A wheel-and-claw type stair climbing robot

Abstract

The utility model discloses a kind of wheel claw formula stair climbing robots, comprising: frame, storage box, driving part and ground grip wheel;Ground grip wheel includes two opposite settings respectively two mac wheels, fixed shaft between the axle of two mac wheels is connected, and wheel claw mechanism is set to the outer wall of fixed shaft, one mac wheel side away from wheel claw mechanism is connected with the output shaft of driving part cooperation.The utility model is by being provided with ground grip wheel, ground grip wheel can stably adhere to ground when moving in plane, the spacing between wheel claw mechanism and two side mac wheels can be fixed by sleeve ring, form integrated structure and break through the functional limitation of single wheel, form the integrated ground grip wheel structure of "mac wheel-wheel claw mechanism-mac wheel", realize the integration of climbing and flexible steering, wherein mac wheel is by differential principle, and then let robot realize spot turn and 360 ° rotation in narrow environment such as stair platform, without additional space adjustment travel direction.

Description

Technical Field

[0001] This utility model relates to the field of stair-climbing robot technology, specifically to a wheel-claw type stair-climbing robot. Background Technology

[0002] With the rapid growth in logistics and transportation demand, especially the increasing need for inter-floor handling, the research and development level of domestic auxiliary handling devices has rapidly improved in order to help couriers transport more goods at a time and reduce corporate labor costs, resulting in a wide variety of stair-climbing devices. However, existing auxiliary handling devices still have many shortcomings.

[0003] Traditional wheeled locomotives achieve obstacle crossing by forming an appropriate angle between the three wheels when climbing stairs, and move by rolling when walking on flat ground. Traditional wheeled robots maintain continuous contact with the ground, resulting in stable motion performance and enabling high-speed, low-energy movement. However, their insufficient grip and stability on complex terrain greatly limits their application scenarios.

[0004] The leg-mounted walking device uses various motors and servo motors and other electronic components to extend and lift the vehicle's joints. However, compared with planetary gears, motors require more motor control, the control device is more complex, and the stability of ground movement is not easy to control. It also has high requirements for mechanical precision, making it unsuitable for large-scale use and deployment.

[0005] Tracked walking structures drive the entire vehicle through track transmission. While tracks have a larger, continuous, and deformable contact surface, making them adaptable to soft and complex terrain, their stability drops sharply on steep slopes, making them prone to overturning and unable to recover on their own. Furthermore, tracks have a shorter service life and cannot be adapted to high-intensity transportation work.

[0006] Therefore, in the existing stair-climbing device system, wheeled, legged, and tracked walking devices all show specific defects; traditional wheeled robots have poor passability in complex terrain; legged walking devices are complicated and have poor stability, and cannot achieve turning or turning around in narrow spaces; tracked walking structures are prone to overturning on steep slopes. Utility Model Content

[0007] The purpose of this invention is to provide a wheel-claw type stair-climbing robot to solve the problems of existing stair-climbing robots, such as inability to adapt to complex terrain, poor stability, and easy overturning on steep slopes.

[0008] The technical solution of this utility model to solve the above-mentioned technical problems is as follows:

[0009] A wheel-claw type stair-climbing robot includes: a frame, a storage box disposed on the top of the frame, a drive unit disposed at the four feet of the bottom of the frame, and gripping wheels located on the outer side of the four feet of the bottom of the frame and connected to the output shaft of the drive unit.

[0010] The gripping wheel includes two opposing pulleys, a fixed shaft connecting the axles of the two pulleys, and a pawl mechanism on the outer wall of the fixed shaft. The side of one pulley away from the pawl mechanism is connected to the output shaft of the drive unit.

[0011] Furthermore, the pawl mechanism includes two circular plates that are spaced apart on the outer wall of the fixed shaft, and a plurality of gear assemblies that are evenly spaced between the two circular plates and arranged along their circumference. One end of the gear assembly is rotatably disposed between the two circular plates, and the other end of the gear assembly is a movable end.

[0012] Furthermore, the gear assembly includes a first connecting rod, a second connecting rod connected to one end of the first connecting rod, a pin connecting the two circular plates and located near their outer edge, a torsion spring sleeved on the pin, a first fixing rod connecting the two circular plates and adjacent to the pin, a second fixing rod located in the middle of the first connecting rod, and a limiting rod located between the two circular plates and in contact with the outer side of the first connecting rod. The other end of the first connecting rod is rotatably connected to the pin, and the first connecting rod has a clearance groove for easy installation of the torsion spring. The two ends of the torsion spring are respectively connected to the first fixing rod and the second fixing rod, and the end of the second connecting rod away from the first connecting rod is located between the two circular plates.

