CN110329372A - A kind of stair climbing robot - Google Patents

Abstract

The invention discloses a stair-climbing robot, which comprises a support assembly, a box body, a stair-climbing mechanism, an auxiliary stair-climbing mechanism and a walking mechanism. Above, the two side plates are respectively located on both sides of the track chain ring, the third connecting piece is fixedly connected with the second support frame, and is rotatably connected with the two side plates, and is sleeved outside the track link, the second connecting piece It is fixedly connected with the two side plates, and is located between the two track assemblies, and is located on the side away from the third connecting piece. The first rod is rotatably connected with the second connecting piece, and the second rod is rotatably connected with the first connecting piece. And the first rod slides along the extension direction of the second rod, the auxiliary stair climbing mechanism is located between the two crawler assemblies, and the two crawler assemblies and the plurality of running gears are all along the first connecting piece toward the direction extending in the same direction as the first support frame. Centerline symmetrical setting. Realize that the robot automatically climbs the stairs to deliver goods to the home.

Description

A stair climbing robot

technical field

The invention relates to the technical field of robots, in particular to a stair climbing robot.

Background technique

Science and technology are primary productive forces, and at the same time, science and technology serve every aspect of people's lives. Nowadays, with the rapid development and maturity of online shopping, the service concept of "delivery to home" has become one of the core requirements for the competition of express companies. However, most of the express deliveries have not achieved "delivery to home". One of the main reasons is that buyers live on high floors. Stairs are the most common obstacle in the man-made environment and one of the most difficult to overcome. It's not convenient to send it up. In particular, some residents living in small high-rises cannot easily transport some heavy objects to their residences, so some intelligent manufacturing machines are needed to solve this problem.

Contents of the invention

The purpose of the present invention is to provide a stair-climbing robot, aiming to solve the problem that there is no intelligent manufacturing machine to realize express delivery to the home.

To achieve the above object, the present invention provides a stair-climbing robot, including a support assembly, a box body, a stair-climbing mechanism, an auxiliary stair-climbing mechanism, and a walking mechanism. The support assembly includes a first support frame, a second support frame and a second support frame. A connector, the number of the first support frame and the second support frame is two, the two second support frames are enclosed and fixedly connected with the two first support frames, and are respectively located at the two Between the two second support frames, the first connecting piece is fixedly connected to the two first support frames and located above the two first support frames, and the box body is connected to the first support frames. The connecting piece is fixedly connected and located above the first connecting piece;

The stair climbing mechanism includes a crawler belt assembly, a second connecting piece and a first electric push rod. The crawler belt assembly includes a crawler belt link, a side plate and a third connecting piece. outside the drive device for ring movement, and located on the side away from the first support frame, the number of the side plates is two, and the two side plates are detachably connected to the drive device for driving the movement of the crawler chain ring , and are respectively located on both sides of the crawler chain link, the third connecting piece is fixedly connected to the second support frame, and is rotatably connected to the two side plates, and is sleeved on the outside of the crawler chain link , the number of the crawler belt assemblies is two, and the two crawler belt assemblies are arranged symmetrically along the center line extending in the same direction as the first support frame along the first connecting member, and the second connecting member is connected to the two The side plates are fixedly connected and located between the two track assemblies, and located on a side away from the third connecting member, the first electric push rod includes a first rod and a second rod, and the first electric push rod includes a first rod and a second rod. A rod is rotatably connected to the second connecting member, the second rod is rotatably connected to the first connecting member, and the first rod slides along the extending direction of the second rod, and the auxiliary stair climbing mechanism Located between the two crawler belt assemblies, there are at least four running gears, which are arranged symmetrically along the first connecting member toward a center line extending in the same direction as the first support frame.

Wherein, the auxiliary stair climbing mechanism includes a first sliding assembly and a second electric push rod, the first sliding assembly is located between the two crawler belt assemblies, and is located on the side away from the first connecting piece, so The second electric push rod includes a third rod and a fourth rod, the third rod is fixedly connected to the first slide assembly, the fourth rod is rotatably connected to the first connecting member, and the third The rod slides along the extending direction of the fourth rod.

Wherein, the auxiliary stair climbing mechanism further includes a support member and an enclosure member, the support member is fixedly connected to the first connecting member, and is located on the side of the first connecting member away from the box body, and is located on Between the track components, the enclosure is fixedly connected to the support and is located on a side close to the second electric push rod, and the enclosure has a through hole for supplying The third rod and the fourth rod pass.

