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Stair autonomous obstacle crossing wheel

A technology for obstacle-surmounting wheels and stairs, applied in the directions of wheels, trolley accessories, trolleys, etc., can solve the problem of not being able to realize autonomous driving, and achieve the effect of simple and reasonable structure, good obstacle-surmounting function, and force balance.

Inactive Publication Date: 2014-05-07
SHANDONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the process of use, it needs external force such as manpower to promote, and cannot realize independent driving.

Method used

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  • Stair autonomous obstacle crossing wheel
  • Stair autonomous obstacle crossing wheel
  • Stair autonomous obstacle crossing wheel

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Embodiment Construction

[0029] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0030] Such as figure 1 with image 3 As shown, the autonomous obstacle-crossing wheel for stairs of the present invention includes a support 1, a first drive wheel, a second drive wheel, a third drive wheel, a telescopic first electromagnetic push rod 3, and a telescopic second electromagnetic push rod 5 and the third retractable electromagnetic push rod 9;

[0031] The bracket includes three legs, the heads of the three legs share an end point, which is the center of an equilateral triangle, and the tails of the three legs are respectively located at the three vertices of the equilateral triangle;

[0032] Permeable shaft holes are respectively provided at the tail edge of each leg, and the output shafts of the first drive wheel, the second drive wheel and the third drive wheel are respectively fixed in the corresponding shaft holes by interference fit;

[0033]...

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Abstract

The invention discloses a stair autonomous obstacle crossing wheel, which is mainly characterized in that the starting of a direct current variable frequency motor is controlled through a control component, and each driving wheel is intelligently driven for carrying out alternating rotation in proper time so that the whole stair self obstacle crossing wheel autonomously walks; when an obstacle is met, a relay is controlled by a control component to extend out an electromagnetic push rod until the electromagnetic push rod is in contact with the ground, and in addition, the electromagnetic push rod continuously extends until the whole stair autonomous obstacle crossing wheel is jacked up for anticlockwise turning to cross the obstacle. The stair autonomous obstacle crossing wheel disclosed by the invention has the advantages that an autonomous obstacle crossing function is completely realized, the structure is simple and reasonable, the stress is balanced, better walking flexibility and obstacle crossing function intelligentization are realized, the work stability and the work reliability of the whole stair autonomous obstacle crossing wheel are good, the control mode is simple, the manufacturing cost is low, and the service life is long.

Description

technical field [0001] The invention relates to a stair obstacle-climbing device, in particular to an autonomous stair obstacle-climbing wheel. Background technique [0002] The road-passing ability and obstacle-crossing level of a probe vehicle or other mobile detection mobile platforms determine the size of its working area to a certain extent, and also have a greater impact on its working performance in complex environments. Especially for fire-fighting robots and detection robots inside buildings, there is a certain demand for functions such as climbing stairs, so the research on obstacle-climbing mechanisms, especially stair-climbing devices, has certain significance. [0003] At present, there are many researches on obstacle clearance mechanism at home and abroad, but they focus on the following two types: [0004] One is a crawler-type walking mechanism, which mainly utilizes the good road passing ability of the crawler. However, on the one hand, this type of walkin...

Claims

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Application Information

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IPC IPC(8): B62B5/02B60B19/00
Inventor 孙朝阳李佳奕肖林京朱绪力沈潇
Owner SHANDONG UNIV OF SCI & TECH
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