[0013] Furthermore, there is an angle between the first link and the second link, and this angle is acute.

[0014] Furthermore, the distance between the first fixed rod and the center of the circular plate is less than the distance between the pin and the center of the circular plate.

[0015] Furthermore, several circular holes are provided on the circular plate.

[0016] Furthermore, a collar is provided between the outer edge of the wheel hub and the adjacent circular plate.

[0017] Furthermore, the top of the storage box has an opening.

[0018] Furthermore, it also includes a controller, to which all drives are communicatively connected.

[0019] This utility model has the following beneficial effects:

[0020] 1. This utility model relates to a wheel-claw type stair-climbing robot. By incorporating gripping wheels, the robot can stably adhere to the ground during planar movement. A locking ring secures the distance between the gripping mechanism and the two side wheels, forming an integrated structure that overcomes the functional limitations of a single wheel. This integrated gripping wheel structure, consisting of "wheel-grip mechanism-wheel," achieves integrated stair climbing and flexible steering. The gripping wheels are responsible for the stair-climbing fulcrum and planar forward movement. The side wheels, utilizing differential speed principles, allow the robot to turn around and rotate 360° in narrow environments such as stair platforms (turning points), eliminating the need for additional space to adjust the travel direction. This directly promotes the intelligent and efficient upgrading of logistics and handling.

[0021] 2. In this utility model, the wheel-claw type stair-climbing robot, when walking or turning on flat ground, the drive unit drives the gripping wheel to rotate, and the first link contacts the ground, causing the first link to be under force. At this time, the first link is not limited, and the torsion spring is in a compressed state. Under the action of force, the outer edge of the connection between the first link and the second link retracts into the gap between the two circular plates, and the outer edge of the connection position between the first link and the second link is flush with the outer edge of the roller of the wheel. When climbing stairs, the drive unit drives the gripping wheel to rotate in the opposite direction, and the second link and the... Ground contact causes the second link to be stressed, while the first link is limited by the limiting rod. At this time, the torsion spring is in its natural state. The outer edge of the connection point between the first and second links extends to the outer edge of the roller of the wheel, thus locking onto the step. Combined with the motor force, it forms a reliable fulcrum. Under the combined action of the force of the second link and the rotational torque output by the motor, it provides the force to climb the steps, lifting the wheel as a whole to the next step. This directly solves the problems of traditional wheels having no support and being prone to slipping when climbing stairs, ensuring climbing efficiency and safety.

[0022] 3. The wheel-claw type stair-climbing robot of this utility model has an integrated structure design of wheel-claw mechanism-wheel, which reduces more than 30% of the connecting parts, simplifies the assembly steps, and only requires targeted replacement of worn wheel tooth components or rollers during later maintenance. There is no need to disassemble the complex mechanism, thus reducing maintenance costs. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a wheel-claw type stair-climbing robot.

[0024] Figure 2 This is a schematic diagram of the grip wheel structure;

[0025] Figure 3 This is a schematic diagram of the gear and claw mechanism;

[0026] Figure 4 This is a schematic diagram of the gear assembly.

[0027] Figure 5 This is a schematic diagram of the state of a wheel-claw-type stair-climbing robot climbing a stair.

[0028] In the diagram: 1. Frame; 2. Storage box; 3. Drive unit; 4. Grip wheel; 41. Wheel; 42. Fixed axle; 43. Wheel pawl mechanism; 431. Circular plate; 432. First connecting rod; 433. Second connecting rod; 434. Pin; 435. Torsion spring; 436. First fixed rod; 437. Second fixed rod; 438. Limiting rod; 5. Ring. Detailed Implementation

[0029] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0030] like Figures 1 to 3 As shown, an embodiment of this utility model provides a wheel-claw type stair-climbing robot, including: a frame 1, a storage box 2 disposed on the top of the frame 1, the storage box 2 having a cuboid structure and an opening at the top; a drive unit 3 disposed at the four feet of the bottom of the frame 1, the drive unit 3 being a motor; and gripping wheels 4 located on the outer side of the four feet of the bottom of the frame 1 and connected to the output shaft of the drive unit 3.

[0031] It also includes a controller, and all drive components 3 are connected to the controller for communication. The controller adopts the existing controller used for climbing robots. It can be set on the frame 1 or set to remote control. It is used to control the robot to move forward, turn around in place, rotate 360° and other actions.

[0032] The gripping wheel 4 includes two Mecanum wheels 41 arranged opposite each other, a fixed shaft 42 connecting the axles of the two Mecanum wheels 41, and a claw mechanism 43 disposed on the outer wall of the fixed shaft 42. The side of one Mecanum wheel 41 away from the claw mechanism 43 is connected to the output shaft of the drive unit 3. The rotating shaft of the motor is connected to the hub of one of the Mecanum wheels 41 through components such as flanges and screws. In this embodiment, the Mecanum wheel 41 adopts the existing Mecanum wheel, whose structure includes two hubs and multiple rollers, etc., and its specific connection relationship is not described in detail here. The gripping wheel 4 forms an integrated structure of "Mecanum wheel-claw mechanism-Mecanum wheel" through the cooperation of the two Mecanum wheels 41 and the claw mechanism 43, realizing the integration of climbing stairs and flexible turning; the Mecanum wheel 41 uses the differential speed principle, which allows the robot to turn around and rotate 360° in narrow environments such as stair platforms (turning points) without the need for additional space to adjust the driving direction.

[0033] like Figures 3 to 5 As shown, the pawl mechanism 43 includes two circular plates 431 that are respectively spaced apart on the outer wall of the fixed shaft 42, and a plurality of gear assemblies that are evenly spaced between the two circular plates 431 and arranged along their circumference. One end of the gear assembly is rotatably disposed between the two circular plates 431, and the other end of the gear assembly is a movable end.

[0034] Specifically, the gear assembly includes a first connecting rod 432, a second connecting rod 433 connected to one end of the first connecting rod 432, the first connecting rod 432 and the second connecting rod 433 being fixedly connected, and the first connecting rod 432 and the second connecting rod 433 having an included angle, which is an acute angle, the end of the second connecting rod 433 away from the first connecting rod 432 being located between two circular plates 431; a pin 434 connected between the two circular plates 431 and near their outer edge, the pin 434 being fixedly connected between the two circular plates 431, a torsion spring 435 sleeved on the pin 434, and a first fixing rod 436 connected between the two circular plates 431 and adjacent to the pin 434. In this embodiment... In this example, the distance between the center of the first fixing rod 436 and the center of the circular plate 431 is less than the distance between the center of the pin 434 and the center of the circular plate 431; the second fixing rod 437 is disposed in the middle of the first connecting rod 432, and the two ends of the torsion spring 435 are respectively connected to the first fixing rod 436 and the second fixing rod 437; and the limiting rod 438 is disposed between the two circular plates 431 and in contact with the outer side of the first connecting rod 432. In this embodiment, the side of the first connecting rod 432 closer to the center of the circular plate 431 is the inner side, and the opposite side is the outer side; the other end of the first connecting rod 432 is rotatably connected to the pin 434, and the first connecting rod 432 is provided with a clearance groove to facilitate the installation of the torsion spring 435.

[0035] When the gripping wheel 4 is walking or turning on flat ground, the drive unit 3 drives the gripping wheel 4 to rotate, and the outer side of the first link 432 contacts the ground, so that the first link 432 is under force. At this time, the first link 432 is not limited and it rotates in a direction away from the limit rod 438. At the same time, the torsion spring 435 is compressed. At this time, the outer edge of the connection between the first link 432 and the second link 433 retracts into the gap between the two circular plates 431 under the action of force, and the outer edge of the connection between the first link 432 and the second link 433 is flush with the outer edge of the roller of the wheat wheel 41. The first link 432, which is not under force, automatically resets under the action of the torsion spring 435.

[0036] When the gripping wheel 4 is climbing stairs, the drive unit 3 drives the gripping wheel 4 to rotate in the opposite direction. The second link 433 first contacts the ground, so that the second link 433 is subjected to force and has a tendency to move towards the limiting rod 438. Since the second link 433 is fixedly connected to the first link 432 and the first link 432 is limited by the limiting rod 438, the second link 433 and the first link 432 do not rotate at this time. The torsion spring 435 is in its natural state. The outer edge of the connection position of the first link 432 and the second link 433 extends to the outer edge of the roller of the wheel 41, so that the second link 433 can be stuck on the step. It forms a reliable fulcrum with the motor force. Under the combined action of the force of the second link 433 and the rotational torque output by the motor, it provides the force to climb the steps, so that the gripping wheel 4 is lifted to the next step.

[0037] In this embodiment, in order to ensure the distance between the two wheel 41 and the wheel pawl mechanism 43, a collar 5 is provided between the outer edge of the hub of the wheel 41 and the adjacent circular plate 431.

[0038] To reduce the weight of the circular plate 431, several circular holes are provided on the circular plate 431.