Wherein, the first sliding assembly includes a first rotating shaft and a first pulley, the first rotating shaft is fixedly connected to the third rod, the first pulley is rotationally connected to the first rotating shaft, the There are two first pulleys, and the two first pulleys are arranged symmetrically along the extending direction of the third rod.

Wherein, the traveling mechanism includes a fourth connecting piece, a shock absorbing assembly and a Mecanum wheel, the fourth connecting piece is fixedly connected to the first supporting frame, and is located on the first supporting frame away from the box The shock absorbing assembly is located on the side of the fourth connecting member away from the track assembly, and the Mecanum wheel is located on the side of the shock absorbing assembly away from the fourth connecting member.

Wherein, the shock absorption assembly includes a geared motor, a first movable part, a second movable part, a universal joint and a negative pressure shock absorber, the geared motor is fixedly connected to the fourth connection, and is located close to the track On one side of the assembly, the number of the first movable parts is two, and the two first movable parts are rotatably connected with the fourth connection and are located on the side away from the track assembly. The second movable The member is rotationally connected with the two first movable members, and is located between the two first movable members. The transmission shaft is fixedly connected, and is located in the enclosed area of the first movable part and the two second movable parts, and the negative pressure shock absorber rotates with the fourth connecting part and the second movable part connected, and located between the fourth connecting member and the second movable member, the number of the negative pressure shock absorbers is two, and the two negative pressure shock absorbers are located on the second movable member sides.

Wherein, the number of the first electric push rods is two, and the two first electric push rods are arranged symmetrically along the center line extending in the same direction as the first support frame along the first connecting member.

Wherein, the auxiliary stair climbing mechanism further includes a third electric push rod and a second sliding assembly, the third electric push rod is located between the two first electric push rods, and the second sliding assembly is located between the two first electric push rods. The third electric push rod is away from the side of the box body, the third electric push rod includes a fifth rod and a sixth rod, the fifth rod is rotatably connected with the first connecting piece, and is located away from the One side of the box body, the sixth rod slides along the extension direction of the fifth rod, the second sliding assembly includes a second rotating shaft and a second pulley, and the second rotating shaft and the sixth rod Fixedly connected and located on the side away from the fifth rod, the second pulley is rotatably connected to the second rotating shaft, the number of the second pulleys is two, and the two second pulleys move along the The extension direction of the fifth rod is arranged symmetrically.

A stair-climbing robot of the present invention is enclosed and fixedly connected with the two first support frames by the two second support frames, and is respectively located between the two second support frames. The connecting piece is located above the two first support frames, the box is located above the first connecting piece; the track link is located on the side away from the first support frame, and the two side The plates are respectively located on both sides of the crawler chain link, the third connecting piece is fixedly connected to the second support frame, and is rotatably connected to the two side plates, and is sleeved on the outside of the crawler chain link. The second connecting piece is fixedly connected to the two side plates, and is located between the two track assemblies, and is located on a side away from the third connecting piece, and the first rod is connected to the second connecting piece. The connecting piece is rotatably connected, the second rod is rotatably connected to the first connecting piece, and the first rod slides along the extension direction of the second rod, and the auxiliary stair climbing mechanism is located between the two crawler belt assemblies Between them, the two crawler belt assemblies and the plurality of running gears are arranged symmetrically along the center line extending in the same direction as the first support frame along the first connecting member. The first connecting piece, the first electric push rod, the second connecting piece, and the track assembly form a double rocker mechanism to realize the action of the first electric push rod, and the second connecting piece, The crawler belt assembly performs a corresponding lifting or lowering action, that is, the crawler belt assembly is retracted from the ground, and the running mechanism is on the ground for driving on flat ground or on a slope; when the crawler belt assembly is lowered to the ground, the running mechanism is off the ground, Carry out stair climbing, so that the robot can automatically climb the stairs and deliver goods to the home.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the structural representation of stair-climbing robot of the present invention;

Fig. 2 is the structure schematic diagram that stair-climbing robot of the present invention removes casing;

Fig. 3 is the front view of Fig. 2;

Fig. 4 is the back view of Fig. 2;

Fig. 5 is the top view of Fig. 2;

Fig. 6 is the left view of Fig. 2;

Fig. 7 is a schematic structural view of the support assembly, the stair climbing mechanism and the auxiliary stair climbing mechanism of the present invention;

Fig. 8 is a structural representation of the walking mechanism of the present invention;

