The invention relates to the technical field of stair-climbing robots, in particular to a stair-climbing trolley pivot steering device and an operation method thereof. The device comprises a trolley body, a balance mechanism, a lifting steering mechanism and a double-end stud; the balance mechanism comprises a driving chain wheel, a chain, a counter weight, a follow-up chain wheel, a driving motor, and a mounting bracket and a mounting bracket which are respectively connected to the lower bottom surface of the vehicle body through a driving shaft and a follow-up shaft, and the symmetry axis coincides with the symmetry axis of the vehicle body; the lifting steering mechanism comprises an upper chassis, a connecting rod piece, a pin shaft, a connecting shaft, a screw, a lower chassis, an electric cylinder and universal wheels and is connected to the middle position of the lower bottom face of the vehicle body through a double-end stud, and the geometric center of the lifting steering mechanism coincides with the geometric center of the vehicle body. The electric cylinder is adopted to control the lifting steering mechanism, the motor is adopted to control the balance mechanism, when the stair climbing trolley passes through a narrow corridor platform, in-situ zero-radius steering can be achieved, the problem that an existing stair climbing mechanism needs large-size radius steering is solved, and the key common technology of a mechanical stair climbing mechanism is achieved.
本发明涉及爬楼机器人技术领域,具体为一种爬楼小车原地转向装置及其作业方法,装置包括车体、平衡机构、升降转向机构、双头螺柱;平衡机构包括驱动链轮、链条、配重、随动链轮、驱动电机,通过驱动轴和随动轴分别连接于车体下底面的安装支架和安装支架,其对称轴线与车体的对称轴线重合;升降转向机构包括上底盘、连接杆件、销轴、连接轴、螺钉、下底盘、电缸,以及万向轮,通过双头螺柱连接于车体下底面的中间位置,其几何中心与车体的几何中心重合。本发明采用电缸控制升降转向机构,电机控制平衡机构,在爬楼小车经过狭小楼道平台时,可实现原地零半径转向,克服了现有爬楼机构需大尺寸半径转向的难题,解决了机械式爬楼机构的关键共性技术。
Stair-climbing trolley pivot steering device and operation method thereof
一种爬楼小车原地转向装置及其作业方法
2023-09-01
Patent
Electronic Resource
Chinese
IPC: | B62B Von Hand bewegte Fahrzeuge, z.B. Handkarren oder Kinderwagen , HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS |