CN212149085U - Crawler-type chassis robot capable of climbing stairs - Google Patents
Crawler-type chassis robot capable of climbing stairs Download PDFInfo
- Publication number
- CN212149085U CN212149085U CN202020612874.3U CN202020612874U CN212149085U CN 212149085 U CN212149085 U CN 212149085U CN 202020612874 U CN202020612874 U CN 202020612874U CN 212149085 U CN212149085 U CN 212149085U
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- chassis
- side frame
- driving motor
- flat plate
- electric push
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Abstract
The utility model provides a can climb building crawler-type chassis robot, this robot includes the chassis, there is the wheel carrier chassis both ends through screw fixed mounting, surface mounting has the electric putter that the symmetry set up on the chassis, line between two electric putter is parallel with the wheel carrier, electric putter's barrel part runs through on the dull and stereotyped lower dull and stereotyped upper surface on chassis through the screw spiro union after the last flat board on chassis, two electric putter's telescopic link the lower flat board on chassis run through the chassis respectively with preceding interlinkage roof beam and back interlinkage roof beam be connected, be preceding electric putter with preceding interlinkage roof beam is connected, be back electric putter with back interlinkage roof beam is connected, install two preceding supporting wheels through the short shaft on the riser of preceding interlinkage roof beam length direction symmetry installation, back supporting wheel is installed to the symmetry on the back interlinkage roof. The utility model discloses the robot is at the in-process of climbing, reduces the mechanical damage who arouses by the vibration in the climbing step, avoids traditional track at the in-process of climbing step, and track and step edge area of contact undersize, the track deformation that the pressure is too big to lead to.
Description
Technical Field
The utility model belongs to the technical field of obstacle crossing mechanism, concretely relates to can climb building crawler-type chassis robot.
Background
The track is a device that adapts to topography strong ability, is fit for climbing and hinders more, so widely used in the robot field. However, the existing crawler units are still lack of the ability of climbing stairs and climbing steps, the stair climbing ability of the existing crawler mechanism mainly depends on the height of the crawler of the mechanism and the inclination angle in front of the crawler, the existing crawler mechanism cannot climb the steps higher than the existing crawler mechanism, the vehicle body is seriously inclined in the process of climbing stairs, and the running state is difficult to keep stable.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a can climb the crawler-type chassis of stair can climb the step that highly is higher than self, and is surmounting the obstacle in-process automobile body and remain stable.
In order to achieve the purpose, the utility model provides a crawler-type chassis robot capable of climbing stairs, which comprises a chassis, wherein wheel carriers are fixedly arranged at two ends of the chassis through screws, electric push rods are symmetrically arranged on the upper surface of the chassis, a connecting line between the two electric push rods is parallel to the wheel carriers, a barrel part of the electric push rod penetrates through an upper flat plate of the chassis and is then screwed on an upper surface of a lower flat plate of the chassis through screws, telescopic rods of the two electric push rods penetrate through a lower flat plate of the chassis and are respectively connected with a front linking beam and a rear linking beam, the front electric push rod is connected with the front linking beam, the rear electric push rod is connected with the rear linking beam, two front supporting wheels are arranged on vertical plates symmetrically arranged in the length direction of the front linking beam through short wheel shafts, one vertical plate in the length direction of the rear linking beam is provided with a rear supporting wheel through a short wheel shaft, and, one end of the short rotating shaft is connected with the rear supporting wheel, the other end of the short rotating shaft is connected with one end of a driving motor through a coupler, and the driving motor is connected to a horizontal plate of the rear chain connecting beam.
The wheel frame comprises an outer side frame, an inner side frame and a connecting cross beam, the outer side frame and the inner side frame are fixedly connected with the connecting cross beam through the cross beam on the outer side frame, the connecting cross beam is fixed on the cross beam through screws, the front ends of the outer side frame and the inner side frame are trapezoidal frames, two guide wheels are arranged between the two trapezoidal frames through wheel shafts, the two guide wheels are located at two corners close to the outer side and located above the outer side, the rear ends of the outer side frame and the inner side frame are vertical frames, driving wheels are arranged between the two vertical frames through wheel shafts, the wheel shafts of the two driving wheels are connected with a second driving motor and a third driving motor which are located on an upper flat plate through couplers, the outer side frame and the inner side frame are provided with supporting wheels through the wheel shafts through the cross beams located at the bottom ends of.
