A stair climbing wheel set and a stair climbing robot composed of the same are disclosed. The stair climbing wheel set comprises a wheel carrier, a rotating shaft and three wheels, each wheel is coaxially and fixedly provided with a wheel shaft, the three wheel shafts are all rotationally connected with the wheel carrier, and the three wheel shafts are all perpendicular to the wheel carrier and distributed in an equilateral triangle shape; a first-stage gear is further coaxially and fixedly arranged on each wheel shaft, the rotating shaft is rotationally connected with the wheel frame and is perpendicular to the wheel frame, the rotating joint of the rotating shaft and the wheel frame is located in the middle of the position among the three wheel shafts, and a second-stage gear is coaxially and fixedly installed on the rotating shaft and located among the three first-stage gears. The three first-stage gears are meshed with the second-stage gears, the rotating shaft rotates to drive the three wheels to synchronously rotate in the same direction, and therefore when the rotating shaft rotates, the three wheels can synchronously rotate in the same direction; when encountering a step or a stair, the wheel carrier can rotate relative to the rotating shaft so that the wheel located on the upper portion can make contact with the step or the upper step of the stair, and the stair climbing wheel set can move upwards.

    本发明公开了一种爬楼梯轮组及其组成的爬楼梯机器人,爬楼梯轮组包括轮架、转轴和三个轮子,每个轮子分别同轴固定设有一根轮轴,三个轮轴均与轮架转动连接,且三个轮轴均垂直于轮架,并呈等边三角形分布,每个轮轴上还同轴固定设有一个一级齿轮,转轴与轮架转动连接,且转轴垂直于轮架,且转轴与轮架的转动连接处位于三个轮轴之间的中部,转轴上位于三个一级齿轮之间同轴固定安装有一个二级齿轮,三个一级齿轮均与二级齿轮相互啮合,转轴转动以带动三个轮子同步同向转动,如此在转轴转动时,三个轮子均会同步同向转动,当遇到阶梯或楼梯时,轮架会相对转轴转动以使得位于上方的轮子与台阶或楼梯上一阶接触并实现爬楼梯轮组向上移动行走。


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    Title :

    Stair climbing wheel set and stair climbing robot composed of same


    Additional title:

    一种爬楼梯轮组及其组成的爬楼梯机器人


    Contributors:
    HAN CHI (author) / MAO JINCHENG (author) / LU XIANGJIANG (author) / LI HONGTAO (author) / CHEN JUNWEI (author) / PENG QIN (author)

    Publication date :

    2021-05-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60B VEHICLE WHEELS , Räder für Fahrzeuge



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