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Four-wheel driven stair climbing mobile robot

A mobile robot and stair-climbing technology, applied in the field of four-wheel-drive stair-climbing mobile robots, can solve the problems that the four-wheeled trolley cannot cross obstacles head-on and cannot be used.

Inactive Publication Date: 2017-09-15
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing four-wheeled cars are unable to cross obstacles head-on, and can only rely on avoiding obstac

Method used

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  • Four-wheel driven stair climbing mobile robot
  • Four-wheel driven stair climbing mobile robot
  • Four-wheel driven stair climbing mobile robot

Examples

Experimental program
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Effect test

Embodiment Construction

[0010] The trolley is steered by the motor, which can realize zero-radius steering in situ. The overall structure of the trolley consists of two parts, including the main frame driven by two wheel sets located in the middle of the trolley and the wheel set mechanism. The main frame consists of an axle and auxiliary support sections. The control part of the trolley is fixed on the supporting mechanism around the main axle, and rotates together with the main axle when moving. The wheel set structure is composed of two double-layer "Y"-shaped aluminum brackets, and three equal-length spokes form an angle of 120 degrees with each other, such as Figure 1 shown. The main shaft and the stepping motor used for overcoming obstacles are respectively located at the inner and outer sides of the intersection points fixed on the spokes. The transmission part of the wheel is located at the end of each spoke, and the turning of the wheel set and the cooperation of the stepping motor can re...

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Abstract

The invention discloses a four-wheel driven stair climbing mobile robot. The four-wheel driven stair climbing mobile robot comprises servo motors, wheel sets, gears, toothed belts, a mechanical body, a control system and an infrared device, wherein an output shaft of each servo motor is connected with a gear shaft through a coupler; gears on each wheel set are mutually engaged for transmitting motion; two corresponding front wheels and two corresponding rear wheels are connected through levers; and the rear wheels can move on the corresponding toothed belt. Each wheel set is driven by the corresponding servo motor to rotate so as to realize the functions of going forward, backing up, surmounting obstacles, climbing stairs and the like. When the robot climbs stairs, the front half part of the robot arrives at the step of the upper layer, after front wheels pass across the step, the gravity of the robot is increased, the platform of the rear half part keeps self gravity through the transmission of the corresponding toothed belts, so that unstable situation is avoided; and finally, the robot passes across the step to realize the function of climbing stairs. The four-wheel driven stair climbing mobile robot has the advantages of being simple in structure, high in cost performance, high in practicability, fast to move, and the like.

Description

technical field [0001] The invention relates to the technical fields of robot climbing stairs, robot obstacle avoidance, gear transmission and toothed belt transmission, and mechanical structure analysis. Background technique [0002] The obstacle avoidance problem of the robot is mainly to discuss the problem of how to avoid obstacles in the process of reaching the target point from the starting point under the condition that the robot moves in a certain plane scene and the walking path of the robot is composed of straight line segments and arc segments. Most of the existing four-wheeled trolleys can't cross the obstacles head-on, and can only rely on avoiding the obstacles to continue moving forward, so there will be situations where they cannot be used in some special environments. In a specific scenario, the present invention overcomes this technical defect. When the obstacle is moderately large, the robot can cross the obstacle from the front and achieve the shortest ti...

Claims

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Application Information

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IPC IPC(8): B62D61/10
CPCB62D61/10
Inventor 宁萌徐斌曹俊王越峰刘一帆张秋菊周景文
Owner JIANGNAN UNIV
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