The invention discloses a chassis structure of a stair-climbing robot and a first step arriving method thereof.The chassis structure comprises a bearing body and a track assembly at the bottom of the bearing body, a scissor-type lifting mechanism is arranged at the front end of the bottom of the bearing body, and the scissor-type lifting mechanism provides lifting power through an electric linear actuator; universal wheels are arranged at the bottom of the shear fork type lifting mechanism; a telescopic wheel mechanism is arranged at the rear end of the bottom of the bearing body and comprises a shell, a pair of telescopic legs is arranged in a telescopic groove in the bottom of the shell, straight wheels with driving motors are arranged at the bottoms of the telescopic legs, and the telescopic legs are driven by a driving mechanism in the shell to move up and down synchronously. According to the invention, through the cooperation of the scissor-fork type lifting mechanism and the telescopic wheel mechanism, the front end of the crawler belt assembly can be tilted, so that the capability of reaching first steps with different heights is stronger, and the trafficability and the adaptability are improved.
本发明公开了一种爬楼梯机器人的底盘结构及其第一节台阶到达方法,该底盘结构包括承重主体及其底部的履带总成,承重主体底部前端设置有剪叉式升降机构,剪叉式升降机构通过电动线性执行器提供升降动力,并且剪叉式升降机构底部设置有万向轮;承重主体底部后端设置有伸缩轮机构,伸缩轮机构包括壳体,壳体底部的伸缩槽中设置有一对伸缩腿,伸缩腿底部设置有自带驱动电机的直行轮,该一对伸缩腿由壳体内部的驱动机构驱动实现同步上下移动。本发明通过剪叉式升降机构和伸缩轮机构的配合,能够使履带总成前端翘起,从而到达不同高度的第一节台阶的能力更强,提高了通过性、适应性。
Chassis structure of stair climbing robot and first step reaching method of chassis structure
一种爬楼梯机器人的底盘结构及其第一节台阶到达方法
30.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Wall-climbing robot chassis and chassis control method
Europäisches Patentamt | 2023
|Europäisches Patentamt | 2025
|