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.

    本发明公开了一种基于麦轮全方位转向功能的移动机器人上下楼机构及方法,包括载物平台的水平保持机构,控制面板安装盒和麦轮,安装在麦轮外侧支架盘及其中心处能旋转一定角度的旋转机构,能随旋转机构运动的锚形件,还包括连接锚形件的弹簧和限制锚形件运动位置的限位装置。麦轮在平地运动时锚形件缩回,机器人主要依靠麦轮运动和转向;机器人运动至楼梯附近准备上楼时,旋转机构旋转一定的角度,由弹簧带动锚形件运动并伸出部分,随着麦轮旋转伸出部分会扣住楼梯表面,从而带动整个轮子向楼梯上旋转;下楼时旋转机构反向旋转,同样带动锚形件旋转和伸出,可以扣住楼梯,完成下楼过程。本发明设计简单、成本低、适用范围广。


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    Title :

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


    Additional title:

    基于麦轮全方位转向功能的移动机器人上下楼机构及方法


    Contributors:
    LIANG XIAOMING (author) / LIU LING (author) / WU SHENLI (author) / YAO ZIMENG (author) / BAI LANG (author) / WANG JIANGUO (author) / WANG TIANYU (author) / XIE QINGZE (author)

    Publication date :

    2021-01-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B62D MOTOR VEHICLES , Motorfahrzeuge



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