Fig. 9 is a schematic structural view of another direction in Fig. 2;

In the figure: 100-stair climbing robot, 1-support component, 2-box, 3-climbing mechanism, 4-assistant climbing mechanism, 5-walking mechanism, 11-first support frame, 12-second support frame , 13-first connector, 31-track assembly, 32-second connector, 33-first electric push rod, 41-first sliding assembly, 42-second electric push rod, 43-support, 44- Enclosure, 45-third electric push rod, 46-second sliding assembly, 51-fourth connecting piece, 52-shock absorbing assembly, 53-mecanum wheel, 311-track chain ring, 312-side plate, 313-third link, 331-first rod, 332-second rod, 411-first rotating shaft, 412-first pulley, 421-third rod, 422-fourth rod, 441-through hole, 451 -the fifth bar, 452-the sixth bar, 461-the second rotating shaft, 462-the second pulley, 521-reduction motor, 522-the first movable part, 523-the second movable part, 524-universal joint, 525 - Negative pressure shock absorbers.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than Nothing indicating or implying that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation should therefore not be construed as limiting the invention. In addition, in the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

Referring to Fig. 1 to Fig. 9, the present invention provides a stair-climbing robot 100, including a support assembly 1, a box body 2, a stair-climbing mechanism 3, an auxiliary stair-climbing mechanism 4 and a walking mechanism 5, and the support assembly 1 includes a first Support frame 11, second support frame 12 and first connector 13, the quantity of described first support frame 11 and described second support frame 12 is two, two described second support frames 12 and two The first support frame 11 is enclosed and fixedly connected, and is respectively located between the two second support frames 12, and the first connector 13 is fixedly connected with the two first support frames 11, and is located between the two second support frames 12. Above the first supporting frame 11, the box body 2 is fixedly connected with the first connecting piece 13 and is located above the first connecting piece 13;

The stair climbing mechanism 3 includes a crawler belt assembly 31, a second connecting member 32 and a first electric push rod 33, and the crawler belt assembly 31 includes a crawler belt link 311, a side plate 312 and a third connecting member 313, and the crawler belt link 311 is sleeved outside the driving device for driving the movement of the crawler chain link 311, and is located on the side away from the first support frame 11. The number of the side plates 312 is two, and the two side plates 312 are connected with the The driving device for driving the movement of the crawler chain link 311 is detachably connected, and is respectively located on both sides of the crawler chain link 311, the third connecting member 313 is fixedly connected with the second support frame 12, and is connected with the two The side plate 312 is rotatably connected and is sleeved outside the crawler belt link 311. The number of the crawler belt assemblies 31 is two, and the two crawler belt assemblies 31 are oriented along the first connecting member 13 to the The first supporting frame 11 is arranged symmetrically with the central line extending in the same direction, and the second connecting member 32 is fixedly connected with the two side plates 312, and is located between the two crawler belt assemblies 31, and is located away from the first One side of three connecting parts 313, the first electric push rod 33 includes a first rod 331 and a second rod 332, the first rod 331 is rotationally connected with the second connecting part 32, and the second rod 332 It is rotatably connected with the first connecting member 13, and the first rod 331 slides along the extension direction of the second rod 332. The auxiliary stair climbing mechanism 4 is located between the two crawler belt assemblies 31. The number of running gear 5 is at least four, and they are arranged symmetrically along the center line extending in the same direction as the first supporting frame 11 along the first connecting member 13 .

