A center of gravity adjusting mechanism of a stair climbing robot and a stair climbing robot

Abstract

The application discloses a center of gravity adjusting mechanism of a stair climbing robot, which comprises a base with a front end and a rear end, a walking assembly arranged on both sides of the base or below the base and used for driving the base to move, a robot body rotatably installed on the base, and a driving assembly arranged between the base and the robot body and capable of rotating the robot body relative to the base and moving the center of gravity of the robot body to the front end of the base. The walking assembly can be used for stair climbing, and when the base and the robot body are tilted as a whole during stair climbing, the driving assembly can be used for rotating the robot body relative to the base and moving the center of gravity of the robot body to the front end of the base, so that the robot can be prevented from falling backward during stair climbing.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a center of gravity adjustment mechanism for a stair-climbing robot and the stair-climbing robot itself. Background Technology

[0002] With the continuous development of technology, robots have shown great application potential in many fields, such as education, entertainment, and services. Traditional robots have difficulty climbing stairs, and even if they do have the ability, they are prone to tipping backward during the climbing process due to their rearward center of gravity. Utility Model Content

[0003] This invention addresses the aforementioned problems by proposing a center-of-gravity adjustment mechanism for a stair-climbing robot and the stair-climbing robot itself.

[0004] The technical solution adopted by this utility model is as follows: A center-of-gravity adjustment mechanism for a stair-climbing robot, comprising: The base has a front end and a back end; The walking components are located on both sides or below the base and are used to drive the base to move. The robot body is rotatably mounted on the base. A drive assembly is disposed between the base and the robot body. The drive assembly enables the robot body to rotate relative to the base, causing the center of gravity of the robot body to move towards the front end of the base.

[0005] This application enables stair climbing via a walking component. During stair climbing, the base and the robot body tilt as a whole. The application uses a drive component to rotate the robot body relative to the base, causing the robot body's center of gravity to move towards the front of the base, thus preventing the robot from tipping backward during stair climbing.

[0006] The center of gravity adjustment mechanism of this application has a simple structure and low cost. It can adjust the center of gravity of the robot body, achieve self-balance, and prevent the robot from tipping over during the climbing process.

[0007] In one embodiment of the present invention, the robot body has a front end and a rear end, the front end of the robot body is rotatably mounted on the base and the front end of the robot body is close to or located at the front end of the base.

[0008] In one embodiment of the present invention, the driving component is an electric push rod, one end of which is hinged to the base and the other end is hinged to the robot body.

[0009] In practical applications, one end of the drive component can be hinged to the rear end of the base, and the other end can be hinged to the rear end of the robot body.

[0010] In one embodiment of the present invention, a controller and a tilt angle sensor are further included. The controller is electrically connected to the drive assembly and the tilt angle sensor. The tilt angle sensor is used to detect the tilt angle of the base relative to the horizontal plane. The controller can control the drive assembly to work based on the data from the tilt angle sensor.

[0011] In practical applications, the tilt angle sensor can be a gyroscope. The controller can control the operation of the drive component based on the data from the tilt angle sensor, which means controlling the extension distance of the drive component (electric actuator). For example, when the tilt angle is small, the extension distance is 0; when the tilt angle is between a and b, the extension distance is x; and when the tilt angle is greater than b, the extension distance is y (y is greater than x). The actual relationship between the tilt angle and the extension distance can be set on the controller.

[0012] In one embodiment of this utility model, the walking component is an electromechanical foot.

[0013] In one embodiment of the present invention, the walking component is a tracked component, and there are two sets of the walking component, which are respectively arranged on both sides of the base.

[0014] The walking component is a tracked component, which can reliably walk on stairs, allowing the stair-climbing robot to be unaffected by the stair environment and to walk in more places. The drive component can lift the robot body to change the center of gravity, so that the robot will not tip backward during the stair-climbing process.

[0015] In one embodiment of this utility model, the robot body has a camera.

[0016] In one embodiment of this utility model, the robot body has a robotic arm.