The chassis comprises an upper flat plate, a lower flat plate and supporting beams, the upper flat plate and the lower flat plate are fixedly connected through two supporting beams, the supporting beams are used for connecting a wheel carrier, the front end of the upper surface of the upper flat plate is connected with one horizontal plate of a sensor support through a screw, a second infrared distance sensor is installed on the other horizontal plate of the sensor support, a second driving motor and a third driving motor are symmetrically installed at the rear end of the upper surface of the horizontal plate, a power supply, a control plate and a switch are installed on the upper surface of the horizontal plate and located between two electric push rods, a first infrared distance sensor is installed on the upper surface of the lower flat plate, a third infrared sensor is installed at the front end of the lower flat plate, a fourth infrared sensor is installed at the rear end of the lower flat plate, the power supply is connected with the control plate through the switch, and the control plate is, The third infrared distance sensor, the fourth infrared distance sensor, the front electric push rod, the rear electric push rod, the first driving motor, the second driving motor and the third driving motor are electrically connected.
The utility model has the advantages that:
1. because two electric putter have been installed in the middle of the chassis, this electric putter's release is controlled by the control board, and when climbing the step, the maximum height that can climb the step depends on the length of electric putter, has the ability that can climb the step that highly is higher than chassis self.
2. Because when surmounting the obstacle, the electric putter of front and back installation is flexible in step, at the whole in-process of climbing stair, the automobile body is comparatively stable, can not take place to jolt.
3. The utility model discloses the robot is at the in-process of climbing, reduces the mechanical damage who arouses by the vibration in the climbing step, avoids traditional track at the in-process of climbing step, and track and step edge area of contact undersize, the track deformation that the pressure is too big to lead to.
Drawings
Fig. 1 is a first perspective three-dimensional schematic view of the stair-climbable crawler-type chassis robot of the present invention;
fig. 2 is a second perspective three-dimensional schematic view of the crawler-type chassis robot capable of climbing stairs of the present invention;
FIG. 3 is a front view of the crawler-type chassis robot capable of climbing stairs;
FIG. 4 is a side view of the crawler-type chassis robot capable of climbing stairs of the present invention;
FIG. 5 is a top view of the stair-climbable crawler-type chassis robot of the present invention;
FIG. 6 is a three-dimensional schematic view of the crawler-type chassis robot capable of climbing stairs according to the present invention after removing the wheel carrier;
FIG. 7 is a schematic view of the wheel frame structure of the present invention;
FIG. 8 is a schematic view of a portion of a front support wheel of the present invention;
FIG. 9 is a diagram of the stair climbing process of the crawler-type chassis robot capable of climbing stairs of the present invention;
1-chassis, 2-front electric push rod, 3-rear electric push rod, 4-wheel carrier, 5-front link beam, 6-rear link beam, 7-front support wheel, 8-rear support wheel, 9-coupler, 10-drive motor I, 11-outer side frame, 12-inner side frame, 13-connecting beam, 14-guide wheel, 15-support wheel, 16-drive wheel, 17-crawler belt, 18-upper flat plate, 19-lower flat plate, 20-support beam, 21-sensor support, 22-drive motor II, 23-drive motor III, 24-first infrared distance sensor, 25-second infrared distance sensor, 26-third infrared distance sensor, 27-fourth infrared distance sensor, 28-power supply, 29-switch, 30-control panel.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1 to 9, a crawler-type chassis robot capable of climbing stairs comprises a chassis 1, wheel carriers 4 are fixedly installed at two ends of the chassis 1 through screws, electric push rods are symmetrically installed on the upper surface of the chassis 1, a connecting line between the two electric push rods is parallel to the wheel carriers 4, a cylinder part of the electric push rod penetrates through an upper flat plate 18 of the chassis 1 and then is screwed on the upper surface of a lower flat plate 19 of the chassis 1 through screws, telescopic rods of the two electric push rods penetrate through the lower flat plate 19 of the chassis 1 and are respectively connected with a front linking beam 5 and a rear linking beam 6, a front electric push rod 2 is connected with the front linking beam 5, a rear electric push rod 3 is connected with the rear linking beam 6, two front support wheels 7 are installed on risers symmetrically installed in the length direction of the front linking beam 5 through short wheel shafts, a rear support wheel 8 is installed on one riser in the length direction of the rear linking beam 6 through a short wheel shaft, the driving wheel is installed through the short pivot to another riser, and short pivot one end is connected with back supporting wheel 8, and the other end passes through shaft coupling 9 and is connected with driving motor 10 one end, and driving motor 10 is connected on the horizontal plate of back chain connection roof beam 6.
