Stair climbing vehicle with triangular wheel train
阅读说明：本技术 一种三角轮系爬楼车 (Stair climbing vehicle with triangular wheel train ) 是由 张恩忠 庞在祥 柳虹亮 宫丽男 于凯 髙晗 吴永成 文琦 于 2020-07-15 设计创作，主要内容包括：本发明针对现有技术的不足,提供一种三角轮系爬楼车,采用了三角轮式机器人,传动系统运行平稳、噪音小、安全可靠,整体尺寸不大且重量较小;各个系统分别独立驱动,控制灵活方便;采用三角轮系式系统,使爬楼车能够在多种环境下运动,轻松实现在平地、坡面和台阶面上的运动;该爬楼车采用了独立的转向系统,转弯半径减小,有利于实现在狭小空间内的转弯。本发明提供了一种三角轮系爬楼车,其组成包括：车架控制部分、三角轮部分、滑动平台部分、承载支撑部分,其中车架控制部分中的三角形支架模块与三角轮部分中的中心轴连接,车架控制部分中的稳定三脚架与滑动平台部分中的支撑板连接,滑动平台部分中的牵连杆与承载支撑部分中的支撑架连接。(The invention provides a stair climbing vehicle with a triangular wheel train, aiming at the defects of the prior art, the stair climbing vehicle with the triangular wheel train adopts a triangular wheel type robot, a transmission system is stable in operation, low in noise, safe and reliable, small in overall size and light in weight, each system is driven independently and is flexible and convenient to control, the stair climbing vehicle can move in various environments and easily realize movement on flat ground, slope surfaces and step surfaces by adopting the triangular wheel train type system, and the stair climbing vehicle adopts an independent steering system, is reduced in turning radius and is beneficial to realizing turning in a narrow space. The invention provides a stair climbing cart with a triangular wheel train, which comprises the following components: the frame control part, triangle wheel part, sliding platform part, bear the weight of the support part, wherein triangle-shaped support module in the frame control part is connected with the center pin in the triangle wheel part, and stable tripod in the frame control part is connected with the backup pad in the sliding platform part, and the traction link in the sliding platform part is connected with the support frame in bearing the weight of the support part.)
1. The invention provides a stair climbing cart with a triangular wheel train, which comprises the following components: the frame control part (1), the triangle wheel part (2), the sliding platform part (3) and the bearing support part (4), wherein a triangle support module (104) in the frame control part (1) is connected with a central shaft (210) in the triangle wheel part (2), a stable tripod (101) in the frame control part (1) is connected with a support plate (304) in the sliding platform part (4), and a traction link (301) in the sliding platform part (3) is connected with a support frame (405) of the bearing support part (4).
2. The stair climbing cart with triangular wheel train as claimed in claim 1, wherein the cart frame control part (1) is composed of a stable tripod (101), a standing pedal device (102), an upper end gear device (103) in the planet wheel, a triangular bracket (104), a hand rest (105), a control panel (106), a lifting device (107), a connecting rod (108) and a rotating device (109), the stable tripod (101) is connected with the standing pedal device (102), the standing pedal device (102) is connected with an upper end gear device (103) in the planet wheel, the upper end gear device (103) in the planet wheel is connected with the triangular bracket (104), the handrail (105) is connected with the control panel (106), the lifting device (107) is connected with the connecting rod (108), the connecting rod (108) is connected with the rotating device (109), and the rotating device (109) is connected with the standing pedal device (102).
3. The stair climbing cart with the triangular gear train as claimed in claim 1, wherein the triangular wheel part (2) is composed of a silica gel wheel device (201), a wheel synchronous pulley (202), a synchronous traveling belt (203), a front planetary wheel plate (204), a transmission synchronous pulley (205), a planetary wheel shaft (206), a rear planetary wheel plate (207), a gear shaft (208), a sun gear (209), a central shaft (210), a planetary gear (211) and a bearing sleeve (212), wherein the silica gel wheel device (201) is connected with the wheel synchronous pulley (202), the wheel synchronous pulley (202) is connected with the synchronous traveling belt (203), the front planetary wheel plate (204) is connected with the transmission synchronous pulley (205), the transmission synchronous pulley (205) is connected with a fixed shaft (212), the planetary wheel shaft (206) is connected with the planetary wheel support (207), the planetary wheel support (207) is connected with the bearing sleeve (212), a gear shaft (208) is connected with a central gear (209), the central gear (209) is connected with a central shaft (210), the central shaft (210) is connected with a planetary gear (211), and the planetary gear (211) is connected with a bearing sleeve (212).
4. A stair climbing cart with triangular wheel train as claimed in claim 1, wherein the sliding platform part (3) is composed of a drag link (301), a slider (302), a guide rail (303), a support plate (304), a shaft support (305) and a seat (306), wherein the drag link (301) is connected with the slider (302), the slider (302) is connected with the guide rail (303), the guide rail (303) is connected with the shaft support (305), and the support plate (304) is connected with the seat (306).