In this embodiment, the stair-climbing robot 100 includes a controller, a plurality of motors, sensors and a remote controller, the controller is located in the first connecting part 13, and the plurality of motors, the sensors and the The remote controller is electrically connected with the controller, and the controller refers to changing the wiring of the main circuit or the control circuit and changing the resistance value in the circuit to control the starting, speed regulation, braking and reverse of the motor in a predetermined order. master device. Composed of program counter, instruction register, instruction decoder, timing generator and operation controller, it is the "decision-making mechanism" that issues orders, that is, completes the coordination and command of the operation of the entire stair-climbing robot 100 system, the model is LFE10 The sensor is an infrared sensor, and the infrared sensor is a measuring device using infrared rays as a medium, the model is EST600-400A, and the NRF24L012.4G wireless module is used for communication. The sensor is located in the second support frame 12 for detecting obstacle. The support assembly 1 is a structural frame for supporting the entire stair-climbing robot 100, the box body 2 is used to hold and transport goods, the stair-climbing mechanism 3 is used to realize the stair-climbing action, and the auxiliary stair-climbing The mechanism 4 is used to assist in realizing the climbing action, which is more stable, and the walking mechanism 5 is used to make the stair-climbing robot 100 travel on slopes or flat ground. The two first support frames 11 and the two second support frames 12 are enclosed and fixed to form a rectangular frame, and the first connector 13 is symmetrically formed by two inverted "L"-shaped plates, so that The first connecting piece 13 straddles the two opposite first support frames 11, and is fixedly connected with the two first support frames 11, and is located above the rectangular frame. The box body 2 is fixedly connected with the first connecting piece 13 and is located above the first connecting piece 13; the two track assemblies 31 are arranged symmetrically below the rectangular frame, and the track links 311 cover Be located outside the driving device for driving the movement of the crawler chain link 311, the driving device for driving the movement of the crawler chain link 311 is an existing driving device, including driving wheels, road wheels, induction wheels, and drag pulleys. The ring 311 meshes with the driving wheel, the road wheel, the induction wheel, and the drag wheel, and the motor drives the driving wheel to move, thereby driving the track chain ring 311 to move on flat ground or on a slope. The two side plates 312 It is detachably connected to the driving device for driving the movement of the crawler chain link 311, and is respectively located on both sides of the crawler chain link 311. The third connecting member 313 is symmetrically formed by two inverted "L" shaped plates. , the third connecting piece 313 is fixedly connected with the second support frame 12, and is rotatably connected with the two side plates 312, and is sleeved outside the crawler belt link 311. The second connecting piece 32 It is fixedly connected with the two side plates 312, and is located between the two crawler belt assemblies 31, and is located on the side away from the third connecting member 313, so as to realize the connection between the crawler belt assembly 31 and the support assembly 1. connected, while the crawler belt link 311 has an inclined surface, the inclined surface is located on the side of the crawler belt link 311 away from the second connecting member 32, and is located on the adjacent surface of the side plate 312, the inclined surface is provided with It is beneficial for the cooperation between the crawler chain link 311 and the stair steps, which is beneficial for climbing. The first electric push rod 33 is electrically connected with the motor, and the first electric push rod 33 is an electric drive device that converts the rotational motion of the motor into the linear reciprocating motion of the push rod, and its model is NKLA65. The first electric push rod 33 includes a first rod 331 and a second rod 332 , the first rod 331 is rotatably connected to the second connecting member 32 , and the second rod 332 is connected to the first connecting member 13 Rotationally connected, and the first rod 331 slides along the extending direction of the second rod 332 .

The specific process is: the stair-climbing robot 100 is locked when it is not working to avoid misuse. When working, the operator performs unlocking and remote control. The goods that need to be transported are placed in the box body 2, and the cargo transportation program is executed. The infrared sensor detects whether there are stairs, and if there is no, the program action of driving on flat ground is executed. The walking mechanism 5 touches the ground, and the climbing mechanism 3, the The above-mentioned auxiliary stair-climbing mechanism 4 breaks away from the ground and travels on flat ground or on a slope;

When going up the stairs, the side of the crawler link 311 of the stair-climbing robot 100 with a slope is close to the stairs, and the motor acts to drive the first rod 331 along the extending direction of the second rod 332 slides toward the side away from the first connecting member 13, and then drives the first rod 331 to rotate around the second connecting member 32 to the side away from the first connecting member 13, and because the first A connecting piece 13 is rotatably connected to the second rod 332 , the box body 2 is fixedly connected to the first connecting piece 13 , and the track chain ring 311 is connected to the third connecting piece 313 through the side plate 312 Rotationally connected, the third connecting member 313 is fixedly connected to the second supporting frame 12, the second supporting frame 12, the first supporting frame 11, the first connecting member 13, the box body 2 Fixedly connected, the traveling mechanism 5 is connected to the first support frame 11, according to the principle of the double rocker mechanism, the box body 2 will be lifted, the traveling mechanism 5 is off the ground, and the crawler belt link 311 is on the ground , the auxiliary stair climbing mechanism 4 is fixedly connected to the first connecting member 13, and is located between the two crawler belt assemblies 31, in order to make the crawler belt link 311 contact the first step of the stairs, the The auxiliary stair-climbing mechanism 4 touches the ground, and after the crawler belt link 311 is raised, the stair-climbing robot 100 continues to move forward. In order to maintain the balance of the body, the auxiliary stair-climbing mechanism 4 raises the box body 2 to be parallel to the ground. The stair-climbing robot 100 continues to move forward, and adjusts the inclination of the box body 2 every time it advances to a step, so as to ensure that the box body 2 is parallel to the ground until the crawler belt link 311 is in full contact with the stairs , when the center of gravity of the crawler chain link 311 of the stair-climbing robot 100 crosses the last step of the stairs, the auxiliary stair-climbing mechanism 4 is put down, while the stair-climbing robot 100 advances, and the stair-climbing robot 100 advances, and the The auxiliary stair-climbing mechanism 4 is gradually retracted until the box body 2 is completely parallel to the ground, and at this point, the movement process of the stair-climbing robot 100 going up the stairs ends;

