CN106741275B - Sliding type lifting barrier-surpassing robot - Google Patents
Sliding type lifting barrier-surpassing robot Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
本发明公开了一种滑动式升降越障机器人，包括车架，车架于前端的两侧部装设有两个前驱动轮，车架于后端的两侧部装设有两个后驱动轮，车架上装设有滑动导向支撑架，滑动导向支撑架上滑装有升降导向支撑架，升降导向支撑架的前后端均装设有可独立升降和行进的升降行进机构，前驱动轮和后驱动轮中的一组轮体位于两个升降行进机构之间。通过前后升降行进机构的配合可将车架撑起或者放下，以实现上下台阶的功能，通过升降导向支撑架的前后滑动，使得越障机器人在上、下台阶式障碍的模态间转换，该越障机器人具有结构简单可靠，成本低廉，易于制作、作业灵活、越障能力强的优点。
The invention discloses a sliding type lifting obstacle-crossing robot, comprising a vehicle frame, two front driving wheels are installed on both sides of the front end of the vehicle frame, and two rear driving wheels are installed on both sides of the rear end of the vehicle frame , the frame is equipped with a sliding guide support frame, and a lifting guide support frame is slidably installed on the sliding guide support frame. A set of wheel bodies in the driving wheels is located between the two lifting and traveling mechanisms. Through the cooperation of the front and rear lifting and traveling mechanisms, the vehicle frame can be propped up or down to realize the function of going up and down the steps. Through the front and rear sliding of the lifting guide support frame, the obstacle-crossing robot can switch between the modes of up and down step obstacles. The obstacle-surmounting robot has the advantages of simple and reliable structure, low cost, easy manufacture, flexible operation and strong obstacle-surmounting ability.
Description
技术领域technical field
本发明主要涉及越障机器人领域，尤其涉及一种滑动式升降越障机器人。The present invention mainly relates to the field of obstacle-surmounting robots, in particular to a sliding-type lifting obstacle-surmounting robot.
背景技术Background technique
在实际应用过程中，移动机器人经常需要克服上、下台阶式的障碍。这类机器人上搭载的精密设备，往往要求在工作中保持姿态不变。现有的越障机器人，如带有摆动鳍的履带式机器人，越障能力有限，而且越障时底盘倾斜严重，不仅影响搭载设备的正常工作，而且容易导致机器人倾覆。现有的越障机器人，如仿生类的腿式机器人，虽具有较好的越障能力，然而结构及控制复杂、难以实现，而且成本高昂。现有的越障机器人，如带有摇臂的轮式机器人，虽具有自适应的优点，但是越障能力有限，且上、下台阶式障碍能力不匹配。In the process of practical application, mobile robots often need to overcome obstacles of up and down steps. The precision equipment carried on this type of robot is often required to maintain a constant posture during work. Existing obstacle-crossing robots, such as tracked robots with swinging fins, have limited obstacle-crossing capabilities, and the chassis tilts severely during obstacle-crossing, which not only affects the normal operation of the equipped equipment, but also easily causes the robot to overturn. Existing obstacle-surmounting robots, such as bionic legged robots, have good obstacle-surmounting capabilities, but their structures and controls are complex, difficult to implement, and costly. Existing obstacle surmounting robots, such as wheeled robots with rocker arms, have the advantage of self-adaptation, but their obstacle surmounting ability is limited, and the ability of going up and down step obstacles does not match.
发明内容Contents of the invention
本发明要解决的技术问题是克服现有技术的不足，提供一种结构简单，成本低廉，易于制作、作业灵活、越障能力强、且在越障过程中能够保持底盘水平的滑动式升降越障机器人。The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and to provide a sliding lift-type vehicle with simple structure, low cost, easy manufacture, flexible operation, strong obstacle-surmounting ability, and the ability to keep the chassis level during the obstacle-over-obstacle process. disabled robot.
为解决上述技术问题，本发明采用以下技术方案：In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:
一种滑动式升降越障机器人，包括车架，所述车架于前端的两侧部装设有两个前驱动轮，车架于后端的两侧部装设有两个后驱动轮，所述车架上装设有滑动导向支撑架，所述滑动导向支撑架上滑装有升降导向支撑架，所述升降导向支撑架的前后端均装设有可独立升降和行进的升降行进机构，所述前驱动轮和后驱动轮中的一组轮体位于两个升降行进机构之间。A sliding type lifting obstacle-crossing robot comprises a vehicle frame, two front driving wheels are installed on the two sides of the front end of the vehicle frame, and two rear driving wheels are installed on the two sides of the rear end of the vehicle frame. The vehicle frame is equipped with a sliding guide support frame, and a lifting guide support frame is slidably mounted on the sliding guide support frame. The front and rear ends of the lifting guide support frame are equipped with a lifting and traveling mechanism that can be independently lifted and moved. A set of wheel bodies in the front driving wheel and the rear driving wheel is located between the two lifting and traveling mechanisms.
