The invention belongs to the technical field of robots, and particularly relates to a wheel leg type stair climbing robot which comprises a center frame 3 and wheels 1 located on the two sides of the center frame 3 respectively, each wheel 1 is connected with the center frame 3 through a cantilever 2, and a first driving motor m1 is arranged at the connecting position of each cantilever 2 and the corresponding wheel 1 to form a first rotating pair. A second driving motor m2 is arranged at the connecting position of the cantilever 2 and the central frame 3 to form a rotating pair II; the stair-climbing robot further comprises swing rods 4 and supporting rod pieces 5, the swing rods 4, the supporting rod pieces 5 and the cantilevers 2 are in one-to-one correspondence, one end of each swing rod 4 is fixedly connected to the corresponding cantilever 2, the other end of each swing rod 4 is connected with the corresponding supporting rod piece 5, and a third driving motor m3 is arranged at the connecting position of each swing rod 4 and the corresponding supporting rod piece 5 to form a third rotating pair. The wheel-leg type stair climbing robot is simple in structure and capable of effectively achieving stair climbing actions.
本发明属于机器人技术领域,具体涉及一种轮腿式爬楼机器人,包括中心车架3和分别位于中心车架3两侧的车轮1,每一车轮1通过一悬臂2与中心车架3连接,悬臂2与车轮1的连接位置设有第一驱动电机m1以构成转动副一,悬臂2与中心车架3的连接位置设有第二驱动电机m2以构成转动副二;所述爬楼机器人还包括摆杆4和支撑杆件5,摆杆4、支撑杆件5及悬臂2三者一一对应,摆杆4的一端固定连接于其对应的悬臂2,另一端与其对应的支撑杆件5连接,摆杆4与支撑杆件5的连接位置设有第三驱动电机m3以构成转动副三。本发明的轮腿式爬楼机器人的结构简单,能有效实现爬楼动作。
Wheel leg type stair climbing robot
一种轮腿式爬楼机器人
2022-03-15
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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