When going down the stairs, the stair-climbing robot 100 goes backwards and down the stairs. The same as going up the stairs, the motor drives the first rod 331 to move away from the first connecting member 13 on the second rod 332 The extension direction of one side slips, and through the principle of the double rocker mechanism, the box body 2 is lifted, the crawler chain link 311 is on the ground, and the stair climbing robot 100 advances by the crawler chain link 311, when the When the crawler chain link 311 stretches out a part, the auxiliary stair-climbing mechanism 4 touches the ground to support the stair-climbing robot 100, and the crawler chain link 311 continues to move forward, gradually retracts the auxiliary stair-climbing mechanism 4, and lifts the stair-climbing robot 100 at the same time. The casing 2 keeps it balanced, and then the stair-climbing robot 100 relies on the crawler belt link 311 to move on. The auxiliary stair-climbing mechanism 4 is described, and the stair-climbing robot 100 advances until it completely leaves the stairs, then puts away the auxiliary stair-climbing mechanism 4, and puts down the box body 2. So far, the movement process of the stair-climbing robot 100 going down the stairs is over. .

A stair-climbing robot 100 of the present invention is enclosed and fixedly connected with the two first support frames 11 through the two second support frames 12, and is respectively located between the two second support frames 12, The first connector 13 is located above the two first support frames 11, the box 2 is located above the first connector 13; the crawler chain link 311 is located away from the first support frame 11, the two side plates 312 are respectively located on both sides of the track link 311, the third connecting member 313 is fixedly connected with the second support frame 12, and is connected with the two side plates 312 is rotatably connected and sleeved outside the crawler belt link 311, the second connecting member 32 is fixedly connected with the two side plates 312, and is located between the two crawler belt assemblies 31, and is located far away from the two side plates 312. One side of the third connecting member 313, the first rod 331 is rotatably connected to the second connecting member 32, the second rod 332 is rotatably connected to the first connecting member 13, and the first rod 331 slides along the extension direction of the second rod 332, the auxiliary stair climbing mechanism 4 is located between the two crawler belt assemblies 31, and the two crawler belt assemblies 31 and a plurality of the walking mechanisms 5 move along the second rod 332. A connecting piece 13 is arranged symmetrically toward the center line extending in the same direction as the first support frame 11 . Through the first connecting piece 13, the first electric push rod 33, the second connecting piece 32, and the track assembly 31 form a double rocker mechanism to realize the action of the first electric push rod 33, the The second connecting piece 32 and the crawler belt assembly 31 carry out corresponding lifting or lowering actions, that is, the crawler belt assembly 31 is retracted and separated from the ground, and the running mechanism 5 is on the ground for driving on flat ground or on a slope; the crawler belt assembly 31 When it is put down on the ground, the walking mechanism 5 is separated from the ground to climb stairs, so that the robot can automatically climb stairs and deliver goods to households.

Further, the auxiliary stair climbing mechanism 4 includes a first sliding assembly 41 and a second electric push rod 42, the first sliding assembly 41 is located between the two crawler belt assemblies 31, and is located away from the first connection The second electric push rod 42 includes a third rod 421 and a fourth rod 422, the third rod 421 is fixedly connected with the first sliding assembly 41, and the fourth rod 422 is connected with the The first connecting member 13 is rotationally connected, and the third rod 421 slides along the extending direction of the fourth rod 422 . In this embodiment, the second electric push rod 42 is electrically connected to the motor, and the second electric push rod 42 is an electric drive device that converts the rotational motion of the motor into the linear reciprocating motion of the push rod. , the model is NKLA65. When the third rod 421 slides along the fourth rod 422 toward the side close to the first connecting member 13, the auxiliary stair climbing mechanism 4 is retracted, so that the box body 2 is put down, and the When the third rod 421 slides along the fourth rod 422 toward the side close to the first sliding assembly 41, the auxiliary stair climbing mechanism 4 is lowered, thereby lifting the box body 2, and the first A sliding assembly 41 realizes rolling friction with the ground when the auxiliary stair climbing mechanism 4 is put down, moves following the movement of the crawler belt link 311 , is not easy to be damaged, and moves flexibly.