作为上述技术方案的进一步改进：As a further improvement of the above technical solution:
所述升降导向支撑架包括横梁和竖向导轨，所述横梁滑装在滑动导向支撑架上，所述竖向导轨分装在横梁的前后两端，前后两端的所述升降行进机构分别与相应端的竖向导轨滑接。The lifting guide support frame includes a beam and a vertical guide rail, the beam is slidably mounted on the slide guide support frame, the vertical guide rails are separately installed at the front and rear ends of the beam, and the lifting and traveling mechanisms at the front and rear ends are respectively connected to the corresponding The vertical guide rail at the end slides.
所述滑动导向支撑架包括立柱和横向导轨，所述横向导轨上装设有滑动驱动部件，所述横梁滑装在横向导轨上并与滑动驱动部件连接。The sliding guide supporting frame includes a column and a transverse guide rail, on which a slide driving component is installed, and the crossbeam is slidably installed on the transverse guide rail and connected with the slide driving component.
所述升降行进机构包括升降驱动部件、升降杆和支撑轮，所述升降驱动部件装设在竖向导轨上，所述升降杆滑装在竖向导轨内并与升降驱动部件连接，所述支撑轮装设在升降杆底部。The lifting traveling mechanism includes a lifting driving part, a lifting rod and a support wheel, the lifting driving part is installed on the vertical guide rail, the lifting rod is slid in the vertical guide rail and connected with the lifting driving part, the supporting The wheels are installed at the bottom of the lifting rod.
所述升降杆包括立杆和横杆，所述立杆滑装在竖向导轨内并与升降驱动部件连接，所述横杆固装在立杆底部，所述支撑轮分装在横杆的两端部。The lifting rod includes a vertical rod and a horizontal rod, the vertical rod is slidably installed in the vertical guide rail and connected with the lifting drive part, the horizontal rod is fixed at the bottom of the vertical rod, and the supporting wheels are separately installed both ends.
所述车架的前后部开设有用于前后端的升降行进机构穿过的镂空避让部。The front and rear parts of the vehicle frame are provided with hollow avoidance parts for the elevating and traveling mechanisms at the front and rear ends to pass through.
与现有技术相比，本发明的优点在于：Compared with the prior art, the present invention has the advantages of:
1、本发明的滑动式升降越障机器人，只要前后升降行进机构的高度合适，不需要调整其他结构或者尺寸，就能跨越各种高度的台阶和障碍，其越障性能突出；1. As long as the height of the front and rear elevating and advancing mechanisms is appropriate, the sliding-type elevating obstacle-crossing robot of the present invention can cross steps and obstacles of various heights without adjusting other structures or dimensions, and its obstacle-climbing performance is outstanding;
2、本发明的滑动式升降越障机器人，具有同等的克服上、下台阶式障碍的能力，适应性强。2. The sliding type lifting obstacle-crossing robot of the present invention has the same ability to overcome the upper and lower step obstacles, and has strong adaptability.
3、本发明的滑动式升降越障机器人，在越障过程中能够始终保持车架水平，确保机器人搭载的设备正常工作。3. The sliding-type elevating obstacle-crossing robot of the present invention can always keep the vehicle frame level during the obstacle-crossing process, so as to ensure the normal operation of the equipment carried by the robot.
4、本发明的滑动式升降越障机器人，越障过程中利用滑动导向支撑架改变升降行进机构相对于车架的位置，从而不需要转向即能完成上下台阶，提高了越障灵活性；4. The sliding-type lifting obstacle-crossing robot of the present invention uses the sliding guide support frame to change the position of the lifting and traveling mechanism relative to the vehicle frame during the obstacle-crossing process, so that it can complete up and down steps without steering, which improves the flexibility of obstacle-crossing;
5、本发明的滑动式升降越障机器人，整体结构非常简单，功能可靠，成本低廉，易于制作。5. The sliding-type lifting obstacle-crossing robot of the present invention has a very simple overall structure, reliable functions, low cost, and is easy to manufacture.
