CN220053991U - Novel compound wheel leg type stair climbing robot - Google Patents

Abstract

The utility model discloses a novel composite wheel leg type stair climbing robot, which comprises a vehicle body capable of bearing a load, a front wheel with driving capability, a main wheel with self-balancing driving capability, a tail wheel with lifting capability and telescopic wheel legs, wherein the front wheel is provided with a plurality of wheels; the front wheels are connected with the vehicle body through front wheel brackets with adjustable lengths; the wheel leg is provided with a driving arm, the driving arm is connected with a servo motor, the servo motor is fixed on the vehicle body and used for driving the wheel leg to stretch out and draw back, and the main wheel is arranged at the tail section of the wheel leg and can rotate freely; the tail wheel is a driven universal wheel, and lifting in the height direction can be realized through a lifting mechanism. The stair climbing robot disclosed by the utility model realizes the actions of linear motion, steering, ascending stair climbing, descending stair climbing, rugged road walking and the like of the stair climbing robot by adjusting the front wheel, the main wheel, the tail wheel and the wheel legs to be matched with each other, maintains the balance performance and the stability of the stair climbing process, and has the advantages of flexible motion, high load ratio, strong adaptability and low cost.

Description

A new type of composite wheel-legged stair-climbing robot

Technical field

The utility model relates to a robot device, in particular to a new type of composite wheel-legged stair-climbing robot.

Background technique

With the technological development of artificial intelligence, mechatronics, multi-sensor technology, electronic information, automated control, etc., mobile robots are becoming more and more widely used and have in-depth applications in industry, medical care, service and other industries. According to the difference in robot movement modes, mobile robots can be divided into wheeled robots, gaited robots, crawler robots, crawling robots, etc. At present, the motion mechanisms of mobile robots at home and abroad can be divided into wheel-type, crawler-type, and foot-type. The advantages of wheeled motion are fast movement on flat ground, stable operation, simple control, and relatively low price. However, it has poor obstacle-crossing performance in application environments such as potholes or steps; the advantage of crawler motion is that it can be used in applicable scenarios There are relatively many, but their operating mechanisms are complex, occupy a large space, have poor adaptability to small spaces, and have high energy consumption; foot-type motion mechanisms, because they simulate the movement of humans or animals, are not suitable for climbing and climbing. It has strong ability to jump obstacles and strong maneuverability in flat road conditions such as going up and down stairs, potholes or steps. However, due to technical limitations such as the incomplete balance algorithm and complex mechanical structure, the design and control of the driving mechanism are relatively complex. Not only does the movement Slow and poor load performance. In dangerous situations such as security and space detection, such as building space detection and search and rescue in disasters such as fires and earthquakes, and situations where the elevator fails or no elevator is installed, conventional mobile robots have poor practicality and are difficult to meet the complex environments of practical applications.

Contents of the invention

Purpose of the invention: The purpose of this utility model is to provide a new type of composite wheel-legged stair-climbing robot to improve the speed and stability of the robot in climbing stair-climbing and to lower the manufacturing cost.

Technical solution: A new type of composite wheel-legged stair-climbing robot according to the present utility model. The stair-climbing robot includes a body that can carry a load, a front wheel with drive capability, a main wheel with self-balancing drive capability, and a lifting device. A powerful tail wheel and retractable wheel legs;

The front wheel is connected to the body through a length-adjustable front wheel bracket;

The wheel leg has a driving arm, and the driving arm is connected to a servo motor. The servo motor is fixed on the vehicle body and is used to drive the wheel leg to expand and contract. The main wheel is installed at the end of the wheel leg and can rotate freely;

The tail wheel is a driven universal wheel, which can be raised and lowered in the height direction through a lifting mechanism.

