also has the ability to move laterally and climb in reverse. It has the advantages of simple structure, stable operation, strong load capacity, good ladder adaptability, strong scalability and no damage to the ladder structure.

[0017] Specifically, the ladder climbing robot of the present invention also has the following technical advantages: (1) By setting at least three crawler feet on each body and using a parallelogram mechanism to form a frame assembly, the two frames always maintain the same posture during the entire climbing process, effectively improving the robot's adhesion stability on the stair tread, significantly reducing the risk of slipping and rollover caused by tilt or structural offset, and enhancing the adaptability of ladder operations.

[0018] (2) The two racks are connected by a retractable parallelogram structure, which can dynamically adjust the spacing according to the step size while maintaining the coordination and balance of the overall structure, adapting to different step slopes and structures, and improving the crossing performance and safety.

[0019] (3) The robot's drive shaft is connected to the worm gear inside the two frames through a universal joint, which effectively compensates for the offset of the drive axis caused by the relative movement of the fuselage and improves the flexibility and stability of the transmission system; the motor is centrally arranged in one side of the fuselage to uniformly drive the entire drive shaft, simplifying the mechanical structure and effectively reducing the difficulty of maintenance.

[0020] (4) The crawler foot adopts a trapezoidal structure with an elevation angle, which enables the robot to move laterally, turn, and cross small steps laterally, further improving the robot's flexibility; at the corner of the stairs, the direction can be adjusted by moving sideways and then climbing in the opposite direction, without the need for the entire body to turn, greatly improving the passing efficiency and operational flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the purpose, technical solutions and beneficial effects of the present invention more clear, the present invention provides the following drawings for illustration: Figure 1 This is a schematic structural diagram of an embodiment of a ladder-climbing robot according to the present invention; Figure 2 is a structural diagram of a rack assembly; Figure 3 Schematic diagram of the structure of the auxiliary frame; Figure 4 Schematic diagram of the structure of the crawler foot; Figure 5 Schematic diagram of the internal structure of the track foot; Figure 6 It is a structural diagram of the travel drive component; Figure 7 This is a structural schematic diagram of the ladder-climbing robot of this embodiment in a climbing state on a ladder; Figure 8 This is a schematic diagram of the structure of the ladder-climbing robot of this embodiment when it reaches the turning platform; Figure 9 This is a structural schematic diagram of the ladder-climbing robot of this embodiment moving laterally along the steering platform; Figure 10This is a structural diagram of the ladder-climbing robot of this embodiment when climbing in the reverse direction from the turning platform.

[0022] Reference numerals: 11-frame; 12-connecting rod; 121-first sleeve; 122-first core rod; 13-cage; 21-mounting frame; 211-mounting plate; 212-mounting position; 22-track foot; 221-foot side plate; 222-track; 223-gear; 224-track drive motor; 225-driving gear; 23-connecting shaft; 231-bending section; 24-auxiliary frame; 241-circular track; 242-auxiliary plate; 243-connecting position; 25-worm gear; 26-worm; 27-drive shaft; 271-second sleeve; 272-second core rod; 28-universal joint; 29-drive motor. DETAILED DESCRIPTION

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0024] like Figure 1 As shown, the ladder-climbing robot of this embodiment includes a frame assembly and a walking assembly.

[0025] In this embodiment, the frame assembly includes two frames 11 at both ends. The two frames 11 are connected by two sets of parallel connecting rods 12 of equal length to form a parallelogram mechanism. Specifically, in this embodiment, each set of connecting rods 12 includes two connecting rods 12, that is, the two frames 11 in this embodiment are connected by four connecting rods 12.

[0026] In a preferred embodiment of this embodiment, the connecting rod 12 is a telescopic rod with adjustable length. The connecting rod 12 includes a first sleeve 121 and a first core rod 122 that is sleeved within the first sleeve 121. The first sleeve 121 and the first core rod 122 are respectively hingedly connected to the two frames 11. Thus, by adjusting the length of the connecting rod 12, the distance between the two frames 11 can be adjusted to accommodate different step slopes and structures, thereby improving spanning performance and safety.