附图说明Description of drawings
图1是本发明滑动式升降越障机器人的立体结构示意图。Fig. 1 is a schematic diagram of the three-dimensional structure of the sliding type lifting obstacle-crossing robot of the present invention.
图2是本发明滑动式升降越障机器人的仰视结构示意图。Fig. 2 is a schematic bottom view of the sliding-type lifting obstacle-crossing robot of the present invention.
图3是本发明滑动式升降越障机器人的主视结构示意图。Fig. 3 is a front structural schematic diagram of the sliding type lifting obstacle-crossing robot of the present invention.
图4是本发明滑动式升降越障机器人的滑动状态示意图。Fig. 4 is a schematic diagram of the sliding state of the sliding-type lifting obstacle-crossing robot of the present invention.
图5是本发明滑动式升降越障机器人中车架抬升的状态示意图。Fig. 5 is a schematic diagram of the frame lifting state in the sliding-type lifting obstacle-crossing robot of the present invention.
图6是本发明滑动式升降越障机器人中前端升降行进机构抬升的状态示意图。Fig. 6 is a schematic diagram of the lifting state of the front-end lifting and traveling mechanism in the sliding-type lifting obstacle-crossing robot of the present invention.
图7是本发明滑动式升降越障机器人的后端升降行进机构抬升的状态示意图。Fig. 7 is a schematic diagram of the lifting state of the rear-end lifting and traveling mechanism of the sliding-type lifting obstacle-crossing robot of the present invention.
图8是本发明滑动式升降越障机器人上台阶的流程示意图。Fig. 8 is a schematic flow diagram of the sliding-type lifting obstacle-crossing robot of the present invention going up steps.
图9是本发明滑动式升降越障机器人下台阶的的流程示意图。Fig. 9 is a schematic flow chart of the sliding-type lifting obstacle-crossing robot of the present invention going down steps.
图中各标号表示：Each label in the figure means:
1、车架；11、镂空避让部；2、前驱动轮；3、后驱动轮；4、滑动导向支撑架；41、立柱；42、横向导轨；43、滑动驱动部件；5、升降导向支撑架；51、横梁；52、竖向导轨；6、升降行进机构；61、升降驱动部件；62、升降杆；621、立杆；622、横杆；63、支撑轮。1. Frame; 11. Hollow avoidance part; 2. Front drive wheel; 3. Rear drive wheel; 4. Sliding guide support frame; 41. Upright column; 42. Transverse guide rail; 43. Sliding drive part; 5. Lifting guide support Frame; 51, crossbeam; 52, vertical guide rail; 6, lifting traveling mechanism; 61, lifting driving part; 62, lifting rod; 621, vertical rod; 622, cross bar; 63, supporting wheel.
具体实施方式Detailed ways
以下将结合说明书附图和具体实施例对本发明做进一步详细说明。The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
图1至图9示出了本发明滑动式升降越障机器人的一种实施例，该越障机器人包括车架1，车架1于前端的两侧部装设有两个前驱动轮2，车架1于后端的两侧部装设有两个后驱动轮3，车架1上装设有滑动导向支撑架4，滑动导向支撑架4上滑装有升降导向支撑架5，升降导向支撑架5的前后端均装设有可独立升降和行进的升降行进机构6，前驱动轮2和后驱动轮3中的一组轮体位于两个升降行进机构6之间。使用时，当该机器人在平地作业时，两端的升降行进机构6与地面脱离处于高位，当需要越过台阶等障碍时，两端的升降行进机构6沿升降导向支撑架5下降与地面接触，进一步下降时会反向驱使升降导向支撑架5沿升降行进机构6向上抬升，从而带动车架1抬升，当前驱动轮2与台阶同高时，升降行进机构6向前行进并带动车架1使前驱动轮2与台阶接触，此时，前端的升降行进机构6上升至初始位置，进一步向行进使后驱动轮3与台阶接触，此时，后端的升降行进机构6上升至初始位置，从而实现上台阶，下台阶时，启动滑动导向支撑架4驱使升降导向支撑架5带动升降行进机构6向前滑动，直至前驱动轮2位于两个升降行进机构6之间，此时，按上台阶的逆过程操作即可。本发明的机器人，只要前后升降行进机构6的高度合适，就能跨越各种台阶和障碍，其越障性能突出；越障过程中利用了前驱动轮2和后驱动轮3组成的轮体结构以及升降行进机构6的自行进能力，有较好的机动性；越障过程中利用滑动导向支撑架4改变升降行进机构6相对于车架1的位置，从而不需要转向即能完成上下台阶，提高了越障灵活性；本发明的机器人，整体结构非常简单紧凑，成本低廉，易于制作。Figures 1 to 9 show an embodiment of the sliding type lifting obstacle-surmounting robot of the present invention, the obstacle-overriding robot includes a vehicle frame 1, and the vehicle frame 1 is equipped with two front drive wheels 2 on both sides of the front end, The vehicle frame 1 is provided with two rear drive wheels 3 on both sides of the rear end, the vehicle frame 1 is equipped with a sliding guide support frame 4, the sliding guide support frame 4 is slidably equipped with a lifting guide support frame 5, and the lifting guide support frame The front and rear ends of 5 are all equipped with a lifting and traveling mechanism 6 that can