Preferably, the wheel leg includes a connecting rod and a leg hingedly connected to the front end of the connecting rod, and the other end of the connecting rod is fixed on the side wall of the vehicle body through a hinged shaft; the middle and upper part of the leg is hingedly connected to the free end of the driving arm, The servo motor drives the drive arm to drive the connecting rod and the leg to perform telescopic movement.

Beneficial effects: Compared with the existing technology, this utility model has the following advantages:

The stair-climbing robot of this utility model can realize linear motion, steering, upward stair climbing, down stair climbing, and rough road walking by adjusting the front wheel, main wheel, tail wheel and wheel legs to cooperate with each other, while maintaining The balance performance and stability performance of the stair-climbing robot during the stair-climbing process have the advantages of dexterous movement, high load-bearing ratio, strong adaptability and low cost.

Description of the drawings

Figure 1 is a schematic three-dimensional structural diagram from the first perspective of the stair-climbing robot of the present invention;

Figure 2 is a schematic diagram of the three-dimensional structure of the stair-climbing robot in Figure 1 from a second perspective;

Figure 3 is the front view of the stair climbing robot in Figure 1;

Figure 4 is a bottom view of the stair climbing robot in Figure 1;

Figure 5 is a schematic diagram of the connection structure between the front wheel and the front wheel bracket in Figure 1;

Figure 6 is a first perspective view of the connection structure between the wheel leg and the main wheel in Figure 1;

Figure 7 is a second perspective view of the connection structure between the wheel leg and the main wheel in Figure 6;

Figure 8 is a schematic diagram of the connection structure between the tail wheel and the lifting mechanism in Figure 1;

Figure 9 is a schematic structural diagram of the first climbing state of the stair-climbing robot in Figure 1;

Figure 10 is a schematic structural diagram of the second climbing state of the stair-climbing robot in Figure 1.

Reference signs:

100. Stair climbing robot; 1. Body; 2. Front wheel; 3. Main wheel; 4. Tail wheel; 5. Wheel legs; 6. Front wheel bracket; 7. Driving arm; 8. Servo motor; 9. Lifting mechanism ; 10. Front wheel drive motor; 11. Connecting rod; 12. Hinge shaft; 13. First hinge part; 14. Second hinge part; 15. Outrigger; 16. First installation platform; 17. Second installation platform .

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present utility model more clear, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings 1-10 of the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the described embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art fall within the scope of protection of the present utility model.

As shown in Figures 1-8, the utility model is a new type of composite wheel-legged stair-climbing robot. The stair-climbing robot 100 includes a body 1 that can carry a load, a front wheel 2 with drive capability, and a main body with self-balancing drive capability. Wheel 3, a tail wheel 4 with lifting capability and telescopic wheel legs 5; the front wheel 2 is fixedly connected to the front position of the bottom of the body 1 through a front wheel bracket 6 with adjustable length. The wheel leg 5 has a driving arm 7, and the driving arm 7 is connected to a servo motor 8. The servo motor 8 is fixed on the inner wall of the body 1 shell and is used to drive the wheel leg 5 to telescope. The main wheel 3 is installed at the end of the wheel leg 5. It can rotate freely in forward and reverse directions, driving the body 1 to move forward, backward and turn. The tail wheel 4 is a driven universal wheel. The tail wheel 4 is fixedly connected to the lower end of the lifting mechanism. The lifting mechanism 9 is fixed on the body 1 and penetrates the body floor. The height direction of the tail wheel 4 can be raised and lowered through the lifting mechanism 9.

As shown in Figures 6-7, the wheel leg 5 includes a connecting rod 11 and a support leg 15. One end of the connecting rod 11 is hinged to the support leg 15 to form a first hinge part 13. The other end of the connecting rod 11 is fixed to the vehicle body 1 through a hinge shaft 12. On the side wall; the upper middle part of the support leg 15 is hingedly connected with the free end of the drive arm 7 to form a second hinge part 14. The servo motor 8 drives the drive arm 7 to drive the connecting rod 11 and the support leg 15 to perform telescopic movement. During operation, the servo motor 8 drives the drive arm 7 to rotate and drives the support leg 15 to rotate along the connecting rod 11 , so that the connecting rod 11 and the support leg 15 can perform telescopic movements, thereby lifting or lowering the vehicle body 1 . It should be noted that the wheel leg 5 structure in this embodiment can also be replaced by other types of connecting rod structures. For example, a five-link wheel leg 5 structure can be used for equivalent replacement, which falls within the protection scope of the present utility model. .