[0027] In a preferred implementation of this embodiment, a retaining frame 13 is provided between the two groups of connecting rods 12, the retaining frame 13 is hingedly connected to the first core rod 122, and the distances between the two connection points where the first core rod 122 is hingedly connected to the frame 11 and the retaining frame 13 are equal. In this way, it can be ensured that during the process of adjusting the length of the connecting rod 12, the lengths of all connecting rods 12 remain equal.

[0028] In this embodiment, the travel assembly includes a travel unit corresponding to the frame 11. The travel unit includes a mounting frame 21. The mounting frame 21 is provided with at least three mounting positions evenly distributed in a circle. Each mounting position is mounted with a track foot 22. The track foot 22 is provided with a track assembly for driving the travel assembly to move laterally in a direction parallel to the rotation axis of the mounting frame 21. The track foot 22 is provided with a connecting shaft 23 parallel to the rotation axis of the mounting frame 21. The connecting shaft 23 rotates with the mounting frame 21 at the mounting position. In a preferred embodiment of this embodiment, two mounting frames 21 are provided, one at each end of the track foot 22. Both mounting frames 21 rotate with the connecting shaft 23, which can improve the installation stability of the track foot 22.

[0029] In this embodiment, an auxiliary frame 24 is disposed between the frame 11 and the corresponding mounting frame 21. A circular track 241 is disposed on the auxiliary frame 24. The axis of the circular track 241 is parallel to, but not coaxial with, the rotation axis of the mounting frame 21, meaning that the auxiliary frame 24 is eccentrically positioned relative to the mounting frame 21. In this embodiment, the frame 11 and the circular track 241 are in sliding engagement. Connection points are evenly distributed around the auxiliary frame 24, corresponding to the mounting points. One end of the connecting shaft 23 is bent to form a bent section 231, which is then hingedly connected to the auxiliary frame 24 at the corresponding connection point.

[0030] Specifically, in this embodiment, at least three radially outwardly extending mounting plates 211 are evenly distributed in an annular pattern on the mounting frame 21, and each mounting plate 211 is provided with a mounting position 212. That is, in this embodiment, auxiliary plates 242 are evenly distributed in an annular pattern on the auxiliary frame 24, corresponding one to each mounting plate 211, and each auxiliary plate 242 is provided with a connection position 243.

[0031] In this embodiment, the track foot 22 includes foot side plates 221 located on both sides, and the track assembly includes a track 222 located between the two foot side plates 221. At least four gears 223 meshing with the track 222 and a track drive assembly drivingly connected to one of the gears 223 are provided between the two foot side plates 221. The track drive assembly can be implemented in a variety of ways. In this embodiment, the track drive assembly includes a track drive motor 224 and a driving gear 225 drivingly connected to the output shaft of the track drive motor 224. The driving gear 225 meshes with one of the gears 223.

[0032] In a preferred embodiment of this embodiment, the foot side panels 221 have a trapezoidal structure, with the width of the lower base of the foot side panels 221, where they contact the ground, being smaller than the upper top edge, which is parallel to the lower base. Four gears 223 are mounted at four diagonal positions on the foot side panels 221. In other words, in this embodiment, the tracked feet 22 utilize a trapezoidal structure with an elevation angle, enabling the robot to move laterally, turn, and cross small steps, further enhancing its flexibility. At stair corners, the robot can adjust its direction by shifting sideways and then climbing in the opposite direction, eliminating the need for overall steering, significantly improving its efficiency and operational flexibility.

[0033] The frame 11 of this embodiment is provided with a travel drive assembly for driving the corresponding travel unit to rotate. In this embodiment, the travel drive assembly includes a worm gear 25 connected to the mounting frame 21 and a worm 26 meshing with the worm gear 25.

[0034] In a preferred implementation of this embodiment, a transmission shaft 27 is provided between the two worms 26 , and both ends of the transmission shaft 27 are connected to the corresponding worm 26 shafts through universal joints 28 ; one of the two worms 26 is transmission-connected to a drive motor 29 .

[0035] In a preferred implementation of this embodiment, the transmission shaft 27 adopts a telescopic rod with adjustable length, and the transmission shaft 27 includes a second sleeve 271 and a second core rod 272 sleeved in the second sleeve 271. The second sleeve 271 and the second core rod 272 rotate synchronously, and the second sleeve 271 and the second core rod 272 are respectively connected to the two worm gears 26 through universal joints 28.