Further, the auxiliary stair climbing mechanism 4 also includes a support member 43 and an enclosure member 44, the support member 43 is fixedly connected to the first connecting member 13, and is located at a position where the first connecting member 13 is far away from the box. One side of the body 2, and located between the crawler belt assemblies 31, the enclosure 44 is fixedly connected with the support 43, and located on the side close to the second electric push rod 42, the enclosure The member 44 has a through hole 441 for passing the third rod 421 and the fourth rod 422 . In this embodiment, the support member 43 is used to support the second electric push rod 42 to enhance structural stability, and the enclosure member 44 encloses the third rod 421 and the fourth rod 422 , When the second electric push rod 42 rotates, prevent the angle between the first sliding assembly 41 connected to the third rod 421 and the ground from being too large, resulting in insufficient supporting force of the stair-climbing robot 100 and the overall Poor stability performance.

Further, the first sliding assembly 41 includes a first rotating shaft 411 and a first pulley 412, the first rotating shaft 411 is fixedly connected to the third rod 421, the first pulley 412 is connected to the first The rotating shaft 411 is rotationally connected, and the number of the first pulleys 412 is two, and the two first pulleys 412 are arranged symmetrically along the extending direction of the third rod 421 . In this embodiment, the first pulley 412 is a small wheel with a groove around it, which can rotate around the first rotating shaft 411 to achieve rolling friction with the ground, and at the same time, the two first pulleys 412 are arranged symmetrically Enhanced stability.

Further, the traveling mechanism 5 includes a fourth connecting piece 51, a shock absorbing assembly 52 and a Mecanum wheel 53, the fourth connecting piece 51 is fixedly connected to the first supporting frame 11, and is located on the first On the side of the support frame 11 away from the box body 2, the shock absorber assembly 52 is located on the side of the fourth connecting member 51 away from the track assembly 31, and the Mecanum wheel 53 is located on the side of the shock absorber assembly 52 away from the side of the fourth connecting member 51 . In this embodiment, the fourth connecting member 51 is used to connect the support assembly 1 and the shock absorbing assembly 52, and the shock absorbing assembly 52 reduces the external impact force of the stair-climbing robot 100 and enhances the The flexibility of the stair-climbing robot 100, the off-road performance, the mecanum wheel 53 is based on the principle of a central wheel with many axles located on the periphery of the wheel, these angled peripheral axles turn a part of the wheel The force is transformed into a wheel normal force. Depending on the direction and speed of the respective wheels, the final combination of these forces produces a resultant force vector in any desired direction thus ensuring that the platform is free to move in the direction of the final resultant force vector without changing the direction of the wheels themselves . Many small rollers are distributed obliquely on its rim, so the wheel can slide laterally. The generatrix of the small rollers is very special. When the wheel rotates around the fixed wheel mandrel, the envelope of each small roller is a cylindrical surface, so the wheel can roll forward continuously. The mecanum wheel 53 is compact in structure and flexible in movement.

Further, the shock absorption assembly 52 includes a geared motor 521, a first movable part 522, a second movable part 523, a universal joint 524 and a negative pressure shock absorber 525, and the geared motor 521 is fixed to the fourth connection connected, and located near the side of the crawler belt assembly 31, the number of the first movable member 522 is two, the two first movable members 522 are rotationally connected with the fourth connection, and located away from the On one side of the crawler belt assembly 31, the second movable member 523 is rotationally connected with the two first movable members 522 and is located between the two first movable members 522, and the universal joint 524 is connected to the two first movable members 522. The output end of the reduction motor 521 is connected in transmission, and is fixedly connected with the transmission shaft of the Mecanum wheel 53, and is located in the enclosed area of the first movable part 522 and the two second movable parts 523. The negative pressure shock absorber 525 is rotationally connected with the fourth connecting member 51 and the second movable member 523, and is located between the fourth connecting member 51 and the second movable member 523. The negative pressure shock absorber There are two shock absorbers 525 , and the two negative pressure shock absorbers 525 are located on both sides of the second movable member 523 . In this embodiment, the deceleration motor 521 refers to an integrated body of a decelerator and a motor, and the model is 5IK90A-CF. Traveling; the universal joint 524 is a universal joint, which is a part to realize variable-angle power transmission. The connection mode of the fourth connecting part 51, the first movable part 522, the second movable part 523 and the negative pressure shock absorber 525 realizes the flexibility of the movement of the stair-climbing robot 100, so The model of said negative pressure shock absorber 525 is JKA-S114.