As shown in Figure 8, the middle and lower part of the rear end of the vehicle body 1 is located on a lifting mechanism 9. The lifting mechanism 9 includes lifting and telescopic outriggers that pass through the vehicle body 1. One side of the lifting and telescopic outriggers is connected to a lifting drive motor, and the lifting and lowering drive motor The motor drives the lower end of the lifting telescopic leg to perform lifting movement, and then drives the tail wheel 4 to perform lifting movement.

The body 1 is also integrated with a main controller and a camera component, communication module, and sensor that are connected to the main controller. The camera component can use an infrared camera with night vision function. The infrared camera can be used to observe the building stairs or corridor environment in real time, which is convenient for The progress of the stair-climbing robot. The communication module can use a Bluetooth module or a WiFi module. The mobile APP wirelessly connects to the stair-climbing robot 100 through the communication module, and remotely controls the stair-climbing robot to execute control commands. Sensors include posture sensors that real-time monitor the linear acceleration, rotational angular velocity or angular acceleration of the vehicle body in the X/Y/Z axis direction, and distance sensors that monitor the horizontal and vertical distances between the vehicle body and the ground, obstacles, and stairs in real time. The main controller , the posture sensor and the distance sensor cooperate to control the balance performance and stability performance of the main wheel 3 of the stair-climbing robot during the movement. The self-balancing control technology of the main wheel 3 can be used such as "A self-balancing scooter" disclosed in Chinese patent CN104443193A. The electric wheel hub control scheme is used to realize the balance control of the main wheel 3 in the present utility model.

As shown in Figure 1, the top surface of the vehicle body 1 is provided with an installation platform. The installation platform includes a first installation platform 16 and a second installation platform 17. The communication module and camera assembly can be fixedly installed on the second installation platform 17; the first installation platform 16 can optionally be integrated with a mechanical arm, a manipulator, a flamethrower, and a fire extinguisher. For example, if a flamethrower is integrated with the first installation platform 16, it can be used to burn weeds. If a fire extinguisher is integrated, the stair climbing robot can be used to extinguish building fires. If it is integrated with Robotic hands or arms can be used to remove obstacles while traveling. It should be noted that the specific actuator to be integrated on the body 1 can be set according to the needs, and is not limited to the actuators listed in this application.

The stair-climbing method of the stair-climbing robot of the present invention specifically includes the following motion states:

(1) When the stair-climbing robot 100 is traveling on flat ground, it has two operating states:

When moving in a straight line along the flat ground, the adjusting wheel leg 5 is in a contracted state, so that the front wheel 2 and the main wheel 3 touch the ground at the same time, and the main wheel 3 or/and the front wheel 2 jointly drive the body 1 forward or backward; the adjusting lifting mechanism 9 drives The tail wheel 4 is auxiliary supported when it lands or is suspended from the ground;

When turning along the flat ground, the adjusting wheel legs 5 lift the vehicle body 1 so that the front wheel 2 and the tail wheel 4 are off the ground, and the two main wheels 3 use differential speed to drive the vehicle body 1 to turn or make a U-turn on the spot.

(2) When the stair-climbing robot 100 is moving on rough ground, adjust the wheel legs 5 to lift the body 1 so that the front wheel 2 and the tail wheel 4 are off the ground; the two main wheels 3 drive the body 1 through the rough ground, and the wheel legs on both sides 5. Perform adaptive asynchronous telescopic adjustment to adjust the height of the main wheels to ensure the balance of the vehicle body.