independently lift and advance. During use, when the robot is working on a flat ground, the lifting and traveling mechanisms 6 at both ends are separated from the ground and are at a high position. will reversely drive the lifting guide support frame 5 to lift upwards along the lifting travel mechanism 6, thereby driving the vehicle frame 1 to lift. The wheel 2 is in contact with the step. At this time, the lifting and traveling mechanism 6 at the front end rises to the initial position, and further advances to make the rear driving wheel 3 contact with the step. At this time, the lifting and traveling mechanism 6 at the rear end rises to the initial position, thereby realizing the upper step. , when going down the steps, start the sliding guide support frame 4 to drive the lifting guide support frame 5 to drive the lifting travel mechanism 6 to slide forward until the front drive wheel 2 is located between the two lifting travel mechanisms 6, at this time, according to the reverse process of going up the steps Just operate. The robot of the present invention can cross various steps and obstacles as long as the height of the front and rear lifting and traveling mechanisms 6 is appropriate, and its obstacle-breaking performance is outstanding; the wheel structure formed by the front driving wheel 2 and the rear driving wheel 3 is utilized in the obstacle-crossing process And the self-propelling ability of the lifting and traveling mechanism 6 has better maneuverability; during the obstacle-crossing process, the sliding guide support frame 4 is used to change the position of the lifting and traveling mechanism 6 relative to the vehicle frame 1, so that the up and down steps can be completed without steering, The flexibility of obstacle surmounting is improved; the robot of the present invention has a very simple and compact overall structure, low cost, and is easy to manufacture.
本实施例中，升降导向支撑架5包括横梁51和竖向导轨52，横梁51滑装在滑动导向支撑架4上，竖向导轨52分装在横梁51的前后两端，前后两端的升降行进机构6分别与相应端的竖向导轨52滑接。该结构中，横梁51作为升降行进机构6和车架1升降的主要承载基础，同时其能沿滑动导向支撑架4作横向滑动，而竖向导轨52则保证了升降行进机构6和车架1升降的顺畅性和快捷性。In this embodiment, the lifting guide support frame 5 includes a crossbeam 51 and a vertical guide rail 52, the crossbeam 51 is slidably mounted on the slide guide support frame 4, and the vertical guide rails 52 are separately installed at the front and rear ends of the cross beam 51. The mechanisms 6 are respectively slidingly connected with the vertical guide rails 52 at the corresponding ends. In this structure, the crossbeam 51 is used as the main load-carrying basis for the lifting and traveling mechanism 6 and the vehicle frame 1 to lift, and at the same time it can slide laterally along the sliding guide support frame 4, while the vertical guide rail 52 ensures that the lifting and traveling mechanism 6 and the vehicle frame 1 The smoothness and quickness of lifting and lowering.
本实施例中，滑动导向支撑架4包括立柱41和横向导轨42，横向导轨42上装设有滑动驱动部件43，横梁51滑装在横向导轨42上并与滑动驱动部件43连接。该结构中，立柱41作为横向导轨42的安装基础，而横向导轨42作为横梁51的滑动基础，基结构简单可靠。In this embodiment, the sliding guide support frame 4 includes a column 41 and a transverse guide rail 42 , the transverse guide rail 42 is provided with a slide driving part 43 , and the beam 51 is slidably mounted on the transverse guide rail 42 and connected with the slide drive part 43 . In this structure, the upright column 41 serves as the installation base of the transverse guide rail 42, and the transverse guide rail 42 serves as the sliding base of the beam 51, and the base structure is simple and reliable.