Further, the number of the first electric push rods 33 is two, and the two first electric push rods 33 extend along the first connecting member 13 toward the center line extending in the same direction as the first support frame 11 Symmetrical setting. In this embodiment, the arrangement of two first electric push rods 33 increases the stability of the movement of the stair-climbing robot 100 following the movement of the first electric push rods 33 .

Further, the auxiliary stair climbing mechanism also includes a third electric push rod 45 and a second sliding assembly 46, the third electric push rod 45 is located between the two first electric push rods 33, the second The sliding assembly 46 is located on the side of the third electric push rod 45 away from the box body 2, the third electric push rod 45 includes a fifth rod 451 and a sixth rod 452, the fifth rod 451 is connected to the The first connecting member 13 is rotatably connected and located on a side away from the box body 2 , the sixth rod 452 slides along the extending direction of the fifth rod 451 , and the second sliding assembly 46 includes a second rotating shaft 461 and a second pulley 462, the second rotation shaft is fixedly connected with the sixth rod 452 at 462, and is located on the side away from the fifth rod 451, the second pulley 462 is connected with the second rotation shaft 461 is rotationally connected, the number of the second pulley 462 is two, and the two second pulleys 462 are arranged symmetrically along the extending direction of the fifth rod 451 .

In this embodiment, the third electric push rod 45 is electrically connected to the motor, and the third electric push rod 45 is an electric drive device that converts the rotational motion of the motor into the linear reciprocating motion of the push rod. , the model is NKLA65. The electric motor drives the sixth rod 452 to slide along the extension direction of the fifth rod 451 to realize the elongation and shortening of the entire third electric push rod 45. When the stair-climbing robot 100 is not climbing stairs When climbing, the sixth rod 452 slides away from the first connecting member 13, so that the two second pulleys 462 touch the ground, which can provide support for the stair-climbing robot 100 traveling on flat ground; When the stair-climbing robot 100 climbs the first few stairs of the stairs, the sixth rod 452 slides away from the first connecting member 13, so that the two second pulleys 462 land away from the stairs, Used to support the stair-climbing robot 100 in climbing; when the whole body of the stair-climbing robot 100 successfully climbs onto the stairs, the sixth rod 452 slides toward the direction close to the first connecting member 13 , detach from the ground and the stairs, and continue to climb the stairs. The addition of the third electric push rod 45 and the second sliding assembly 46 can facilitate the adjustment of the adaptation angle of the whole vehicle, and the angles for stairs of different heights are different, which weakens the existing problems in the structure to a greater extent. The cooperation between the six rods 452 and the fifth rod 451 keeps the box body 2 in a horizontal state, which ensures unnecessary loss of objects inside the box body 2 due to shaking and angle changes.

What is disclosed above is only a preferred embodiment of the present invention, and of course it cannot limit the scope of rights of the present invention. Those of ordinary skill in the art can understand all or part of the process for realizing the above embodiments, and according to the rights of the present invention The equivalent changes required still belong to the scope covered by the invention.

Claims (8)