5. The stair climbing cart with the triangular gear train as claimed in claim 1, wherein the bearing and supporting part (4) is composed of a silica gel wheel device (401), a planet wheel shaft (402), a front planet wheel plate (403), a gear shaft (404), a supporting frame (405), a baffle plate (406), a bearing platform (407), a gasket (408), a supporting connecting rod (409), a ferrule (410) and a rear planet wheel plate (411), wherein the silica gel wheel device (401) is connected with the planet wheel shaft (402), the planet wheel shaft (402) is connected with the front planet wheel plate (403), the front planet wheel plate (403) is connected with the gear shaft (404), the gear shaft (404) is connected with the supporting frame (405), the supporting frame (405) is connected with the baffle plate (406), the supporting frame (405) is connected with the bearing platform (407), the gasket (408) is connected with the supporting connecting rod (409), the supporting connecting rod (409) is connected with the ferrule (410), the ferrule (410) is connected to a rear planet wheel plate (411).
Technical Field
The invention relates to the field of mobile robots, in particular to a stair climbing vehicle with a triangular wheel train.
Background
Old person is inconvenient because the physical reason trip, sits trip instruments such as public transit, because the number is too many very crowded, cause the health injured easily, some balance cars operation degree of difficulty of present design are big, and the equilibrium requirement to the human body is too high, and unsuitable old person uses, and it can only use at the level land in addition, and we design an old person and climb building planet wheel balance car of riding instead of walk, and factor of safety is high easy operation, can help the old person to climb the building, has greatly facilitated the old person to go on a journey. With the rapid development of computer technology in recent years, the speed of computing and data transmission has been greatly increased. Based on this hardware, many intelligent algorithms are implemented in a short time, and intelligent robots are becoming more and more clever. With the development of the application of robot technology in real life, the robot becomes a conquering natural and virtual obstacle
The necessities of (1). In many places, there is a demand for more and more mobile robots to carry devices such as manipulators instead of people to perform tasks. It is well known that a stair climbing machine is one of the basic intelligent behaviors that a mobile robot needs to possess to complete a task.
At present, the mobile robot mainly comprises a legged, crawler-type and wheeled stair climbing vehicle, wherein the legged is four-legged and six-legged
Robots, although they are able to climb stairs and cross obstacles, they are unable to climb stairs and cross obstacles due to the movement of the legs
The crawler-type mobile robot is favored by strong terrain adaptability, the friction force borne by the crawler-type mobile robot is uniformly distributed on the crawler, the friction force of the wheeled trolley is only concentrated on the contact surface of the tire and the ground, the friction force is the same in terms of the ground gripping force, but when the trolley turns or climbs a slope, the crawler-type mobile robot rotates smoothly
The friction force distribution of the wheeled dolly is not changed sharply like the wheeled dolly, so better operation is shown
The controllability, but the abrasion of the crawler belt, the difficulty of opening the crawler belt mold and the like become the bottleneck of the application in turning, and the wheel type
The mobile robot overcomes the defects of the crawler type, and can fully play the advantages of flexible movement, simple control and the like of the mobile robot on the premise of meeting the requirement of terrain adaptability. Generally, the adaptability of the wheeled mobile robot to the terrain is in direct proportion to the number of wheels, but the wheels increase, which brings the defects of large volume, heavy weight and the like of the robot. The stair climbing wheel type driving system adopts independent driving of each wheel, an autonomous working mode, and meanwhile, each wheel adopts a key connection mode, so that the stair climbing wheel type driving system is convenient and flexible to work, and is good in concentricity and steering. The rigid wheel has higher mechanical reliability, better steering and environmental adaptability, but has driving stability. And abrasion resistance are poor. Although the inflation wheel has better driving stability and obstacle crossing capability, the environmental adaptability is poor, so the inflation wheel cannot be applied to a stair climbing vehicle. The metal elastic wheel has good climbing performance, abrasion resistance, environmental adaptability, mechanical reliability and obstacle crossing capability, but has poor steering performance. The climbing and obstacle crossing performance and the wear resistance of the elliptical wheel, the hemispherical wheel and the hub-free wheel are good, but the running stability is poor, and the mechanical reliability is lowest. The wheel type robot is reasonable by combining the advantages and the disadvantages of various aspects.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention develops the stair climbing vehicle which adopts a triangular gear train as a running system. When the vehicle runs and meets special roads such as steps, slopes and the like, the stair climbing and obstacle crossing functions can be realized through the overturning of the triangular gear train.