[0039] This utility model discloses a wheel-claw stair-climbing robot. In use, the controller sends commands to the drive unit 3, which in turn drives the gripping wheels 4 to rotate. During planar movement, the wheel-claw stair-climbing robot has two driving modes:

[0040] (1) One-way straight forward movement; 4 motors drive 4 gripping wheels 4 to rotate clockwise, the outer side of the first link 432 contacts the ground, so that the first link 432 is subjected to force. At this time, the first link 432 and the second link 433 retract into the gap between the two circular plates 431 under the action of force. The remaining unforced gear assembly is reset under the torque of the torsion spring 435, and the outer side of the first link 432 contacts the limit rod 438. The gear assembly cycles through "pressure retraction-springback limit" and continuously pushes the whole machine forward smoothly.

[0041] (2) 360° rotation; the wheel 41 rotates rapidly clockwise via differential motor rotation, achieving left and right rotation, turning to the target direction and then moving forward, especially suitable for adjusting direction in narrow areas. When the robot moves to the stairwell, the motor drives the gripping wheel 4 to rotate clockwise, so that the robot rotates 180° in place and aligns with the steps. Then, the four motors drive the gripping wheel 4 to rotate counterclockwise, crawling forward towards the steps. At this time, the second link 433 is under force. Since the first link 432 is limited by the limiting rod 438, the second link 433 is stuck on the stairs. Under the combined action of the force of the second link 433 and the rotational torque output by the motor, the force to climb the stairs is provided, so that the gripping wheel 4 is lifted to the next step. When the robot crawls to the stair landing (the turning point), due to the obstruction of space, it uses the differential speed adjustment of the motors on both sides of the wheel 41 to drive the gripping wheel 4 to rotate clockwise, so that the robot can rotate 180° in place and move forward to align with the next step, thus enabling the robot to continuously and quickly climb the stairs.

[0042] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A wheel-claw type stair-climbing robot, characterized in that, include: The frame (1), the storage box (2) located on the top of the frame (1), the drive unit (3) located at the bottom four feet of the frame (1), and the gripping wheel (4) located on the outside of the bottom four feet of the frame (1) and connected to the output shaft of the drive unit (3). The gripping wheel (4) includes two wheel wheels (41) arranged opposite to each other, a fixed shaft (42) connected between the wheel axles of the two wheel wheels (41), and a wheel claw mechanism (43) provided on the outer wall of the fixed shaft (42). The side of one wheel wheel (41) away from the wheel claw mechanism (43) is connected to the output shaft of the drive member (3).

2. The wheel-claw type stair-climbing robot according to claim 1, characterized in that, The pawl mechanism (43) includes two circular plates (431) respectively spaced apart on the outer wall of the fixed shaft (42), and a plurality of gear assemblies evenly spaced between the two circular plates (431) and arranged along their circumference. One end of the gear assembly is rotatably disposed between the two circular plates (431), and the other end of the gear assembly is a movable end.

3. The wheel-claw type stair-climbing robot according to claim 2, characterized in that, The gear assembly includes a first connecting rod (432), a second connecting rod (433) connected to one end of the first connecting rod (432), a pin (434) connected between the two circular plates (431) and located near their outer edges, a torsion spring (435) sleeved on the pin (434), a first fixing rod (436) connected between the two circular plates (431) and adjacent to the pin (434), a second fixing rod (437) disposed in the middle of the first connecting rod (432), and a gear assembly disposed between the two circular plates (431). A limiting rod (438) is located between the first connecting rod (431) and in contact with the outer side of the first connecting rod (432). The other end of the first connecting rod (432) is rotatably connected to the pin (434). A clearance groove is provided on the first connecting rod (432) to facilitate the installation of the torsion spring (435). The two ends of the torsion spring (435) are respectively connected to the first fixing rod (436) and the second fixing rod (437). The end of the second connecting rod (433) away from the first connecting rod (432) is located between the two circular plates (431).

4. The wheel-claw type stair-climbing robot according to claim 3, characterized in that, The first link (432) and the second link (433) have an angle between them, and the angle is acute.

5. The wheel-claw type stair-climbing robot according to claim 3, characterized in that, The distance between the first fixing rod (436) and the center of the circular plate (431) is less than the distance between the pin (434) and the center of the circular plate (431).

6. The wheel-claw type stair-climbing robot according to claim 2, characterized in that, The circular plate (431) has several circular holes.

7. The wheel-claw type stair-climbing robot according to any one of claims 2 to 6, characterized in that, A collar (5) is provided between the outer edge of the hub of the wheat wheel (41) and the adjacent circular plate (431).

8. The wheel-claw type stair-climbing robot according to claim 7, characterized in that, The top of the storage box (2) has an opening.

9. The wheel-claw type stair-climbing robot according to claim 7, characterized in that, It also includes a controller, and all the drive components (3) are communicatively connected to the controller.

Images