[0036] The above embodiments are merely preferred embodiments for the purpose of fully illustrating the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are within the scope of protection of the present invention. The scope of protection of the present invention shall be subject to the claims.

Claims

1. A stair climbing robot, characterized in that: Including frame assembly and travel assembly; The frame assembly includes two frames located at both ends, and the two frames are connected by two sets of parallel connecting rods of equal length to form a parallelogram mechanism; The walking assembly includes a walking unit arranged in a one-to-one correspondence with the frame, the walking unit includes a mounting frame, at least three mounting positions are evenly distributed in an annular manner on the mounting frame, each of the mounting positions is equipped with a crawler foot, and the crawler foot is provided with a crawler assembly for driving the walking assembly to move laterally in a direction parallel to the rotating axis of the mounting frame; the crawler foot is provided with a connecting shaft parallel to the rotating axis of the mounting frame, and the connecting shaft is rotatably matched with the mounting frame at the mounting position; An auxiliary frame is provided between the frame and the corresponding mounting frame, and a circular track is provided on the auxiliary frame. The axis of the circular track is parallel to but not coaxial with the rotating shaft of the mounting frame, and the frame and the circular track are slidably matched; connecting positions are evenly distributed in an annular pattern on the auxiliary frame, and the connecting positions are arranged in a one-to-one correspondence with the mounting positions. One end of the connecting shaft is bent and hingedly connected to the auxiliary frame at the corresponding connecting position; The frame is provided with a travel drive assembly for driving the corresponding travel unit to rotate.

2. The ladder-climbing robot according to claim 1, characterized in that: The connecting rod is a telescopic rod with adjustable length, and the connecting rod includes a first sleeve and a first core rod sleeved in the first sleeve. The first sleeve and the first core rod are respectively hingedly connected to the two frames.

3. The ladder-climbing robot according to claim 2, wherein: A retaining frame is provided between the two groups of connecting rods. The retaining frame is hingedly connected to the first core rod, and the distances between the two connection points where the first core rod is hingedly connected to the frame and the retaining frame are equal.

4. The ladder-climbing robot according to claim 1, wherein: At least three radially outwardly extending mounting plates are evenly distributed in a ring on the mounting frame, and each mounting plate is provided with a mounting position; auxiliary plates are evenly distributed in a ring on the auxiliary frame, and the auxiliary plates are arranged in a one-to-one correspondence with the mounting plates, and each auxiliary plate is provided with a connection position.

5. The ladder-climbing robot according to claim 1, characterized in that: The track foot includes foot side plates on both sides, the track assembly includes a track located between the two foot side plates, and at least four gears meshing with the track and a track drive assembly connected to one of the gears are provided between the two foot side plates; the track drive assembly includes a track drive motor and a driving gear connected to the output shaft of the track drive motor, and the driving gear is meshed with one of the gears.

6. The ladder-climbing robot according to claim 5, characterized in that: The foot side plate is a trapezoidal structure, and the width of the lower bottom edge of the foot side plate in contact with the ground is smaller than the upper top edge parallel to the lower bottom edge. The four gears are respectively installed at four diagonal positions of the foot side plate.

7. The ladder-climbing robot according to claim 1, characterized in that: The mounting brackets are provided in two and are respectively located at the two ends of the track foot, and both mounting brackets are rotationally matched with the connecting shaft.

8. The ladder-climbing robot according to any one of claims 1 to 7, characterized in that: The travel drive assembly includes a worm wheel transmission-connected to the mounting frame and a worm meshing with the worm wheel.

9. The ladder-climbing robot according to claim 8, characterized in that: A transmission shaft is provided between the two worms, and both ends of the transmission shaft are connected to the corresponding worm shafts through universal joints; one of the two worms is transmission-connected to a drive motor.

10. The ladder-climbing robot according to claim 9, characterized in that: The transmission shaft adopts a telescopic rod with adjustable length, and the transmission shaft includes a second sleeve and a second core rod sleeved in the second sleeve. The second sleeve and the second core rod rotate synchronously, and the second sleeve and the second core rod are respectively connected to the two worm gears through universal joints.

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