[0017] In one embodiment of the present invention, the robot body has a storage cavity.

[0018] This application also discloses a stair-climbing robot, including the center of gravity adjustment mechanism described above.

[0019] The beneficial effects of this utility model are: This application enables stair climbing through the walking component. When climbing, the base and the robot body are tilted as a whole. This application enables the robot body to rotate relative to the base through the drive component, so that the center of gravity of the robot body moves to the front end of the base, which can prevent the robot from tipping backward during the stair climbing process. Attached Figure Description

[0020] Figure 1 This is a diagram illustrating the stair-climbing robot on flat ground. Figure 2 This is a schematic diagram of a stair-climbing robot when its drive mechanism is in operation; Figure 3 This is a schematic diagram of the stair-climbing robot climbing stairs when the drive mechanism is working; Figure 4 This is a schematic diagram of the climbing robot climbing stairs when the drive mechanism is not working.

[0021] The labels for the attached figures are as follows: 1. Base; 11. Front end of base; 12. Rear end of base; 2. Walking component; 3. Robot body; 3a. Center of gravity of robot body; 31. Front end of robot body; 32. Rear end of robot body; 33. Camera; 34. Robotic arm; 4. Drive component. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0024] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0025] The present invention will now be described in detail with reference to the accompanying drawings.

[0026] like Figure 1 , 2 As shown in Figure 3, a stair-climbing robot includes a center-of-gravity adjustment mechanism, which includes: Base 1 has a front end and a back end; The walking component 2 is located on both sides of the base 1 or below the base 1, and is used to drive the base 1 to move. The robot body 3 is rotatably mounted on the base 1; The drive assembly 4 is disposed between the base 1 and the robot body 3. The drive assembly 4 enables the robot body 3 to rotate relative to the base 1, causing the center of gravity 3a of the robot body to move towards the front end 11 of the base.

[0027] This application enables stair climbing via the walking component 2. During stair climbing, the base 1 and the robot body 3 tilt as a whole. The application enables the robot body 3 to rotate relative to the base 1 via the drive component 4, causing the center of gravity 3a of the robot body to move towards the front end 11 of the base, thus preventing the robot from tipping backward during stair climbing.

[0028] like Figure 3 As shown, the stair-climbing robot is climbing the stairs. The drive component 4 works, causing the robot body 3 to rotate relative to the base 1. The horizontal distance 'a' of the robot body's center of gravity 3 is from the front point of the walking component 2. Figure 4 As shown, the drive component 4 is not working, and the robot body 3 does not rotate relative to the base 1. At this time, the horizontal distance between the center of gravity 3a of the robot body and the front point of the walking component 2 is b. After measurement, a is significantly smaller than b. Through the structure of this application, it is possible to effectively prevent the robot from tipping backward during the process of climbing stairs.

[0029] like Figure 2 As shown, in this embodiment, the robot body 3 has a front end and a rear end. The front end 31 of the robot body is rotatably mounted on the base 1 and the front end 31 of the robot body is close to or located at the front end 11 of the base.

[0030] like Figure 2 As shown, in this embodiment, the drive component 4 is an electric actuator. One end of the drive component 4 is hinged to the base 1, and the other end is hinged to the robot body 3. In actual use, one end of the drive component 4 can be hinged to the rear end 12 of the base, and the other end can be hinged to the rear end 32 of the robot body.

[0031] In practical applications, the drive component 4 can also be a pneumatic cylinder or a hydraulic cylinder.

[0032] In other embodiments, other existing drive structures can also be used to drive the robot body 3 to rotate relative to the base 1. For example, cylinders, hydraulic cylinders, etc.

[0033] In practical applications, it also includes a controller and a tilt angle sensor. The controller is electrically connected to the drive assembly 4 and the tilt angle sensor. The tilt angle sensor is used to detect the tilt angle of the base 1 relative to the horizontal plane. The controller can control the drive assembly 4 to work based on the data from the tilt angle sensor.