(3) When the stair-climbing robot 100 climbs a single step or a multi-step staircase, the two states of the stair-climbing robot during the climbing process are shown in Figure 9-10. By adjusting the front wheel 2 and the main wheel 3 , the tail wheel 4 and the wheel legs 5 cooperate with each other, including the following operating steps:

Step 1: Extend the wheel legs 5 and lift the body 1 so that the front wheel 2 is higher than the first step. The lifting rod of the tail lifting mechanism 9 extends so that the tail wheel 4 touches the ground;

Step 2: The main wheel 3 drives the body 1 forward. After the front wheel 2 enters the top of the first step, the wheel legs 5 retract, driving the main wheel 3 to leave the ground; at this time, the front wheel 2 contacts the top surface of the first step, and the tail wheel 4 Contacting the ground, the main wheel 3 is suspended in the air;

Step 3: The front wheel 2 drives the body 1 forward, so that the main wheel 3 reaches the appropriate position above the first step, and the wheel leg 5 is extended so that the main wheel 3 steps on the top of the first step (hereinafter referred to as the step the main wheel steps on) is the current step);

Step 4: The wheel legs 5 are extended again to lift the body 1; at this time, the front wheel 2 and the tail wheel 4 are suspended in the air, and the two main wheels 3 contact the top surface of the current step and enter the self-balancing mode;

Step 5: The main wheel 3 drives the body 1 forward. After the front wheel 2 enters the top of the next step and the tail wheel 4 enters the top of the current step, the wheel legs 5 retract so that the front wheel contacts the top surface of the next step and the tail wheel 4 contacts the top surface of the next step. At the top of the current step, main wheel 3 is suspended in the air;

Step 6: The front wheel 2 drives the body 1 forward, so that the main wheel 3 reaches the appropriate position above the next step, and the wheel legs 5 extend, so that the main wheel 3 steps on the top of the next step;

Step 7: Repeat steps 4, 5, and 6 until the main wheel 3 steps on the top of the last step; at this time, the front wheel 2 and the main wheel 3 contact the top of the last step at the same time;

Step 8: The lifting mechanism 9 shrinks to its shortest length, so that the tail wheel 4 is suspended in the air and higher than the top of the last step. The front wheel 2 or/and the main wheel 3 drives the body 1 forward to complete the stair climbing process.

The above are the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, several improvements and modifications can be made without departing from the principles of the present utility model. These improvements and modifications should also be regarded as It is the protection scope of this utility model.

Claims (2)

1. The novel composite wheel leg type stair climbing robot is characterized in that the stair climbing robot (100) comprises a vehicle body (1) capable of bearing a load, a front wheel (2) with driving capability, a main wheel (3) with self-balancing driving capability, a tail wheel (4) with lifting capability and a telescopic wheel leg (5);

the front wheel (2) is connected with the vehicle body (1) through a front wheel bracket (6) with adjustable length;

the wheel leg (5) is provided with a driving arm (7), the driving arm (7) is connected with a servo motor (8), the servo motor (8) is fixed on the vehicle body and used for driving the wheel leg (5) to stretch out and draw back, and the main wheel (3) is arranged at the tail section of the wheel leg (5) and can rotate freely;

the tail wheel (4) is a driven universal wheel, and lifting in the height direction can be realized through a lifting mechanism (9).

2. The novel composite wheel leg type stair climbing robot according to claim 1, wherein the wheel leg (5) comprises a connecting rod (11) and a supporting leg (15) hinged with the front end of the connecting rod, and the other end of the connecting rod (11) is fixed on the side wall of the vehicle body (1) through a hinge shaft (12); the middle upper part of the supporting leg (15) is hinged with the free end of the driving arm (7), and the servo motor (8) drives the driving arm (7) to drive the connecting rod (11) to do telescopic motion with the supporting leg (15).