1. A stair-climbing robot, characterized in that, It includes a support assembly, a box body, a stair climbing mechanism, an auxiliary stair climbing mechanism and a walking mechanism. The support assembly includes a first support frame, a second support frame and a first connecting piece. The first support frame and the second support frame The number of support frames is two, the two second support frames are fixedly connected with the two first support frames, and are respectively located between the two second support frames, and the first connection A part is fixedly connected with the two first support frames and is located above the two first support frames, and the box is fixedly connected with the first connection part and is located above the first connection part ; The stair climbing mechanism includes a crawler belt assembly, a second connecting piece and a first electric push rod. The crawler belt assembly includes a crawler belt link, a side plate and a third connecting piece. outside the drive device for ring movement, and located on the side away from the first support frame, the number of the side plates is two, and the two side plates are detachably connected to the drive device for driving the movement of the crawler chain ring , and are respectively located on both sides of the crawler chain link, the third connecting piece is fixedly connected to the second support frame, and is rotatably connected to the two side plates, and is sleeved on the outside of the crawler chain link , the number of the crawler belt assemblies is two, and the two crawler belt assemblies are arranged symmetrically along the center line extending in the same direction as the first support frame along the first connecting member, and the second connecting member is connected to the two The side plates are fixedly connected and located between the two track assemblies, and located on a side away from the third connecting member, the first electric push rod includes a first rod and a second rod, and the first electric push rod includes a first rod and a second rod. A rod is rotatably connected to the second connecting member, the second rod is rotatably connected to the first connecting member, and the first rod slides along the extending direction of the second rod, and the auxiliary stair climbing mechanism Located between the two crawler belt assemblies, there are at least four running gears, which are arranged symmetrically along the first connecting member toward a center line extending in the same direction as the first support frame. 2. stair-climbing robot as claimed in claim 1, is characterized in that, The auxiliary stair climbing mechanism includes a first sliding assembly and a second electric push rod. The first sliding assembly is located between the two crawler belt assemblies and is located on a side away from the first connecting piece. The two electric push rods include a third rod and a fourth rod, the third rod is fixedly connected to the first slide assembly, the fourth rod is rotatably connected to the first connecting piece, and the third rod is along the The extension direction of the fourth rod slides. 3. stair-climbing robot as claimed in claim 2, is characterized in that, The auxiliary stair climbing mechanism also includes a support member and an enclosure member, the support member is fixedly connected to the first connecting member, and is located on the side of the first connecting member away from the box body, and is located on the side of the first connecting member. Between the track components, the enclosure is fixedly connected to the support and is located on a side close to the second electric push rod, and the enclosure has a through hole for the The third shot and the fourth shot pass. 4. stair-climbing robot as claimed in claim 3, is characterized in that, The first sliding assembly includes a first rotating shaft and a first pulley, the first rotating shaft is fixedly connected to the third rod, the first pulley is rotationally connected to the first rotating shaft, and the first There are two pulleys, and the two first pulleys are arranged symmetrically along the extending direction of the third rod. 5. stair-climbing robot as claimed in claim 1, is characterized in that, The walking mechanism includes a fourth connecting piece, a shock absorbing assembly and a Mecanum wheel, the fourth connecting piece is fixedly connected to the first support frame, and is located on a side of the first support frame away from the box body. The shock absorbing assembly is located on the side of the fourth connecting member away from the track assembly, and the Mecanum wheel is located on the side of the shock absorbing assembly away from the fourth connecting member. 6. stair-climbing robot as claimed in claim 5, is characterized in that, The shock absorption assembly includes a geared motor, a first movable part, a second movable part, a universal joint and a negative pressure shock absorber. The geared motor is fixedly connected to the fourth connection and is located close to the track assembly. On one side, the number of the first movable parts is two, and the two first movable parts are rotatably connected with the fourth connection, and are located on the side away from the crawler belt assembly, and the second movable parts are connected to the The two first movable parts are rotatably connected and located between the two first movable parts. The universal joint is connected to the output end of the reduction motor and is connected to the transmission of the Mecanum wheel. The shaft is fixedly connected and located in the enclosed area of the first movable part and the two second movable parts, the negative pressure shock absorber is rotatably connected with the fourth connecting part and the second movable part, and located between the fourth connecting member and the second movable member, the number of the negative pressure shock absorbers is two, and the two negative pressure shock absorbers are located on both sides of the second movable member . 7. stair-climbing robot as claimed in claim 1, is characterized in that, The number of the first electric push rods is two, and the two first electric push rods are arranged symmetrically along the first connecting member toward a center line extending in the same direction as the first support frame. 8. stair-climbing robot as claimed in claim 7, is characterized in that, The auxiliary stair climbing mechanism also includes a third electric push rod and a second sliding assembly, the third electric push rod is located between the two first electric push rods, and the second sliding assembly is located on the third The electric push rod is away from the side of the box body, the third electric push rod includes a fifth rod and a sixth rod, the fifth rod is rotatably connected with the first connecting piece, and is located away from the box body The sixth rod slides along the extension direction of the fifth rod, the second sliding assembly includes a second rotating shaft and a second pulley, and the second rotating shaft is fixedly connected to the sixth rod , and located on the side away from the fifth rod, the second pulley is rotatably connected to the second rotating shaft, the number of the second pulley is two, and the two second pulleys are along the first The extension directions of the five rods are arranged symmetrically.