本实施例中，升降行进机构6包括升降驱动部件61、升降杆62和支撑轮63，升降驱动部件61装设在竖向导轨52上，升降杆62滑装在竖向导轨52内并与升降驱动部件61连接，支撑轮63装设在升降杆62底部。该结构中，升降驱动部件61可驱使升降杆62作升降运动，当支撑轮63与地面接触时，升降驱动部件61又可通过升降导向支撑架5带动车架1作升降运动；支撑轮63配备有驱动电机，通过支撑轮63的行进能够带动车架1行进，其结构简单、设计巧妙。In the present embodiment, the elevating traveling mechanism 6 includes an elevating driving part 61, an elevating rod 62 and a supporting wheel 63. The elevating driving part 61 is installed on the vertical guide rail 52, and the elevating rod 62 is slidably installed in the vertical guide rail 52 and is connected with the elevating rod 62. The driving part 61 is connected, and the support wheel 63 is installed at the bottom of the elevating rod 62 . In this structure, the lifting driving part 61 can drive the lifting rod 62 to perform lifting movement. When the support wheel 63 is in contact with the ground, the lifting driving part 61 can drive the vehicle frame 1 to perform lifting movement through the lifting guide support frame 5; the supporting wheel 63 is equipped with There is a drive motor, which can drive the vehicle frame 1 to advance through the advancement of the supporting wheels 63, and has a simple structure and ingenious design.
本实施例中，升降杆62包括立杆621和横杆622，立杆621滑装在竖向导轨52内并与升降驱动部件61连接，横杆622固装在立杆621底部，支撑轮63分装在横杆622的两端部。该结构中，升降杆62带动横杆622作升降运动，而横杆622一方面作为支撑轮63的安装基础，另一方面，其位于竖向导轨52下方，能对升降杆62的上升以及车架1的下降形成定位。In this embodiment, the lifting rod 62 includes a vertical rod 621 and a horizontal rod 622. The vertical rod 621 is slidably installed in the vertical guide rail 52 and connected with the lifting drive part 61. The horizontal rod 622 is fixed at the bottom of the vertical rod 621. The supporting wheels 63 It is divided into two ends of the cross bar 622 . In this structure, the elevating rod 62 drives the cross bar 622 to move up and down, and the cross bar 622 is used as the installation base of the support wheel 63 on the one hand, and on the other hand, it is located under the vertical guide rail 52, which can control the rising of the elevating rod 62 and the movement of the vehicle. The descending of frame 1 forms positioning.
本实施例中，车架1的前后部开设有用于前后端的升降行进机构6穿过的镂空避让部11。该镂空避让部11用于升降过程中升降行进机构6从其穿过，一方面避免形成干涉；另一方面可节省耗材。In this embodiment, the front and rear parts of the vehicle frame 1 are provided with hollow avoidance parts 11 for the elevating and traveling mechanisms 6 at the front and rear ends to pass through. The hollow avoiding portion 11 is used for the lifting and traveling mechanism 6 to pass through it during the lifting process, on the one hand to avoid interference; on the other hand, it can save consumables.
虽然本发明已以较佳实施例揭示如上，然而并非用以限定本发明。任何熟悉本领域的技术人员，在不脱离本发明技术方案范围的情况下，都可利用上述揭示的技术内容对本发明技术方案做出许多可能的变动和修饰，或修改为等同变化的等效实施例。因此，凡是未脱离本发明技术方案的内容，依据本发明技术实质对以上实施例所做的任何简单修改、等同变化及修饰，均应落在本发明技术方案保护的范围内。Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person familiar with the art, without departing from the scope of the technical solution of the present invention, can use the technical content disclosed above to make many possible changes and modifications to the technical solution of the present invention, or modify it into an equivalent implementation of equivalent changes example. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention shall fall within the protection scope of the technical solution of the present invention.
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| CN109850029B (en) * | 2019-02-28 | 2024-04-02 | 深圳大学 | Stair climbing robot and stair climbing control method thereof |
| CN111361659B (en) * | 2020-03-06 | 2021-08-24 | 中国南方电网有限责任公司超高压输电公司广州局 | Wheel-leg obstacle crossing mechanism and obstacle crossing robot |
| CN111422278B (en) * | 2020-05-27 | 2021-06-22 | 陈沛霖 | Automatic walking obstacle crossing machine device |
| CN113173546A (en) * | 2021-04-30 | 2021-07-27 | 盾构及掘进技术国家重点实验室 | Wheel-rail type guiding and moving device |
| CN113911933B (en) * | 2021-11-03 | 2022-09-13 | 国网江苏省电力有限公司扬州供电分公司 | Screen cabinet positioning vehicle capable of climbing over obstacle and working method |
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| CN104207899B (en) * | 2014-03-27 | 2016-08-24 | 刘继伦 | Stair climbing wheelchair |
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