Mechanism and method for mobile robot to go upstairs and downstairs based on Mecanum wheel omni-directional steering function

Abstract

The invention discloses a mechanism and a method for a mobile robot to go upstairs and downstairs based on a Mecanum wheel omni-directional steering function. The mechanism comprises a horizontal maintaining mechanism of a carrying platform, a control panel installation box, Mecanum wheels, a rotating mechanism which is installed on an outer side support disc of the Mecanum wheels and can rotate by a certain angle at the center, and an anchor-shaped part which can move along with the rotating mechanism. The mechanism further comprises a spring which is connected with the anchor-shaped part anda limiting device which is used for limiting the movement position of the anchor-shaped part. When the Mecanum wheel move on the flat ground, the anchor-shaped part retracts, and the robot mainly depends on movement and steering of the Mecanum wheels; when the robot moves to the position near stairs and prepares to go upstairs, the rotating mechanism rotates by a certain angle, the anchor-shapedpart is driven by the spring to move and stretch out, the stretching-out part can buckle the surface of the stairs along with rotation of the Mecanum wheels, and thus the whole wheels are driven to rotate towards the stairs. When going downstairs, the rotating mechanism rotates reversely and also drives the anchor-shaped part to rotate and stretch out, the stairs can be buckled, and the going downstairs process is completed. The mechanism is simple in design, low in cost and wide in application range.

Description

technical field [0001] The invention relates to a mechanism for going up and down stairs, in particular to a mechanism and method for a mobile robot going up and down stairs based on a wheat wheel. Background technique [0002] With the rapid development of robot technology, various mobile robots are being developed and applied to different occasions to meet various needs. The reliable and stable function of going up and down stairs is the key condition for the robot to be widely used. At present, the existing mechanisms for going up and down stairs at home and abroad are mainly divided into crawler type, leg-foot type, compound type and wheel group type. Among them, the crawler type has a large weight and is not flexible enough to move. Some damage, and the resistance to use on flat ground is relatively large, and it is inconvenient to turn; the leg-foot type adopts the principle of bionics, which is difficult to control, the movement is slow, the weight is high, and the p...

AI Technical Summary

Problems solved by technology

At present, the existing mechanisms for going up and down stairs at home and abroad are mainly divided into crawler type, leg-foot type, compound type and wheel group type. Among them, the crawler type has a large weight and is not flexible enough to move. Some damage, and the resistance to use on flat ground is relatively large, and it is inconvenient to turn; the leg-foot type adopts the principle of bionics, which is difficult to control, the movement is slow, the weight is high, and the position of the legs and feet is too large. There is no mature product in the market; The composite type is composed of two or more types of stair climbing mechanisms. Among them, the research on the wheel-leg composite type is more extensive. The leg-foot type of this structure acts as a support, and the traction moves forward and goes up and down stairs. It requires the perfect cooperation of the two types of mechanisms. The effect can be guaranteed, but the process of going up and down stairs is extremely unstable, and it will take a long time before the finished product is finished; most of the wheel-type stair climbing mechanisms use planetary wheels to alternately rotate to complete the climbing action. Most of the stairway mechanisms are driven by the wheels when walking on flat ground. When going up and down the stairs, they adopt the mechanical self-locking method and revolve around the central axis to realize the climbing action.

The wheel-type stair-climbing mechanism has large fluctuations during driving, general stability, difficult steering, and low wheel utilization

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