The wheel frame 4 comprises an outer side frame 11, an inner side frame 12 and a connecting cross beam 13, the outer side frame 11 and the inner side frame 12 are fixedly connected with the connecting cross beam 13 through the cross beam thereon, the connecting beam 13 is fixed on the beam through screws, the front ends of the outer side frame 11 and the inner side frame 12 are trapezoidal frames, two guide wheels 14 are arranged between the two trapezoidal frames through wheel shafts, the two guide wheels 14 are positioned at two corners close to the outer side and above, the rear ends of the outer side frame 11 and the inner side frame 12 are vertical frames, a driving wheel 16 is arranged between the two vertical frames through the wheel shaft, the wheel shafts of the two driving wheels 16 are connected with a second driving motor 22 and a third driving motor 23 which are positioned on the upper flat plate 18 through a coupling 9, the outer side frame 11 and the inner side frame 12 are provided with supporting wheels 15 through cross beams at the bottom ends thereof through wheel shafts, and the driving wheels 16, the supporting wheels 15 and the guide wheels 14 are arranged in a matching way with the crawler belt 17.
The chassis 1 comprises an upper flat plate 18, a lower flat plate 19 and supporting beams 20, the upper flat plate 18 and the lower flat plate 19 are fixedly connected through the two supporting beams 20, the supporting beams 20 are used for connecting a wheel carrier 4, the front end of the upper surface of the upper flat plate 18 is connected with one horizontal plate of a sensor support 21 through a screw, the other horizontal plate of the sensor support 21 is provided with a second infrared distance sensor 25, the rear ends of the upper surfaces of the horizontal plates are symmetrically provided with a driving motor II 22 and a driving motor III 23, the upper surface of the horizontal plate is provided with a power supply 28, a control plate 30 and a switch 29 which are positioned between two electric push rods, the upper surface of the lower flat plate 19 is provided with a first infrared distance sensor 24, the front end of the lower surface of the lower flat plate 19 is provided with a third infrared sensor, the rear end of the lower surface of the lower flat plate is provided with, the control panel 30 is respectively electrically connected with the first infrared distance sensor 24, the second infrared distance sensor 25, the third infrared distance sensor 26, the fourth infrared distance sensor 27, the front electric push rod 2, the rear electric push rod 3, the first driving motor 10, the second driving motor 22 and the third driving motor 23, and the control panel 30 is stm32 in model number.
The obstacle crossing process of the stair-climbing crawler-type chassis robot comprises the following steps: a switch 29 is pressed to switch on a power supply 28, and system initialization is performed after the power supply is powered on, namely clock configuration in a controller, delay function initialization, initialization of a serial port required during debugging and initialization of a timer; after initialization, the control board 30 starts the second driving motor 22 and the third driving motor 23, the robot runs forwards, distance data measured by the first infrared distance sensor 24 is compared with a design comparison distance of 250mm in the control board 30 at a certain frequency, when the feedback distance is smaller than 250mm, the control board 30 sends an instruction to the second driving motor 22 and the third driving motor 23, the second driving motor 22 and the third driving motor 23 decelerate, the robot slowly walks, and when the feedback distance is in an interval of 71mm-80mm, the control board 30 controls the second driving motor 22 and the third driving motor 23 to stop, and the robot stops running; meanwhile, the control panel 30 sends an instruction to the front electric push rod 2 and the rear electric push rod 3, the moving rods of the front electric push rod 2 and the rear electric push rod 3 extend out until the distance data fed back by the second infrared distance sensor 25 changes suddenly to indicate that the vehicle body rises to a proper height, and the second infrared distance sensor 25 feeds back a sudden change signal to the control panel 30; the control board 30 sends an instruction to the first driving motor 10, the first driving motor 10 works to drive the first driving wheel 7 and the second driving wheel 8 to rotate, the robot is pushed to advance slowly, when the feedback distance of the third infrared distance sensor 26 is within a range of 0mm-15mm, the control board 30 controls the first driving motor 10 to stop, the front electric push rod 2 is started at the same time, the moving rod of the front electric push rod 2 contracts and retracts to the front supporting wheel 7, at the moment, the front body of the crawler 17 leans against the upper surface of the target step, after the front electric push rod 2 returns, the control board 30 controls the second driving motor 22 and the third driving motor 23 to start to drive the vehicle body to travel forwards slowly until the distance measured by the fourth infrared distance sensor 27 is within a range of 0mm-15mm, and the control board 30 controls the second driving motor 22 and the third driving motor 23 to stop running; and the rear electric push rod 3 is started, the moving rod of the rear electric push rod 3 is contracted, the rear support wheel 8 is retracted, after the rear electric push rod 3 is reset, the control panel 30 controls the second driving motor 22 and the third driving motor 23 to be started, the robot normally moves forwards, and the obstacle crossing is finished at the time.
