Wheel type device capable of climbing stairs and used for robot with robot body

Abstract

The utility model relates to the technical field of robots, in particular to a stair-climbing wheel type device for a robot with a body, which comprises a wheel and a moving component, the moving component comprises a transmission component, a limiting ring, a sliding piece, a supporting piece, an anti-skid belt and a mounting component, the limiting ring is arranged on the surface of the wheel, and the sliding piece penetrates through the limiting ring to wrap the wheel. The surface of the limiting ring is provided with a supporting piece, the surface of the supporting piece is provided with an anti-skid belt, the anti-skid belt has an effective anti-skid effect, then the sliding piece is fixed through the installation component, and then kinetic energy is provided through the transmission component so that the robot can climb stairs. The problems that when an existing stair climbing wheel set and a stair climbing robot composed of the existing stair climbing wheel set climb stairs, due to the fact that wheels are not provided with anti-skid devices, the wheels slide back, and the robot falls down and is damaged are solved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a stair-climbing wheeled device for a body-worn robot. Background Technology

[0002] Currently, walking-legged robots are commonly used for climbing stairs, with wheeled stair-climbing robots being rare. However, the control of walking-legged stair-climbing robots is relatively complex. Their walking posture differs when walking on flat ground and when climbing stairs, so different control modes are required. Furthermore, their load capacity is usually relatively small, which places high demands on the structural strength of the walking legs.

[0003] The existing technology (CN214451417U) discloses a stair-climbing wheel assembly and a stair-climbing robot composed thereof, including a wheel frame, a rotating shaft, and three wheels. Each wheel is coaxially fixed with an axle. All three axles are rotatably connected to the wheel frame and are perpendicular to the wheel frame, arranged in an equilateral triangle. Each axle is also coaxially fixed with a primary gear. The rotating shaft is rotatably connected to the wheel frame and is perpendicular to the wheel frame. The rotatable connection between the rotating shaft and the wheel frame is located in the middle between the three axles. A secondary gear is coaxially fixed on the rotating shaft between the three primary gears. All three primary gears mesh with the secondary gears. The rotating shaft rotates to drive the three wheels to rotate synchronously and in the same direction. Thus, when the rotating shaft rotates, the three wheels will rotate synchronously and in the same direction. When encountering a step or staircase, the wheel frame will rotate relative to the rotating shaft so that the upper wheel contacts the step or staircase and moves the stair-climbing wheel assembly upward.

[0004] However, in the above solution, the lack of anti-slip devices on the wheels can cause the robot to slip back when going up stairs, leading to a fall and damage. Utility Model Content

[0005] The purpose of this invention is to provide a stair-climbing wheeled device for a body-worn robot, which aims to solve the problem that existing stair-climbing wheel sets and the stair-climbing robots they are composed of will slip back when climbing stairs because the wheels are not equipped with anti-slip devices, causing the robot to fall and be damaged.

[0006] To achieve the above objectives, this utility model provides a stair-climbing wheeled device for an embodied robot, comprising three wheels and a moving assembly. The moving assembly includes a transmission component, a limiting ring, a sliding component, a support component, an anti-slip belt, and a mounting component. The transmission component is disposed on one side of the wheel. The limiting ring is fixedly connected to the wheel and located on one side of the wheel. The sliding component is slidably connected to the limiting ring and located on one side of the limiting ring. The support component is fixedly connected to the sliding component and located on the top of the sliding component. The anti-slip belt is fixedly connected to the support component and located on one side of the support component. The mounting component is disposed on one side of the sliding component.

[0007] The transmission component includes three connecting shafts, three gears, a transmission element, and a drive unit. The three connecting shafts are fixedly connected to the wheel and located on one side of the wheel. The three gears are fixedly connected to the connecting shafts and located on one side of the connecting shafts. The transmission element is rotatably connected to the connecting shafts and located on one side of the connecting shafts.

[0008] The drive unit includes a transmission rod and a motor. The transmission rod is fixedly connected to the transmission component and is located on one side of the transmission component. The motor is fixedly connected to the transmission rod and is located on one side of the transmission rod.

[0009] The mounting components include a support plate, a spring, a limiting member, a support column, a sliding column, and a fixing part. The support plate is fixedly connected to the sliding member and located on the side of the sliding member. The anti-slip strip has a mounting groove located on one side of the anti-slip strip. The spring is fixedly connected to the support plate and located on one side of the support plate. The limiting member is fixedly connected to the spring and located at the top of the spring. The support column is fixedly connected to the support plate and located on one side of the support plate. The sliding column is fixedly connected to the support column and located on one side of the support column. The fixing part is provided on the mounting plate.

[0010] The fixing part includes a fixing bolt and a sliding plug. The fixing bolt passes through the wheel and is fixedly connected to the support plate, and is located on one side of the support plate. The sliding plug is located on one side of the wheel.

[0011] This invention relates to a stair-climbing wheeled device for a robot. The surface of the wheel has a limiting ring, and a sliding member passes through the limiting ring to wrap around the wheel. The surface of the limiting ring has a support member, and the surface of the support member has an anti-slip strip with effective anti-slip performance. The sliding member is then fixed by an installation component, and kinetic energy is provided by a transmission component to enable the robot to climb stairs. This solution solves the problem that existing stair-climbing wheel sets and the stair-climbing robots they assemble can slip back when climbing stairs due to the lack of an anti-slip device on the wheels, causing the robot to fall and be damaged. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0014] Figure 2 This is a structural schematic diagram of the entire utility model from another perspective.

[0015] Figure 3 This is a side view of the entire utility model.

[0016] Figure 4 This is a rear view of the entire utility model.

[0017] Figure 5 This is a cross-sectional view of the entire utility model.

[0018] Figure 6 yes Figure 5 A magnified view of detail A.

[0019] 101-Wheel, 102-Moving component, 103-Transmission component, 104-Limiting ring, 105-Sliding component, 106-Support component, 107-Anti-slip strip, 108-Mounting component, 109-Connecting shaft, 110-Gear, 111-Transmission component, 112-Drive unit, 113-Transmission rod, 114-Motor, 115-Support plate, 116-Spring, 117-Limiting component, 118-Support column, 119-Sliding column, 120-Fixing part, 121-Mounting groove, 122-Fixing bolt, 123-Sliding plug. Detailed Implementation

[0020] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0021] Please see Figures 1-6 ,in, Figure 1 This is a schematic diagram of the overall structure of this utility model. Figure 2 This is a structural schematic diagram of the entire utility model from another perspective. Figure 3 This is a side view of the entire utility model. Figure 4 This is a rear view of the entire utility model. Figure 5 This is a cross-sectional view of the entire utility model. Figure 6 yes Figure 5 A magnified view of detail A.

[0022] This utility model provides a stair-climbing wheeled device for a body-worn robot, comprising wheels 101 and a moving component 102. The moving component 102 includes a transmission component 103, a limiting ring 104, a sliding component 105, a support component 106, an anti-slip belt 107, and a mounting component 108. The transmission component 103 includes three connecting shafts 109, three gears 110, a transmission component 111, and a drive unit 112. The drive unit 112 includes a transmission rod 113 and a motor 114. The mounting component 108 includes a support plate 115, a spring 116, a limiting component 117, a support column 118, a sliding column 119, and a fixing part 120. The fixing part 120 includes a fixing bolt 122 and a sliding plug 123. The aforementioned solution solves the problem that existing stair-climbing wheel sets and the stair-climbing robots they compose slip back when climbing stairs because the wheels 101 are not equipped with anti-slip devices, causing the robot to fall and be damaged.

[0023] In this specific embodiment, the transmission component 103 is disposed on one side of the wheel 101, the limiting ring 104 is fixedly connected to the wheel 101 and located on one side of the wheel 101, the sliding member 105 is slidably connected to the limiting ring 104 and located on one side of the limiting ring 104, the support member 106 is fixedly connected to the sliding member 105 and located on the top of the sliding member 105, and the anti-slip strip... 107The mounting member 108 is fixedly connected to the support member 106 and located on one side of the support member 106. The wheel 101 has the limiting ring 104 on its surface. The sliding member 105 passes through the limiting ring 104 to wrap around the wheel 101. The supporting member 106 is located on the surface of the limiting ring 104. The anti-slip strip 107 is located on the surface of the supporting member 106. The anti-slip strip 107 has effective anti-slip performance. Then, the sliding member 105 is fixed by the mounting member 108. Subsequently, the transmission member 103 provides kinetic energy to enable the robot to climb stairs. Through the above solution, the problem that existing stair-climbing wheel sets and the stair-climbing robots they are composed of will slip back when climbing stairs because the wheels 101 are not equipped with anti-slip devices, causing the robot to fall and be damaged is solved.

[0024] Three connecting shafts 109 are fixedly connected to the wheels 101 and located on one side of each wheel 101. Three gears 110 are fixedly connected to the connecting shafts 109 and located on one side of each connecting shaft 109. The transmission component 111 is rotatably connected to the connecting shafts 109 and located on one side of each connecting shaft 109. All three wheels 101 are connected to the gears 110 via the connecting shafts 109. The gears 110 mesh with each other to ensure mutual transmission between the wheels 101 when climbing stairs, facilitating the ascent. Simultaneously, the gears 110 drive the transmission component 111 through the drive unit 112, ultimately allowing the wheels 101 to sequentially contact the ground to climb the stairs smoothly.

[0025] Secondly, the transmission rod 113 is fixedly connected to the transmission component 111 and is located on one side of the transmission component 111. The motor 114 is fixedly connected to the transmission rod 113 and is located on one side of the transmission rod 113. When climbing stairs, the output end of the motor 114 drives the transmission rod 113 to rotate, the transmission rod 113 drives the transmission component 111 to rotate, and then the wheel 101 drives the robot to climb stairs.

[0026] Meanwhile, the support plate 115 is fixedly connected to the sliding member 105 and located on the side of the sliding member 105; the anti-slip strip 107 has a mounting groove 121 located on one side of the anti-slip strip 107; the spring 116 is fixedly connected to the support plate 115 and located on one side of the support plate 115; the limiting member 117 is fixedly connected to the spring 116 and located at the top of the spring 116; the support column 118 is fixedly connected to the support plate 115 and located on one side of the support plate 115; and the sliding column 119 is fixedly connected to the support column 118 and located on the side of the support column 118. On one side, the fixing part 120 is disposed on one side of the wheel 101, the support plate 115 is located on one side of the sliding member 105, and the other side of the support plate 115 has the mounting groove 121. The support plate 115 has a spring 116. When one side of the support plate 115 is inserted into the mounting groove 121, the spring 116 will push the limiting member 117 upward according to its own elastic deformation characteristics, and then drive the sliding column 119 to slide within the support column 118 for limiting. Then, the fixing part 120 provides secondary reinforcement, which facilitates replacement of the anti-slip strip 107 after damage to ensure the quality of anti-slip.

[0027] In addition, the fixing bolt 122 passes through the wheel 101 and is fixedly connected to the support plate 115, and is located on one side of the support plate 115. The sliding plug 123 is disposed on one side of the wheel 101. The fixing bolt 122 is passed through the wheel 101 and threadedly tightened to the support plate 115. The sliding plug 123 is inserted into the hole of the fixing bolt 122 to ensure stability.

[0028] When using this utility model, the surface of the wheel 101 has the limiting ring 104. The sliding member 105 passes through the limiting ring 104, and one side of the support plate 115 is inserted into the mounting groove 121. The spring 116 will push the limiting member 117 upward according to its own elastic deformation characteristics, and then drive the sliding column 119 to slide in the support column 118 to limit and wrap the wheel 101. Then, the fixing bolt 122 passes through the wheel 101 and is threadedly tightened to the support plate 115. Finally, the plug is inserted into the fixing bolt. The bolt 122 ensures stability within its hole. The surface of the limiting ring 104 has the support member 106, and the surface of the support member 106 has the anti-slip strip 107. The anti-slip strip 107 has effective anti-slip performance. Then, the sliding member 105 is fixed by the mounting member 108. Subsequently, the transmission member 103 provides kinetic energy to enable the robot to climb the stairs. Through the above solution, the problem that existing stair-climbing wheel sets and the stair-climbing robots they form will slip back when climbing stairs due to the lack of anti-slip devices on the wheels 101, causing the robot to fall and be damaged is solved.

[0029] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. A stair-climbable wheeled device for a humanoid robot, comprising three wheels, characterized in that, a moving assembly is further included; the moving assembly comprises a transmission member, a limiting ring, a sliding piece, a support piece, an anti-skid belt and a mounting member; the transmission member is arranged on one side of the wheel, the limiting ring is fixedly connected with the wheel and located on one side of the wheel, the sliding piece is in sliding connection with the limiting ring and located on one side of the limiting ring, the support piece is fixedly connected with the sliding piece and located on the top of the sliding piece, the anti-skid belt is fixedly connected with the support piece and located on one side of the support piece, and the mounting member is arranged on one side of the sliding piece.

2. The stair-climbable wheeled device for a humanoid robot according to claim 1, characterized in that, the transmission member comprises three connecting shafts, three gears, a transmission piece and a driving part, the three connecting shafts are respectively fixedly connected with the wheels and located on one side of the wheels, the three gears are respectively fixedly connected with the connecting shafts and located on one side of the connecting shafts, and the transmission piece is in rotational connection with the connecting shafts and located on one side of the connecting shafts.

3. The stair-climbable wheeled device for a humanoid robot according to claim 2, characterized in that, the driving part comprises a transmission rod and a motor, the transmission rod is fixedly connected with the transmission piece and located on one side of the transmission piece, and the motor is fixedly connected with the transmission rod and located on one side of the transmission rod.

4. The stair-climbable wheeled device for a humanoid robot according to claim 3, characterized in that, the mounting member comprises a support plate, a spring, a limiting piece, a support column, a sliding column and a fixing part, the support plate is fixedly connected with the sliding piece and located on the side of the sliding piece, the anti-skid belt has a mounting groove located on one side of the anti-skid belt, the spring is fixedly connected with the support plate and located on one side of the support plate, the limiting piece is fixedly connected with the spring and located on the top of the spring, the support column is fixedly connected with the support plate and located on one side of the support plate, the sliding column is fixedly connected with the support column and located on one side of the support column, and the fixing part is arranged on one side of the wheel.

5. The stair-climbable wheeled device for a humanoid robot according to claim 4, characterized in that, the fixing part comprises a fixing bolt and a sliding plug, the fixing bolt is fixedly connected with the support plate through the wheel and located on one side of the support plate, and the sliding plug is arranged on one side of the wheel.

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