[0034] In practical applications, the tilt angle sensor can be a gyroscope. The controller can control the operation of the drive component 4 based on the data from the tilt angle sensor, which means controlling the extension distance of the drive component 4 (electric push rod). For example, when the tilt angle is small, the extension distance is 0; when the tilt angle is between a and b, the extension distance is x; and when the tilt angle is greater than b, the extension distance is y (y is greater than x). The actual relationship between the tilt angle and the extension distance can be set on the controller.

[0035] like Figure 2 As shown, in this embodiment, the walking component 2 is a tracked component, and there are two sets of walking components 2, respectively arranged on both sides of the base 1. The walking component 2 is a tracked component, which can reliably walk on stairs, allowing the stair-climbing robot to be unaffected by the stair environment and to walk in more places. The drive component 4 can lift the robot body 3 to change the center of gravity, so that the robot will not tip backward during the stair-climbing process.

[0036] In practical applications, the walking component 2 can also be an electromechanical foot.

[0037] like Figure 1 and 2 As shown, in this embodiment, the robot body 3 has a camera 33 and a robotic arm 34.

[0038] In practical applications, the robot body 3 can also have a storage cavity.

[0039] The center of gravity adjustment mechanism of this application has a simple structure and low cost. It can adjust the center of gravity 3a of the robot body to achieve self-balance and prevent the robot from tipping over during the climbing process.

[0040] The above description is only a preferred embodiment of the present utility model and does not limit the scope of patent protection of the present utility model. Any equivalent structural transformations made based on the content of the present utility model specification and drawings, whether directly or indirectly applied to other related technical fields, are similarly included within the scope of protection of the present utility model.

Claims

1. A center-of-gravity adjustment mechanism for a stair-climbing robot, characterized in that, include: The base has a front end and a back end; The walking components are located on both sides or below the base and are used to drive the base to move. The robot body is rotatably mounted on the base. A drive assembly is disposed between the base and the robot body. The drive assembly enables the robot body to rotate relative to the base, causing the center of gravity of the robot body to move towards the front end of the base.

2. The center of gravity adjustment mechanism of the stair-climbing robot as described in claim 1, characterized in that, The robot body has a front end and a rear end. The front end of the robot body is rotatably mounted on the base and the front end of the robot body is close to or located at the front end of the base.

3. The center of gravity adjustment mechanism of the stair-climbing robot as described in claim 1, characterized in that, The drive assembly is an electric push rod, a pneumatic cylinder, or a hydraulic cylinder, with one end of the drive assembly hinged to the base and the other end hinged to the robot body.

4. The center of gravity adjustment mechanism of the stair-climbing robot as described in claim 3, characterized in that, The drive assembly is an electric push rod, and the center of gravity adjustment mechanism also includes a controller and a tilt angle sensor. The controller is electrically connected to the drive assembly and the tilt angle sensor. The tilt angle sensor is used to detect the tilt angle of the base relative to the horizontal plane, and the controller can control the operation of the drive assembly based on the data from the tilt angle sensor.

5. The center of gravity adjustment mechanism of the stair-climbing robot as described in claim 1, characterized in that, The walking component is an electromechanical foot.

6. The center of gravity adjustment mechanism of the stair-climbing robot as described in claim 1, characterized in that, The walking assembly is a tracked assembly, and there are two sets of the walking assembly, which are respectively arranged on both sides of the base.

7. The center of gravity adjustment mechanism of the stair-climbing robot as described in claim 1, characterized in that, The robot body is equipped with a camera.

8. The center of gravity adjustment mechanism of the stair-climbing robot as described in claim 1, characterized in that, The robot body has a mechanical arm.

9. The center of gravity adjustment mechanism of the stair-climbing robot as described in claim 1, characterized in that, The robot body has a storage cavity.

10. A stair-climbing robot, characterized in that, Includes the center of gravity adjustment mechanism as described in any one of claims 1 to 9.

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