This stair climbing vehicle can realize automatic obstacle and the stair function of climbing of strideing across, and the width of marking time of indoor stair is that the width of marking time of 260mm ~300mm is 150mm ~175mm outdoor step width of marking time for 270mm ~300mm through inquiry data, and the height of marking time is 150mm ~200mm, gets the width of marking time to be 270mm, and the height of marking time gets the biggest slope of crawling of 150mm and is 40. The transmission system is driven by a motor, can run in two directions, can be controlled manually and automatically, and is required to run stably, have low noise, and be safe and reliable. The running system adopts a triangular wheel train mode, four wheels in each wheel train land when running on a flat road, and the stair climbing function is realized through the autorotation rolling of the triangular wheel trains when climbing stairs.
The invention provides a stair climbing cart with a triangular wheel train, which comprises the following components: the frame control part 1, the triangle wheel part 2, the sliding platform part 3 and the bearing support part 4, wherein the
The stair climbing vehicle has the advantages that the stair gears are applied, the occupied space is small, the structure is compact and simple, the good speed reduction effect can be achieved, the weight is small, each system is driven independently, the control is flexible and convenient, and the stair climbing vehicle can be more stable and safer in the stair climbing process by the aid of the inverted pendulum system and the gyroscope posture detection while the triangular wheel train type system is adopted. The stair climbing vehicle adopts an independent steering system, so that the steering system is simplified, the turning radius is reduced, and the stair climbing vehicle is beneficial to realizing turning in a narrow space.
Drawings
FIG. 1 is a schematic structural view of a stair climbing cart with a triangular wheel train;
fig. 2 is a schematic structural view of a frame control portion 1 in a stair-climbing cart with a triangular wheel system;
fig. 3 is a schematic structural view of a triangular wheel portion 2 in the triangular wheel train stair-climbing vehicle;
fig. 4 is a schematic structural view of the sliding platform part 3 in the stair-climbing cart with a triangular wheel system;
fig. 5 is a schematic structural view of the bearing support part 4 of the stair-climbing cart with triangular wheel system;
Detailed Description
1. Referring to fig. 1, 2, 3, 4 and 5, the present invention provides a stair climbing cart with triangular wheel trains, which comprises: the frame control part 1, the triangular wheel part 2, the sliding platform part 3 and the bearing support part 4, wherein the
2. Referring to fig. 2, the frame control part 1 is composed of a stabilizing
3. Referring to fig. 3, the triangular wheel part 2 is composed of a silica gel wheel device 201, a wheel synchronous pulley 202, a synchronous running belt 203, a front planet wheel plate 204, a transmission synchronous pulley 205, a planet wheel shaft 206, a rear planet wheel plate 207, a gear shaft 208, a central gear 209, a central shaft 210, a planet gear 211 and a bearing sleeve 212. The silica gel wheel device 201 is coaxially matched with the wheel synchronous pulley 202, the wheel synchronous pulley 202 is in sliding connection with the synchronous running belt 203, the front planet wheel plate 204 is coaxially connected with the transmission synchronous pulley 205, the transmission synchronous pulley 205 is coaxially matched with the bearing sleeve 212, the planet wheel shaft 206 is in embedded connection with the rear planet wheel plate 207, the rear planet wheel plate 207 is coaxially connected with the bearing sleeve 212, the gear shaft 208 is in embedded connection with the sun gear 209, the sun gear 209 is coaxially connected with the central shaft 210, the central shaft 210 is coaxially connected with the planet gear 211, and the planet gear 211 is coaxially connected with the bearing sleeve 212.
4. Referring to fig. 4, the sliding platform part 3 is composed of a drag link 301, a slider 302, a guide rail 303, a support plate 304, a shaft support 305, and a seat 306, wherein the drag link 301 is connected with the slider 302 by a screw, the slider 302 is connected with the guide rail 303 by a sliding, the guide rail 303 is connected with the shaft support 305 by an insert, and the support plate 304 is connected with the seat 306 by a brazing.
5. Referring to fig. 5, the bearing and supporting portion 4 is composed of a silica gel wheel device 401, a planet wheel shaft 402, a front planet wheel plate 403, a gear shaft 404, a supporting frame 405, a baffle plate 406, a bearing platform 407, a gasket 408, a supporting connecting rod 409, a ferrule 410 and a rear planet wheel plate 411, wherein the silica gel wheel device 401 is coaxially connected with the planet wheel shaft 402, the planet wheel shaft 402 is connected with the front planet wheel plate 403 in an embedding manner, the front planet wheel plate 403 is connected with the gear shaft 404 through screws, the gear shaft 404 is connected with the supporting frame 405 through bolts, the supporting frame 405 is connected with the baffle plate 406 through brazing, the supporting frame 405 is connected with the bearing platform 407 through screws, the gasket 408 is coaxially connected with the supporting connecting rod 409, the supporting connecting rod 409 is coaxially connected with the.
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