Claims (3)
1. A crawler-type chassis robot capable of climbing stairs is characterized by comprising a chassis, wherein wheel carriers are fixedly arranged at two ends of the chassis through screws, electric push rods which are symmetrically arranged are arranged on the upper surface of the chassis, a connecting line between the two electric push rods is parallel to the wheel carriers, a barrel part of each electric push rod penetrates through an upper flat plate of the chassis and then is in screwed connection with the upper surface of a lower flat plate of the chassis through screws, telescopic rods of the two electric push rods penetrate through lower flat plates of the chassis and are respectively connected with a front linking beam and a rear linking beam, the front electric push rod is connected with the front linking beam, the rear electric push rod is connected with the rear linking beam, two front support wheels are arranged on vertical plates which are symmetrically arranged in the length direction of the front linking beam through short wheel shafts, one vertical plate in the length direction of the rear linking beam is provided with a rear support wheel through a short wheel shaft, the other vertical plate is, the other end is connected with one end of a driving motor through a coupler, and the driving motor is connected to the horizontal plate of the rear chain connecting beam.
2. A stair-climbable tracked undercarriage robot as claimed in claim 1, wherein: the wheel frame comprises an outer side frame, an inner side frame and a connecting cross beam, the outer side frame and the inner side frame are fixedly connected with the connecting cross beam through the cross beam on the outer side frame, the connecting cross beam is fixed on the cross beam through screws, the front ends of the outer side frame and the inner side frame are trapezoidal frames, two guide wheels are arranged between the two trapezoidal frames through wheel shafts, the two guide wheels are located at two corners close to the outer side and located above the outer side, the rear ends of the outer side frame and the inner side frame are vertical frames, driving wheels are arranged between the two vertical frames through wheel shafts, the wheel shafts of the two driving wheels are connected with a second driving motor and a third driving motor which are located on an upper flat plate through couplers, the outer side frame and the inner side frame are provided with supporting wheels through the wheel shafts through the cross beams located at the bottom ends of.
3. A stair-climbable tracked undercarriage robot as claimed in claim 1, wherein: the chassis comprises an upper flat plate, a lower flat plate and supporting beams, the upper flat plate and the lower flat plate are fixedly connected through two supporting beams, the supporting beams are used for connecting a wheel carrier, the front end of the upper surface of the upper flat plate is connected with one horizontal plate of a sensor support through a screw, a second infrared distance sensor is installed on the other horizontal plate of the sensor support, a second driving motor and a third driving motor are symmetrically installed at the rear end of the upper surface of the horizontal plate, a power supply, a control plate and a switch are installed on the upper surface of the horizontal plate and located between two electric push rods, a first infrared distance sensor is installed on the upper surface of the lower flat plate, a third infrared sensor is installed at the front end of the lower flat plate, a fourth infrared sensor is installed at the rear end of the lower flat plate, the power supply is connected with the control plate through the switch, and the control plate is, The third infrared distance sensor, the fourth infrared distance sensor, the front electric push rod, the rear electric push rod, the first driving motor, the second driving motor and the third driving motor are electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020612874.3U CN212149085U (en) | 2020-04-22 | 2020-04-22 | Crawler-type chassis robot capable of climbing stairs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020612874.3U CN212149085U (en) | 2020-04-22 | 2020-04-22 | Crawler-type chassis robot capable of climbing stairs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212149085U true CN212149085U (en) | 2020-12-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020612874.3U Expired - Fee Related CN212149085U (en) | 2020-04-22 | 2020-04-22 | Crawler-type chassis robot capable of climbing stairs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212149085U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113231774A (en) * | 2021-06-04 | 2021-08-10 | 兰州理工大学 | Circumferential welding device for wind power tower cylinder and using method thereof |
| GB2626963A (en) * | 2023-02-09 | 2024-08-14 | Bae Systems Plc | Vehicle |
-
2020
- 2020-04-22 CN CN202020612874.3U patent/CN212149085U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113231774A (en) * | 2021-06-04 | 2021-08-10 | 兰州理工大学 | Circumferential welding device for wind power tower cylinder and using method thereof |
| GB2626963A (en) * | 2023-02-09 | 2024-08-14 | Bae Systems Plc | Vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201215 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |